diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
index 4983a414..3f0e0e48 100644
--- a/.github/workflows/ubuntu.yml
+++ b/.github/workflows/ubuntu.yml
@@ -10,92 +10,40 @@ on:
 
 jobs:
   build:
-    name: Building with ${{ matrix.sofa_version }}
-    runs-on: ubuntu-24.04
-    container: ${{ matrix.CONTAINER }}
+    name: Run on ${{ matrix.os }} with SOFA ${{ matrix.sofa_branch }}
+    runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
       matrix:
-        sofa_version: [ master ]
-        include:
-          - sofa_version: master
-            SOFA_VERSION_I: 999999
-            CONTAINER: jnbrunet/caribou-ubuntu-2004-builder:latest
-            PYTHON_VERSION: 3.8
-            PYBIND11_VERSION: 2.6
-    env:
-      SOFA_VERSION: ${{ matrix.sofa_version }}
-      SOFA_ROOT: /opt/sofa
-      PYTHON_VERSION: ${{ matrix.PYTHON_VERSION }}
+        os: [ubuntu-22.04]
+        sofa_branch: [master]
 
     steps:
-      - uses: actions/checkout@v2
+      - name: Setup SOFA and environment
+        id: sofa
+        uses: sofa-framework/sofa-setup-action@v5
         with:
-          fetch-depth: 0
-
-      - run: |
-          git config --global user.email "caribou@github.com"
-          git config --global user.name "Caribou Github"
-          git fetch origin
-          git merge origin/master
-
-      - name: Install pybind11
-        if: ${{ matrix.PYBIND11_VERSION != '2.4' }}
-        run: |
-          git clone --depth 1 -b v${{ matrix.PYBIND11_VERSION }}  https://github.com/pybind/pybind11.git /tmp/pybind11
-          cmake -GNinja -S/tmp/pybind11 -B/tmp/pybind11/build -DPYBIND11_TEST=OFF -DCMAKE_BUILD_TYPE=Release
-          cmake --install /tmp/pybind11/build
-          rm -rf /tmp/pybind11
-
-      - name: Download SOFA Release
-        run:  |
-          if [ "$SOFA_VERSION" = "master" ]; then
-              curl --output sofa.zip -L "https://ci.inria.fr/sofa-ci-dev/job/nightly-generate-binaries/lastStableBuild/CI_BRANCH=master,CI_SCOPE=standard/artifact/Linux/*zip*/Linux.zip"
-              unzip sofa.zip -d temp
-              mv temp/Linux/`ls temp/Linux` sofa.zip 
-              rm -rf temp
-              unzip sofa.zip -d temp
-              mv temp/`ls temp` $SOFA_ROOT
-          else
-              curl --output sofa.zip -L "https://github.com/sofa-framework/sofa/releases/download/$SOFA_VERSION/SOFA_"$SOFA_VERSION"_Linux.zip"
-              unzip sofa.zip -d temp
-              mv temp/`ls temp` $SOFA_ROOT
-          fi
-
-      - name: Get Time
-        id: time
-        uses: nanzm/get-time-action@v1.0
-        with:
-          timeZone: 8
-          format: 'YYYY-MM-DD-HH-mm-ss'
-
-      - name: ccache cache files
-        uses: actions/cache@v2
-        if: ${{ always() }}
+          sofa_root: ${{ github.workspace }}/sofa
+          sofa_version: ${{ matrix.sofa_branch }}
+          sofa_scope: 'standard'
+      - name: Checkout source code
+        uses: actions/checkout@v2
         with:
-          path: .ccache
-          key: ubuntu-ccache-${{ steps.time.outputs.time }}
-          restore-keys: |
-            ubuntu-ccache-
+          path: ${{ env.WORKSPACE_SRC_PATH }}
 
       - name: Build caribou
-        env:
-          CCACHE_COMPRESS: true
-          CCACHE_COMPRESSLEVEL: 6
-          CCACHE_MAXSIZE: "500M"
-          PYTHONEXE: ${{ format('/usr/bin/python{0}', matrix.PYTHON_VERSION) }}
-        run:
-          export CCACHE_BASEDIR=$GITHUB_WORKSPACE &&
-          cmake
-          -GNinja
-          -DPYTHON_EXECUTABLE=$PYTHONEXE
-          -DCARIBOU_BUILD_TESTS=ON
-          -DCMAKE_BUILD_TYPE=Release
-          -DCMAKE_INSTALL_PREFIX=SofaCaribou
-          -DCMAKE_PREFIX_PATH=$SOFA_ROOT/lib/cmake
+        run: |
+          cd "$WORKSPACE_BUILD_PATH"
+          cmake \
+          -GNinja \
+          -DPYTHON_EXECUTABLE=$PYTHONEXE \
+          -DCARIBOU_BUILD_TESTS=ON \
+          -DCMAKE_BUILD_TYPE=Release \
+          -DCMAKE_INSTALL_PREFIX="$WORKSPACE_INSTALL_PATH" \
+          -DCMAKE_PREFIX_PATH=$SOFA_ROOT/lib/cmake \
           .
-          && cmake --build . && cmake --install .
-          && tar czvf SofaCaribou.tar.gz SofaCaribou
+          cmake --build . && cmake --install .
+          tar czvf SofaCaribou.tar.gz SofaCaribou
 
       - name: Archive production
         uses: actions/upload-artifact@v4.4.0
@@ -122,11 +70,6 @@ jobs:
       CARIBOU_ROOT: /opt/sofa/plugins/SofaCaribou
 
     steps:
-      - name: Set up Python
-        uses: actions/setup-python@v2
-        with:
-          python-version: ${{ matrix.PYTHON_VERSION }}
-
       - name: Install dependencies
         run: |
                apt-get update
@@ -134,21 +77,6 @@ jobs:
                   libgl1-mesa-glx libglib2.0-0 libglx0 libopengl0 libharfbuzz0b libgomp1 curl ca-certificates unzip
                python -m pip install numpy meshio scipy
 
-      - name: Install SOFA
-        run: |
-          if [ "$SOFA_VERSION" = "master" ]; then
-              curl --output sofa.zip -L "https://ci.inria.fr/sofa-ci-dev/job/nightly-generate-binaries/lastStableBuild/CI_BRANCH=master,CI_SCOPE=standard/artifact/Linux/*zip*/Linux.zip"
-              unzip sofa.zip -d temp
-              mv temp/Linux/`ls temp/Linux` sofa.zip 
-              rm -rf temp
-              unzip sofa.zip -d temp
-              mv temp/`ls temp` $SOFA_ROOT
-          else
-              curl --output sofa.zip -L "https://github.com/sofa-framework/sofa/releases/download/$SOFA_VERSION/SOFA_"$SOFA_VERSION"_Linux.zip"
-              unzip sofa.zip -d temp
-              mv temp/`ls temp` $SOFA_ROOT
-          fi
-
       - name: Download caribou
         uses: actions/download-artifact@v4.1.7
         with: