diff --git a/python/src/robotics/codac_py_TPlane.cpp b/python/src/robotics/codac_py_TPlane.cpp
index 8782d9ce..06974aba 100644
--- a/python/src/robotics/codac_py_TPlane.cpp
+++ b/python/src/robotics/codac_py_TPlane.cpp
@@ -38,6 +38,17 @@ void export_TPlane(py::module& m)
       TPLANE_VOID_COMPUTE_DETECTIONS_FLOAT_TUBEVECTOR,
       "precision"_a, "p"_a)
 
+    .def("compute_loops", [](TPlane& tplane, float precision, const TubeVector& p, const TubeVector& v)
+      {
+        TubeVector p_(p), v_(v);
+        p_.enable_synthesis(true);
+        v_.enable_synthesis(true);
+        tplane.compute_detections(precision, p_, v_);
+        tplane.compute_proofs(p_, v_);
+      },
+      TPLANE_VOID_COMPUTE_DETECTIONS_FLOAT_TUBEVECTOR_TUBEVECTOR,
+      "precision"_a, "p"_a, "v"_a)
+
     .def("compute_detections", (void (TPlane::*)(float,const TubeVector&,const TubeVector&))&TPlane::compute_detections,
       TPLANE_VOID_COMPUTE_DETECTIONS_FLOAT_TUBEVECTOR_TUBEVECTOR,
       "precision"_a, "p"_a, "v"_a)
diff --git a/scripts/docker/build_pybinding.sh b/scripts/docker/build_pybinding.sh
index c823305a..c9074254 100755
--- a/scripts/docker/build_pybinding.sh
+++ b/scripts/docker/build_pybinding.sh
@@ -38,10 +38,10 @@ for PYBIN in /opt/python/cp3*/bin; do
   #"${PYBIN}/python" -m pip install --upgrade pyibex
   "${PYBIN}/python" -m pip install pyibex==1.9.2
   mkdir -p build_dir && cd build_dir
-  cmake3 -DPYTHON_EXECUTABLE=${PYBIN}/python -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTS=ON -DWITH_TUBE_TREE=OFF -DWITH_CAPD=OFF -DWITH_PYTHON=ON -DCMAKE_CXX_FLAGS="-fPIC" ..
+  cmake3 -DPYTHON_EXECUTABLE=${PYBIN}/python -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DWITH_TUBE_TREE=OFF -DWITH_CAPD=OFF -DWITH_PYTHON=ON -DCMAKE_CXX_FLAGS="-fPIC" ..
   make api
   # Again for doxygen2docstring:
-  cmake3 -DPYTHON_EXECUTABLE=${PYBIN}/python -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTS=ON -DWITH_TUBE_TREE=OFF -DWITH_CAPD=OFF -DWITH_PYTHON=ON -DCMAKE_CXX_FLAGS="-fPIC" ..
+  cmake3 -DPYTHON_EXECUTABLE=${PYBIN}/python -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DWITH_TUBE_TREE=OFF -DWITH_CAPD=OFF -DWITH_PYTHON=ON -DCMAKE_CXX_FLAGS="-fPIC" ..
   make -j2
 
   make test ARGS="-V"s
diff --git a/src/robotics/loops/codac_TPlane.cpp b/src/robotics/loops/codac_TPlane.cpp
index c73f6185..864847ce 100644
--- a/src/robotics/loops/codac_TPlane.cpp
+++ b/src/robotics/loops/codac_TPlane.cpp
@@ -21,6 +21,12 @@ namespace codac
 
   }
 
+  void TPlane::compute_loops(float precision, const TubeVector& p, const TubeVector& v)
+  {
+    compute_detections(precision, p, v, true, true);
+    compute_proofs(p, v);
+  }
+
   void TPlane::compute_detections(float precision, const TubeVector& p)
   {
     compute_detections(precision, p, p, false, true);
diff --git a/src/robotics/loops/codac_TPlane.h b/src/robotics/loops/codac_TPlane.h
index 6ae2cf0b..cb87ebe6 100644
--- a/src/robotics/loops/codac_TPlane.h
+++ b/src/robotics/loops/codac_TPlane.h
@@ -51,6 +51,16 @@ namespace codac
        */
       TPlane(const Interval& tdomain);
 
+      /**
+       * \brief Computes the loops (detections and proofs) as a subpaving, from the tube of
+       *        positions \f$[\mathbf{p}](\cdot)\f$ and the tube of velocities \f$[\mathbf{v}](\cdot)\f$.
+       *
+       * \param precision precision \f$\epsilon\f$ of the SIVIA approximation
+       * \param p 2d TubeVector \f$[\mathbf{p}](\cdot)\f$ for positions
+       * \param v 2d TubeVector \f$[\mathbf{v}](\cdot)\f$ for velocities
+       */
+      void compute_loops(float precision, const TubeVector& p, const TubeVector& v);
+
       /**
        * \brief Computes this tplane as a subpaving, from the tube of positions \f$[\mathbf{p}](\cdot)\f$ only.
        *