diff --git a/.github/workflows/CI_macos_linux_windows_pixi.yml b/.github/workflows/CI_macos_linux_windows_pixi.yml
index 7016e0ae9d3..6a48aeb7df7 100644
--- a/.github/workflows/CI_macos_linux_windows_pixi.yml
+++ b/.github/workflows/CI_macos_linux_windows_pixi.yml
@@ -1,50 +1,491 @@
 name: CI - MacOS/Linux/Windows via Pixi
 
 on:
-  push:
-    branches:
-      - master
-  pull_request:
-    paths:
-      - 'pixi*'
-  workflow_dispatch:
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+  workflow_call:
+    inputs:
+      sofa-branch-name:
+        type: string
+        required: true
+      sofa-commit-sha:
+        type: string
+        required: true
+      pr-owner-url:
+        type: string
+        required: false
+      pr-branch-name:
+        type: string
+        required: false
+      pr-commit-sha:
+        type: string
+        required: false
+      preset:
+        type: string
+        required: true
+      python-version:
+        type: string
+        required: true
+      ci-depends-on:
+        type: string
+        required: false
+      with-all-tests:
+        type: boolean
+        required: false
+        default: false
+      force-full-build:
+        type: boolean
+        required: false
+        default: false
+      generate-binaries:
+        type: boolean
+        required: false
+        default: false
+      external-plugins:
+        type: string
+        required: false
+      additionnal-cmake-flags:
+        type: string
+        required: false
+      builder-os:
+        type: string
+        required: true
+        default: '["ubuntu-latest", "macos-latest", "macos-15-intel", "windows-latest"]'
+      dash-info:
+        type: string
+        required: false
+        default: 'NONE'
+        description: 'Json scructure with three parameters {"COMMIT_HASH":"fullhsashofthecommit", }'
 
 jobs:
-  sofa-pixi:
-    name: ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }} ${{ matrix.compiler }}
-    runs-on: ${{ matrix.os }}
-    if: ${{ github.repository_owner == 'sofa-framework' }}
+  display-inputs:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Display
+        shell: bash
+        run: |
+            echo "Build and test launched with following parameters:"
+            echo "sofa-branch-name : ${{ inputs.sofa-branch-name }}"
+            echo "sofa-commit-sha : ${{ inputs.sofa-commit-sha }}"
+            echo "pr-owner-url : ${{ inputs.pr-owner-url }}"
+            echo "pr-branch-name : ${{ inputs.pr-branch-name }}"
+            echo "pr-commit-sha : ${{ inputs.pr-commit-sha }}"
+            echo "preset : ${{ inputs.preset }}"
+            echo "ci-depends-on : ${{ inputs.ci-depends-on }}"
+            echo "with-all-tests : ${{ inputs.with-all-tests }}"
+            echo "force-full-build : ${{ inputs.force-full-build }}"
+            echo "generate-binaries : ${{ inputs.generate-binaries }}"
+            echo "external-plugins : ${{ inputs.external-plugins }}"
+            echo "additionnal-cmake-flags : ${{ inputs.additionnal-cmake-flags }}"
+            echo "builder-os : ${{ inputs.builder-os }}"
 
+            echo ""
+            echo "The following python version has been passed : ${{ inputs.python-version }}"
+            echo "--> only the default python version written in the pixi.toml can be used and will be forced here."
+  sofa-pixi:
     strategy:
-      fail-fast: false
-      matrix:
-        os: [ubuntu-latest, macos-latest, macos-15-intel, windows-latest]
-        environment: [supported-plugins]
-        build_type: [Release]
+        fail-fast: false
+        matrix:
+          os: ${{ fromJson(inputs.builder-os) }}
+          build_type: [Release]
+    runs-on: ${{ matrix.os }}
+    name: ${{ matrix.os }} - Env ${{ inputs.preset }} ${{ matrix.build_type }} ${{ matrix.compiler }}
 
     steps:
       - uses: actions/checkout@v4
+        with:
+          ref: ${{ inputs.sofa-branch-name }}
+          path: sofa
+
+      - run: git config --global user.email "<>"
+      - run: git config --global user.name "SOFA Bot"
+
+      - name: Setup SOFA and clone CI
+        id: clone
+        shell: bash -el {0}
+        run: |
+          export WORKSPACE=$GITHUB_WORKSPACE
+          echo "WORKSPACE=$WORKSPACE" >> $GITHUB_ENV
+
+          export SRC_DIR=$GITHUB_WORKSPACE/sofa
+          echo "SRC_DIR=$SRC_DIR" >> $GITHUB_ENV
+
+          if [ -d "$SRC_DIR" ]; then
+              rm -rf "$SRC_DIR"
+          fi
+
+          if [ ! -z "${{ inputs.pr-owner-url }}" ]; then
+              echo "This is a PR, merging branch ${{ inputs.pr-branch-name }} from remote ${{ inputs.pr-owner-url }} into origin branch ${{ inputs.sofa-branch-name }}"
+              git clone -b ${{ inputs.sofa-branch-name }} --single-branch https://www.github.com/sofa-framework/sofa
+              cd sofa
+              git remote add pr ${{ inputs.pr-owner-url }}
+              git fetch pr
+
+              if [ "${{ inputs.pr-commit-sha }}" == "HEAD" ]; then
+                  git merge ${{ inputs.pr-branch-name }}
+              else
+                  git merge ${{ inputs.pr-commit-sha }}
+              fi
+          else
+              echo "This is not a PR: checking out sha ${{ inputs.sofa-commit-sha }} from branch ${{ inputs.sofa-branch-name }}"
+              git clone -b ${{ inputs.sofa-branch-name }} --single-branch https://www.github.com/sofa-framework/sofa
+              cd sofa
+              git checkout ${{ inputs.sofa-commit-sha }}
+          fi
+
+          cd $WORKSPACE
+
+          ## Clone CI and use ci-depends-on structure
+          echo "\033[33mWARNING, the ci repository is currently forced on bakpaul:26_09_final_jenkins_2_github_migration, delete the lines marked as \"TO DELETE\" and uncomment the ones marked as \"TO UNCOMMENT\" to go back into a normal behavior.\033[0m"
+
+          ### TO DELETE ###
+          ci_branch=26_09_final_jenkins_2_github_migration
+          ci_repo_url="https://www.github.com/bakpaul/ci"
+          ### TO DELETE ###
+
+          ### TO UNCOMMENT ###
+          #ci_branch=${{ inputs.sofa-branch-name }}
+          #ci_repo_url="https://www.github.com/sofa-framework/ci"
+
+
+          ## check if ci has a ci-depends-on
+          #ci_ci_depends_on=$(echo "${{ inputs.ci-depends-on }}" | jq .ci)
+          #if [ -n "${{ inputs.ci-depends-on }}" ] && [ "$ci_ci_depends_on" != "null" ]; then
+          #    echo "ci-depends-on for ci repository detected."
+          #    ci_repo_url=$(echo "${{ inputs.ci-depends-on }}" | jq .ci.repo_url)
+          #    ci_branch=$(echo "${{ inputs.ci-depends-on }}" | jq .ci.branch_name)
+          #fi
+          ### TO UNCOMMENT ###
+
+          echo "CI_BRANCH=$ci_branch" >> $GITHUB_ENV
+
+
+          echo "Cloning CI from remote ${ci_repo_url}, selecting branch ${ci_branch}"
+
+          CI_DIR=$WORKSPACE/ci
+          echo "CI_DIR=$CI_DIR" >> $GITHUB_ENV
+
+          git clone -b ${ci_branch//\"} --single-branch ${ci_repo_url//\"}
+
+
+
+          ## Clone Regression and use ci-depends-on structure
+          regression_branch=${{ inputs.sofa-branch-name }}
+          regression_repo_url="https://www.github.com/sofa-framework/Regression"
+
+
+          # check if ci has a ci-depends-on
+          regression_ci_depends_on=$(echo "${{ inputs.ci-depends-on }}" | jq .Regression)
+          if [ -n "${{ inputs.ci-depends-on }}" ] && [ "$regression_ci_depends_on" != "null" ]; then
+              echo "ci-depends-on for Regression repository detected."
+              regression_repo_url=$(echo "${{ inputs.ci-depends-on }}" | jq .Regression.repo_url)
+              regression_branch=$(echo "${{ inputs.ci-depends-on }}" | jq .Regression.branch_name)
+          fi
+          echo "REGRESSION_BRANCH=$regression_branch" >> $GITHUB_ENV
+
+
+          echo "Cloning Regression from remote ${regression_repo_url}, selecting branch ${regression_branch}"
+
+          REGRESSION_DIR=$WORKSPACE/Regression
+          echo "REGRESSION_DIR=$REGRESSION_DIR" >> $GITHUB_ENV
+
+          git clone -b ${regression_branch//\"} --single-branch ${regression_repo_url//\"}
+
+
+          cd $WORKSPACE
+
+          ## Setup build folder
+          mkdir $WORKSPACE/build
+
+          SOFA_BUILD_DIR=$WORKSPACE/build
+          echo "SOFA_BUILD_DIR=$SOFA_BUILD_DIR" >> $GITHUB_ENV
+          SOFA_INSTALL_PREFIX=$WORKSPACE/install
+          echo "SOFA_INSTALL_PREFIX=$SOFA_INSTALL_PREFIX" >> $GITHUB_ENV
+
+          if [ -n "${{ inputs.external-plugins }}" ]; then
+              echo "Setting up external plugins."
+              for plugin in ${{ inputs.external-plugins }}; do
+                  plugin_base=${plugin%@*}
+                  plugin_branch=${plugin##*@}
+                  plugin_repo=$(basename "$plugin_base")
+
+                  echo "Adding line 'sofa_add_external(plugin $plugin_repo GIT_REF $plugin_branch GIT_REPOSITORY $plugin_base ON)' to file ${SRC_DIR}/applications/CMakeLists.txt"
+                  echo "sofa_add_external(plugin $plugin_repo GIT_REF $plugin_branch GIT_REPOSITORY $plugin_base ON)" >> "${SRC_DIR}/applications/CMakeLists.txt"
+              done
+          fi
+
 
       - uses: prefix-dev/setup-pixi@v0.8.10
         with:
           cache: false
-          environments: ${{ matrix.environment }}
+          manifest-path: sofa/pixi.toml
+          environments: ${{ inputs.preset }}
 
       - name: Build SOFA [MacOS/Linux/Windows]
+        id: build-step
         shell: bash -el {0}
         env:
           SOFA_BUILD_TYPE: ${{ matrix.build_type }}
         run: |
-          pixi run -e ${{ matrix.environment }} configure -DCMAKE_CUDA_ARCHITECTURES="75;89;120"
-          pixi run -e ${{ matrix.environment }} build
+          cd ${SRC_DIR}
 
-      - name: Testing - Run SOFA in batch mode [MacOS/Linux/Windows]
-        shell: bash -el {0}
-        env:
-          SOFA_BUILD_TYPE: ${{ matrix.build_type }}
+
+          ## Deal with ci-depends-on
+          # Loop over each key-value pair in the JSON avoiding ci repository if inside
+          CMAKE_OPTIONS="${{inputs.additionnal-cmake-flags}}"
+          for key in $(echo "${{ inputs.ci-depends-on }}" | jq -r 'keys[]' | grep -v '^ci$'); do
+
+            repo_url=$(echo "${{ inputs.ci-depends-on }}" | jq -r ".\"$key\".repo_url")
+            branch_name=$(echo "${{ inputs.ci-depends-on }}" | jq -r ".\"$key\".branch_name")
+
+            # Format the CMake flags for this key and append to the result
+            fixed_name=$(echo "$key" |  awk '{gsub(/\./, "_"); print toupper($0)}')
+            flag_repository="-D${fixed_name}_GIT_REPOSITORY=\"$repo_url\""
+            flag_tag="-D${fixed_name}_GIT_TAG=\"$branch_name\""
+
+            # Append both flags to the result string with a space
+            CMAKE_OPTIONS="$CMAKE_OPTIONS $flag_repository $flag_tag "
+          done
+
+          if [[ ! -n "$CMAKE_OPTIONS" ]]; then
+              echo "No ci-depends-on detected."
+          else
+              echo "Adding the following cmake variable : $CMAKE_OPTIONS"
+          fi
+
+          ## Run build step
+          pixi run -e ${{ inputs.preset }} configure $CMAKE_OPTIONS
+          pixi run -e ${{ inputs.preset }} build
+
+      - name: Setup env for tests
+        shell: bash
+        if: always() && runner.os == 'Windows'
+        run: |
+          cd ${SRC_DIR}
+
+          echo "Adding runtime related dependencies"
+          pixi add $(cat ${CI_DIR}/docker/python_extra_dependencies.txt)
+          pixi install -e ${{ inputs.preset }}
+
+          echo "Refactoring environement variables to jump into powershell"
+          PIXI_PREFIX="$(pwd -W)/.pixi/envs/${{ inputs.preset }}/"
+          echo "VM_PYTHON3_EXECUTABLE=$PIXI_PREFIX/python.exe" >> $GITHUB_ENV
+          echo "PIXI_PREFIX=$PIXI_PREFIX" >> $GITHUB_ENV
+
+          . ${CI_DIR}/scripts/setup-test-env.sh ${SOFA_BUILD_DIR} ${CI_DIR}/scripts default none
+
+
+          echo "BUILD_DIR=$(cd "$SOFA_BUILD_DIR" && pwd -W)" >> $GITHUB_ENV
+          echo "SRC_DIR=$(cd "$SRC_DIR" && pwd -W)" >> $GITHUB_ENV
+          echo "CI_DIR=$(cd "$CI_DIR" && pwd -W)" >> $GITHUB_ENV
+          echo "REGRESSION_DIR=$(cd "$REGRESSION_DIR" && pwd -W)" >> $GITHUB_ENV
+          echo "PYTHONPATH=$PYTHONPATH" >> $GITHUB_ENV
+          echo "SOFA_ROOT=$SOFA_ROOT" >> $GITHUB_ENV
+          echo "RESULTS_DIR=$RESULTS_DIR" >> $GITHUB_ENV
+          echo "VM_MAX_PARALLEL_TESTS=$VM_MAX_PARALLEL_TESTS" >> $GITHUB_ENV
+
+
+          if [[ "$RUNNER_OS" == "Windows" ]]; then
+              #Activating pixi env in a git-bash terminal is broken, here we just want to consume it.
+
+              echo "PIXI_PREFIX=$PIXI_PREFIX" >> $GITHUB_ENV
+
+              echo "$PIXI_PREFIX" >> $GITHUB_PATH
+              echo "$PIXI_PREFIX/bin" >> $GITHUB_PATH
+              echo "$PIXI_PREFIX/Library/bin" >> $GITHUB_PATH
+              echo "$PIXI_PREFIX/Scripts" >> $GITHUB_PATH
+              echo "$PIXI_PREFIX/Library/mingw-w64/bin" >> $GITHUB_PATH
+              echo "$PIXI_PREFIX/Library/usr/bin" >> $GITHUB_PATH
+              echo "$PIXI_PREFIX/sofa-build/bin/" >> $GITHUB_PATH
+          fi
+
+          exit 0
+
+      - name: Unit tests
+        id: unit-tests-step
+        if: always() && runner.os == 'Windows' && steps.build-step.outcome == 'success' && inputs.generate-binaries == false
+        shell: pwsh
+        run: |
+          Set-Location $env:SRC_DIR
+
+          $UnitResultsDir = Join-Path $env:BUILD_DIR "tests_results\unit"
+          $env:UNIT_RESULTS_DIR = $UnitResultsDir   # in case the script or child processes need it
+
+          # Activate the environment in the terminal
+          pixi shell-hook --shell powershell -e ${{ inputs.preset }} | Out-String | Invoke-Expression
+
+          python "$env:CI_DIR\scripts\tests\sofa_unit_tests.py" `
+            --build-dir "$env:BUILD_DIR" `
+            --results-dir "$UnitResultsDir" `
+            -j $env:VM_MAX_PARALLEL_TESTS
+
+          if (-not (Test-Path "$UnitResultsDir\*summary*")) { exit 1 }
+
+          $crashes  = $null
+          $failures = $null
+          foreach ($line in Get-Content "$UnitResultsDir\summary.txt") {
+            $key, $value = $line -split '=', 2
+            switch ($key) {
+              'crashes'  { $crashes  = $value }
+              'failures' { $failures = $value }
+            }
+          }
+
+          if ($crashes  -ne '0') { exit 1 }
+          if ($failures -ne '0') { exit 1 }
+
+      - name: Scene tests
+        id: scene-tests-step
+        if: always() && runner.os == 'Windows' && steps.build-step.outcome == 'success' && inputs.generate-binaries == false && inputs.with-all-tests == true
+        shell: pwsh
+        run: |
+          Set-Location $env:SRC_DIR
+
+          $SceneResultsDir = Join-Path $env:BUILD_DIR "tests_results\scene"
+          $env:SCENE_RESULTS_DIR = $SceneResultsDir   # in case the script or child processes need it
+
+          # Activate the environment in the terminal
+          pixi shell-hook --shell powershell -e ${{ inputs.preset }} | Out-String | Invoke-Expression
+
+          python "$env:CI_DIR\scripts\tests\sofa_scene_tests.py" `
+            --src-dir "$env:SRC_DIR" `
+            --build-dir "$env:BUILD_DIR" `
+            --results-dir "$SceneResultsDir" `
+            -j $env:VM_MAX_PARALLEL_TESTS
+
+          if (-not (Test-Path "$SceneResultsDir\*summary*")) { exit 1 }
+
+          $crashes  = $null
+          $failures = $null
+          foreach ($line in Get-Content "$SceneResultsDir\summary.txt") {
+            $key, $value = $line -split '=', 2
+            switch ($key) {
+              'crashes'  { $crashes  = $value }
+              'failures' { $failures = $value }
+            }
+          }
+
+          if ($crashes  -ne '0') { exit 1 }
+          if ($failures -ne '0') { exit 1 }
+
+      - name: Regression tests
+        id: regression-tests-step
+        if: always() && runner.os == 'Windows' && steps.build-step.outcome == 'success' && inputs.generate-binaries == false && inputs.with-all-tests == true
+        shell: pwsh
         run: |
-          pixi run -e ${{ matrix.environment }} runSofa -g batch
+          Set-Location $env:SRC_DIR
+
+          $RegResultsDir = Join-Path $env:BUILD_DIR "tests_results\regression"
+          $env:REG_RESULTS_DIR = $RegResultsDir   # in case the script or child processes need it
+
+          # Activate the environment in the terminal
+          pixi shell-hook --shell powershell -e ${{ inputs.preset }} | Out-String | Invoke-Expression
+
+          python "$env:REGRESSION_DIR\SofaRegressionProgram\SofaRegressionProgram.py" `
+            --input "$env:SRC_DIR/examples" `
+            --input "$env:SRC_DIR\applications" `
+            --input "$env:BUILD_DIR\external_directories\fetched" `
+            --output-logs-errors "$RegResultsDir" `
+            --legacy-regression `
+            --verbose 2 `
+            -j $env:VM_MAX_PARALLEL_TESTS
+
+          if (-not (Test-Path "$RegResultsDir\*summary*")) { exit 1 }
+
+          $crashes  = $null
+          $failures = $null
+          foreach ($line in Get-Content "$RegResultsDir\summary.txt") {
+            $key, $value = $line -split '=', 2
+            switch ($key) {
+              'crashes'  { $crashes  = $value }
+              'failures' { $failures = $value }
+            }
+          }
+
+          if ($crashes  -ne '0') { exit 1 }
+          if ($failures -ne '0') { exit 1 }
+
+
+      - name: Publish artifacts
+        if: always() && steps.build-step.outcome == 'success' && inputs.generate-binaries == true
+        uses: actions/upload-artifact@v4
+        with:
+          name: binaries_${{ matrix.os }}
+          path: |
+            ${{ env.SOFA_BUILD_DIR }}/SOFA_v*
+
+
+      - name: Publish tests logs
+        id: publish-tests-logs
+        if: always() && runner.os == 'Windows'
+        uses: actions/upload-artifact@v4
+        with:
+          name: tests-logs_${{ matrix.os }}
+          path: |
+            ${{ env.SOFA_BUILD_DIR }}/tests_results/
+
+
+      - name: Configure python for display
+        if: always() && runner.os == 'Windows'
+        shell: bash
+        run: |
+          python3 -m pip install prettytable
+
+      - name: Summarize results
+        if: always() && runner.os == 'Windows'
+        shell: bash
+        run: |
+
+          bold="\033[1m"
+          normal="\033[0m"
+          if [[ "${{ steps.clone.outcome }}" == "failure" ]]; then
+            echo "❌ Something whent wrong during the clone steps..."
+            echo -e "${bold}Please check those actions logs${normal}"
+            exit 1
+          else
+            echo "✅ Setup OK."
+          fi
+
+          if [[ "${{ steps.build-step.outcome }}" == "failure" ]]; then
+            echo "❌ Build step failed"
+            echo -e "${bold}Please check those actions logs${normal}"
+            exit 1
+          else
+            echo "✅ Build OK."
+          fi
+
+          if [[ "${{ inputs.generate-binaries }}" == "false" ]]; then
+            if [[ "$(cd "${{ env.SOFA_BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" != "" ]]; then
+              echo "❌ Tests have resulted in : "
+              echo ""
+              python3 ${{ env.CI_DIR }}/scripts/generate-tests-table.py "${{ env.SOFA_BUILD_DIR }}/tests_results/"
+              echo ""
+              echo "#----------------------------------------#"
+              echo "#---------------Quick Logs---------------#"
+              echo "#----------------------------------------#"
+              for testType in 'unit' 'scene' 'regression';
+                do
+                  for errorType in 'errors' 'crashes' 'failures';
+                  do
+                    if [ -f "${{ env.SOFA_BUILD_DIR }}/tests_results/${testType}-tests_${errorType}" ]; then
+                      capitalized="$(echo "${testType:0:1}" | tr '[:lower:]' '[:upper:]')${testType:1}"
+                      echo ""
+                      echo -e "${bold}${capitalized} ${errorType}:${normal}"
+                      echo ""
+                      cat "${{ env.SOFA_BUILD_DIR }}/tests_results/${testType}-tests_${errorType}"
+                      echo ""
+                      echo "#----------------------------------------#"
+                    fi
+                  done
+                done
+              echo -e "${bold}You can download all logs here : ${{ steps.publish-tests-logs.outputs.artifact-url }}${normal}"
+              exit 1
+            elif [[ "${{ steps.unit-tests-step.outcome }}" == "failure" || "${{ steps.scene-tests-step.outcome }}" == "failure" || "${{ steps.regression-tests-step.outcome }}" == "failure" ]]; then
+              echo "❌ Something whent wrong during one of the tests steps"
+              echo -e "${bold}Please check this action logs, and download tests logs here: ${{ steps.publish-tests-logs.outputs.artifact-url }}${normal}"
+              exit 1
+            else
+              echo "✅ Tests where successful : "
+              echo ""
+              python3 ${{ env.CI_DIR }}/scripts/generate-tests-table.py "${{ env.SOFA_BUILD_DIR }}/tests_results/"
+              echo ""
+            fi
+          fi
diff --git a/.github/workflows/CI_trigger_build_and_tests.yml b/.github/workflows/CI_trigger_build_and_tests.yml
index da2efb038be..ebb9a7c2a03 100644
--- a/.github/workflows/CI_trigger_build_and_tests.yml
+++ b/.github/workflows/CI_trigger_build_and_tests.yml
@@ -28,10 +28,10 @@ on:
       preset:
         type: choice
         description: Which preset to use for compilation
-        options: 
+        options:
         - standard
         - supported-plugins
-        - full 
+        - full
         - standard-dev
         - supported-plugins-dev
         - full-dev
@@ -39,16 +39,20 @@ on:
       builder-os:
         type: choice
         description: On which OS run the binaries generation
-        options: 
-        - '["sh-ubuntu_gcc_release"]'
-        - '["sh-macos_clang_release"]'
-        - '["sh-ubuntu_gcc_release","sh-macos_clang_release"]'
-        default: '["sh-ubuntu_gcc_release","sh-macos_clang_release"]'
-    
+        options:
+        - '["ubuntu"]'
+        - '["macos"]'
+        - '["windows"]'
+        - '["ubuntu","macos"]'
+        - '["ubuntu","windows"]'
+        - '["macos","windows"]'
+        - '["ubuntu","macos","windows"]'
+        default: '["ubuntu","macos","windows"]'
+
   # PR-related build (open, labels, push)
   pull_request:
     types: [opened, synchronize]
-    
+
   # CI for dashboard master
   push:
     branches:
@@ -78,8 +82,9 @@ jobs:
       PR_OWNER_URL: ${{ steps.export-vars.outputs.PR_OWNER_URL }}
       PR_BRANCH_NAME: ${{ steps.export-vars.outputs.PR_BRANCH_NAME }}
       PR_COMMIT_SHA: ${{ steps.export-vars.outputs.PR_COMMIT_SHA }}
-      BUILDER_OS: ${{ steps.export-vars.outputs.BUILDER_OS }}
-      
+      SH_BUILDER_OS: ${{ steps.export-vars.outputs.SH_BUILDER_OS }}
+      PIXI_BUILDER_OS: ${{ steps.export-vars.outputs.PIXI_BUILDER_OS }}
+
     steps:
       - name: Default values of environment variables
         run: |
@@ -96,8 +101,9 @@ jobs:
           echo "PR_OWNER_URL=" >> $GITHUB_ENV              # PR_OWNER_URL: ""
           echo "PR_BRANCH_NAME=" >> $GITHUB_ENV            # PR_BRANCH_NAME: ""
           echo "PR_COMMIT_SHA=HEAD" >> $GITHUB_ENV         # PR_COMMIT_SHA: "HEAD"
-          echo 'BUILDER_OS=["sh-ubuntu_gcc_release"]' >> $GITHUB_ENV            # BUILDER_OS: ["sh-ubuntu_gcc_release"]
-          
+          echo 'SH_BUILDER_OS=["sh-ubuntu_gcc_release","sh-macos_clang_release"]' >> $GITHUB_ENV            # BUILDER_OS: ubuntu and maco
+          echo 'PIXI_BUILDER_OS=["windows-latest"]' >> $GITHUB_ENV            # BUILDER_OS: windows
+
       - name: Run on dispatch
         if: ${{ github.event_name == 'workflow_dispatch' }}
         run: |
@@ -122,7 +128,7 @@ jobs:
             fi
           fi
           echo "Python version $PYTHON is valid."
-          
+
           # Save all information in environment variables
           echo "SOFA_BRANCH_NAME=${{ github.event.inputs.branch }}" >> $GITHUB_ENV
           echo "SOFA_COMMIT_SHA=HEAD" >> $GITHUB_ENV
@@ -134,6 +140,21 @@ jobs:
           echo "EXTERNAL_PLUGINS=${{ inputs.external-plugins }}" >> $GITHUB_ENV
           echo "ADDITIONNAL_CMAKE_FLAGS=${{ inputs.additionnal-cmake-flags }}" >> $GITHUB_ENV
 
+          if [[ "${{ inputs.builder-os}}" == *"windows"* ]]; then
+              echo 'PIXI_BUILDER_OS=["windows-latest"]' >> $GITHUB_ENV
+          else
+              echo 'PIXI_BUILDER_OS=[]' >> $GITHUB_ENV
+          fi
+
+          if [[ "${{ inputs.builder-os}}" == *"ubuntu"* && "${{ inputs.builder-os}}" == *"macos"*]]; then
+              echo 'SH_BUILDER_OS=["sh-ubuntu_gcc_release","sh-macos_clang_release"]' >> $GITHUB_ENV
+          elif [[ "${{ inputs.builder-os}}" == *"ubuntu"* ]]; then
+              echo 'SH_BUILDER_OS=["sh-ubuntu_gcc_release"]' >> $GITHUB_ENV
+          elif [[ "${{ inputs.builder-os}}" == *"macos"* ]]; then
+              echo 'SH_BUILDER_OS=["sh-macos_clang_release"]' >> $GITHUB_ENV
+          else
+              echo 'SH_BUILDER_OS=[]' >> $GITHUB_ENV
+          fi
 
       - name: Set up python
         uses: actions/setup-python@v5
@@ -148,8 +169,8 @@ jobs:
       - name: Check out code
         uses: actions/checkout@v5
         with:
-          repository: sofa-framework/ci
-          ref: master
+          repository: bakpaul/ci
+          ref: 26_09_final_jenkins_2_github_migration
           path: ./ci
 
       - name: Check push on master case (e.g. merge)
@@ -159,7 +180,8 @@ jobs:
           echo "SOFA_COMMIT_SHA=${{ github.sha }}">> $GITHUB_ENV
           echo "WITH_ALL_TESTS=true" >> $GITHUB_ENV
           echo "FORCE_FULL_BUILD=true" >> $GITHUB_ENV
-          echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-ubuntu_clang_release","sh-ubuntu_clang_debug","sh-fedora_clang_release","sh-macos_clang_release"]' >> $GITHUB_ENV
+          echo 'SH_BUILDER_OS=["sh-ubuntu_gcc_release","sh-ubuntu_clang_release","sh-ubuntu_clang_debug","sh-fedora_clang_release","sh-macos_clang_release"]' >> $GITHUB_ENV
+          echo 'PIXI_BUILDER_OS=["ubuntu-latest", "macos-latest", "macos-15-intel", "windows-latest"]' >> $GITHUB_ENV
 
       - name: Run when PR is opened or a commit is pushed in a PR
         if: ${{ github.event_name == 'pull_request' }}
@@ -170,11 +192,11 @@ jobs:
           PR_COMMIT_SHA: ${{ github.event.pull_request.head.sha }}
         run: |
           echo "This step runs only when a PR is opened or synchronized."
-          
+
           # Trigger the Build action
           # Warning ! This script also changes ENV variables
           python ci/scripts/checkPRInfoBeforeBuild.py
-  
+
       - name: Export environment variables as outputs
         id: export-vars
         run: |
@@ -184,7 +206,7 @@ jobs:
             echo "Branch name should be either master or any release branch (e.g., v25.06)"
             exit 1
           fi
-          
+
           echo "SOFA_BRANCH_NAME=${SOFA_BRANCH_NAME}" >> $GITHUB_OUTPUT
           echo "SOFA_COMMIT_SHA=${SOFA_COMMIT_SHA}" >> $GITHUB_OUTPUT
           echo "PRESET=${PRESET}" >> $GITHUB_OUTPUT
@@ -192,13 +214,14 @@ jobs:
           echo "CI_DEPENDS_ON=${CI_DEPENDS_ON}" >> $GITHUB_OUTPUT
           echo "WITH_ALL_TESTS=${WITH_ALL_TESTS}" >> $GITHUB_OUTPUT
           echo "FORCE_FULL_BUILD=${FORCE_FULL_BUILD}" >> $GITHUB_OUTPUT
-          echo "EXTERNAL_PLUGINS=${EXTERNAL_PLUGINS}" >> $GITHUB_OUTPUT 
-          echo "ADDITIONNAL_CMAKE_FLAGS=${ADDITIONNAL_CMAKE_FLAGS}" >> $GITHUB_OUTPUT 
+          echo "EXTERNAL_PLUGINS=${EXTERNAL_PLUGINS}" >> $GITHUB_OUTPUT
+          echo "ADDITIONNAL_CMAKE_FLAGS=${ADDITIONNAL_CMAKE_FLAGS}" >> $GITHUB_OUTPUT
           echo "GENERATE_BINARIES=${GENERATE_BINARIES}" >> $GITHUB_OUTPUT
           echo "PR_OWNER_URL=${PR_OWNER_URL}" >> $GITHUB_OUTPUT
           echo "PR_BRANCH_NAME=${PR_BRANCH_NAME}" >> $GITHUB_OUTPUT
           echo "PR_COMMIT_SHA=${PR_COMMIT_SHA}" >> $GITHUB_OUTPUT
-          echo "BUILDER_OS=${BUILDER_OS}" >> $GITHUB_OUTPUT
+          echo "SH_BUILDER_OS=${SH_BUILDER_OS}" >> $GITHUB_OUTPUT
+          echo "PIXI_BUILDER_OS=${PIXI_BUILDER_OS}" >> $GITHUB_OUTPUT
 
 
   # ===============================================================
@@ -207,7 +230,7 @@ jobs:
   # Trigger the build and sharing all parameters from filter_build > outputs
   build-on:
     needs: filter_build
-    if: ${{ github.repository_owner == 'sofa-framework' }}
+    if: ${{ github.repository_owner == 'sofa-framework' && needs.filter_build.outputs.SH_BUILDER_OS != '[]' }}
     uses: sofa-framework/sofa/.github/workflows/CI_build_and_test.yml@master
     with:
       sofa-branch-name: ${{ needs.filter_build.outputs.SOFA_BRANCH_NAME }}
@@ -223,4 +246,25 @@ jobs:
       pr-owner-url: ${{ needs.filter_build.outputs.PR_OWNER_URL }}
       pr-branch-name: ${{ needs.filter_build.outputs.PR_BRANCH_NAME }}
       pr-commit-sha: ${{ needs.filter_build.outputs.PR_COMMIT_SHA }}
-      builder-os: ${{ needs.filter_build.outputs.BUILDER_OS }}
+      builder-os: ${{ needs.filter_build.outputs.SH_BUILDER_OS }}
+
+  # Trigger the build and sharing all parameters from filter_build > outputs
+  pixi-ci:
+    needs: filter_build
+    if: ${{ github.repository_owner == 'sofa-framework' && needs.filter_build.outputs.PIXI_BUILDER_OS != '[]' }}
+    uses: bakpaul/sofa/.github/workflows/CI_macos_linux_windows_pixi.yml@26_09_update_ci_with_new_test_scripts_and_pixi_based_ci_for_windows
+    with:
+      sofa-branch-name: ${{ needs.filter_build.outputs.SOFA_BRANCH_NAME }}
+      sofa-commit-sha: ${{ needs.filter_build.outputs.SOFA_COMMIT_SHA }}
+      preset: ${{ needs.filter_build.outputs.PRESET }}
+      python-version: ${{ needs.filter_build.outputs.PYTHON_VERSION }}
+      ci-depends-on: ${{ needs.filter_build.outputs.CI_DEPENDS_ON }}
+      with-all-tests: ${{ needs.filter_build.outputs.WITH_ALL_TESTS == 'true'}}
+      force-full-build: ${{ needs.filter_build.outputs.FORCE_FULL_BUILD == 'true'}}
+      external-plugins: ${{ needs.filter_build.outputs.EXTERNAL_PLUGINS }}
+      additionnal-cmake-flags: ${{ needs.filter_build.outputs.ADDITIONNAL_CMAKE_FLAGS }}
+      generate-binaries: ${{ needs.filter_build.outputs.GENERATE_BINARIES == 'true'}}
+      pr-owner-url: ${{ needs.filter_build.outputs.PR_OWNER_URL }}
+      pr-branch-name: ${{ needs.filter_build.outputs.PR_BRANCH_NAME }}
+      pr-commit-sha: ${{ needs.filter_build.outputs.PR_COMMIT_SHA }}
+      builder-os: ${{ needs.filter_build.outputs.PIXI_BUILDER_OS }}
diff --git a/applications/plugins/SofaCUDA/examples/.scene-tests b/applications/plugins/SofaCUDA/examples/.scene-tests
index f40de927183..cb5fb7f685f 100644
--- a/applications/plugins/SofaCUDA/examples/.scene-tests
+++ b/applications/plugins/SofaCUDA/examples/.scene-tests
@@ -35,18 +35,18 @@ ignore "TetrahedronFEM_with_SpringForceField.scn"
 
 ignore "CudaCorotationalFEMForceField.scn"
 ignore "CudaLinearSmallStrainFEMForceField.scn"
-ignore "CudaCorotationalFEMForceField_hexa.scn"
-ignore "CudaCorotationalFEMForceField_quad.scn"
-ignore "CudaCorotationalFEMForceField_tetra.scn"
-ignore "CudaCorotationalFEMForceField_triangle.scn"
-ignore "CudaCorotationalFEMForceField_prism.scn"
-ignore "CudaCorotationalFEMForceField_pyramid.scn"
-ignore "CudaLinearSmallStrainFEMForceField_hexa.scn"
-ignore "CudaLinearSmallStrainFEMForceField_quad.scn"
-ignore "CudaLinearSmallStrainFEMForceField_tetra.scn"
-ignore "CudaLinearSmallStrainFEMForceField_triangle.scn"
-ignore "CudaLinearSmallStrainFEMForceField_prism.scn"
-ignore "CudaLinearSmallStrainFEMForceField_pyramid.scn"
-ignore "CorotationalFEMForceField_tetra_cpu_gpu.scn"
-ignore "Tetrahedron_corotational.py"
-ignore "Hexahedron_corotational.py"
+ignore "ElementFEMForcefield/CudaCorotationalFEMForceField_hexa.scn"
+ignore "ElementFEMForcefield/CudaCorotationalFEMForceField_quad.scn"
+ignore "ElementFEMForcefield/CudaCorotationalFEMForceField_tetra.scn"
+ignore "ElementFEMForcefield/CudaCorotationalFEMForceField_triangle.scn"
+ignore "ElementFEMForcefield/CudaCorotationalFEMForceField_prism.scn"
+ignore "ElementFEMForcefield/CudaCorotationalFEMForceField_pyramid.scn"
+ignore "ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_hexa.scn"
+ignore "ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_quad.scn"
+ignore "ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_tetra.scn"
+ignore "ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_triangle.scn"
+ignore "ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_prism.scn"
+ignore "ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_pyramid.scn"
+ignore "ElementFEMForcefield/cpu-gpu_validation/CorotationalFEMForceField_tetra_cpu_gpu.scn"
+ignore "ElementFEMForcefield/benchmarks/Tetrahedron_corotational.py"
+ignore "ElementFEMForcefield/benchmarks/Hexahedron_corotational.py"
diff --git a/development/scripts/pixi/activation.bat b/development/scripts/pixi/activation.bat
index 581e19f9dbb..1b0c3ae7748 100644
--- a/development/scripts/pixi/activation.bat
+++ b/development/scripts/pixi/activation.bat
@@ -7,7 +7,7 @@ set CMAKE_EXPORT_COMPILE_COMMANDS=1
 set CMAKE_COLOR_DIAGNOSTICS=1
 
 :: Each environment have its dedicated build dir
-set SOFA_BUILD_DIR=%CONDA_PREFIX%\sofa-build
+if not defined SOFA_BUILD_DIR (set SOFA_BUILD_DIR=%CONDA_PREFIX%\sofa-build)
 
 :: Set default build value only if not previously set
 if not defined SOFA_CMAKE_PREFIX_PATH (set SOFA_CMAKE_PREFIX_PATH=%CONDA_PREFIX%)
diff --git a/development/scripts/pixi/activation.sh b/development/scripts/pixi/activation.sh
index 7006e4ea364..059d3b3580e 100644
--- a/development/scripts/pixi/activation.sh
+++ b/development/scripts/pixi/activation.sh
@@ -10,7 +10,13 @@ export CMAKE_COLOR_DIAGNOSTICS=1
 # Set default build value only if not previously set
 export CMAKE_PREFIX_PATH=$CONDA_PREFIX
 # Each environment have its dedicated build dir
-export SOFA_BUILD_DIR=$CONDA_PREFIX/sofa-build
+if [[ -z "$SOFA_BUILD_DIR" ]]; then
+    export SOFA_BUILD_DIR=$CONDA_PREFIX/sofa-build
+fi
+if [[ -z "$SOFA_INSTALL_PREFIX" ]]; then
+    export SOFA_INSTALL_PREFIX=$CONDA_PREFIX/
+fi
+
 export SOFA_BUILD_TYPE=${SOFA_BUILD_TYPE:=Release}
 export SOFA_PYTHON_EXECUTABLE=${SOFA_PYTHON_EXECUTABLE:=$CONDA_PREFIX/bin/python}
 export SOFA_BUILD_RELEASE_PACKAGE_WITH_PIXI=0
diff --git a/examples/.scene-tests b/examples/.scene-tests
index 7578544b692..ce795d51776 100644
--- a/examples/.scene-tests
+++ b/examples/.scene-tests
@@ -50,3 +50,6 @@ ignore "Benchmark/Performance/Bar16-fem-implicit-CudaVec3f.py"
 ignore "Benchmark/Performance/Bar16-spring-rk4-CudaVec3d.py"
 ignore "Benchmark/Performance/Bar16-spring-rk4-CudaVec3f.py"
 
+
+# Crash on windows
+ignore "Component/Constraint/Lagrangian/PrecomputedConstraintCorrection.scn"