From 42191affbb0ca4f4aef950ac74dbd73a8f9fd9f3 Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Wed, 23 Sep 2026 10:18:23 +0200
Subject: [PATCH 01/26] Clone Regression

---
 .github/workflows/CI_build_and_test.yml | 79 ++++++++++++++++---------
 1 file changed, 51 insertions(+), 28 deletions(-)

diff --git a/.github/workflows/CI_build_and_test.yml b/.github/workflows/CI_build_and_test.yml
index 39174cd246e..afdba103373 100644
--- a/.github/workflows/CI_build_and_test.yml
+++ b/.github/workflows/CI_build_and_test.yml
@@ -77,7 +77,7 @@ jobs:
             echo "additionnal-cmake-flags : ${{ inputs.additionnal-cmake-flags }}"
             echo "builder-os : ${{ inputs.builder-os }}"
 
-            
+
   build:
     strategy:
       fail-fast: false
@@ -120,7 +120,7 @@ jobs:
                     echo "WARNING: cannot setup git config"
             fi
 
-      - name: Clone SOFA and CI
+      - name: Clone SOFA, CI and Regression
         id: clone
         shell: bash
         run: |
@@ -134,7 +134,7 @@ jobs:
           ## Clone sofa and merge origin master
           echo "Cloning SOFA at commit $GITHUB_WORKFLOW_SHA"
           if [ -d  $WORKSPACE/sofa ]; then
-              rm -rf $WORKSPACE/sofa 
+              rm -rf $WORKSPACE/sofa
           fi
           SRC_DIR=$(pwd)/sofa
           echo "SRC_DIR=$SRC_DIR" >> $GITHUB_ENV
@@ -144,8 +144,8 @@ jobs:
               git clone -b ${{ inputs.sofa-branch-name }} --single-branch https://www.github.com/sofa-framework/sofa
               cd sofa
               git remote add pr ${{ inputs.pr-owner-url }}
-              git fetch pr 
-              
+              git fetch pr
+
               if [ "${{ inputs.pr-commit-sha }}" == "HEAD" ]; then
                   git merge ${{ inputs.pr-branch-name }}
               else
@@ -153,19 +153,19 @@ jobs:
               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 
+              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 $WORKSPACE
- 
+
           ## Clone CI and use ci-depends-on structure
           ci_branch=${{ inputs.sofa-branch-name }}
           ci_repo_url="https://www.github.com/sofa-framework/ci"
-           
 
-          # check if ci has a ci-depends-on 
+
+          # 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."
@@ -176,7 +176,7 @@ jobs:
 
 
           echo "Cloning CI from remote ${ci_repo_url}, selecting branch ${ci_branch}"
-          
+
           if [ -d  $WORKSPACE/ci ]; then
               rm -rf $WORKSPACE/ci
           fi
@@ -187,6 +187,33 @@ jobs:
 
           cd $WORKSPACE
 
+          ## 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}"
+
+          if [ -d  $WORKSPACE/Regression ]; then
+              rm -rf $WORKSPACE/Regression
+          fi
+          REGRESSION_DIR=$WORKSPACE/Regression
+          echo "REGRESSION_DIR=$REGRESSION_DIR" >> $GITHUB_ENV
+
+          git clone -b ${regression_branch//\"} --single-branch ${regression_repo_url//\"}
+
+          cd $WORKSPACE
+
           ## Setup build folder
           if [ "${{ inputs.force-full-build }}" == "true" ] && [ -d  $WORKSPACE/build ]; then
               rm -rf $WORKSPACE/build
@@ -211,7 +238,7 @@ jobs:
           fi
 
           ## Cleaning old tests results of they exists
-          if [ -d "${{ env.BUILD_DIR }}/tests_results/" ]; then 
+          if [ -d "${{ env.BUILD_DIR }}/tests_results/" ]; then
               echo "Cleaning old test results folder."
               rm -rf "${{ env.BUILD_DIR }}/tests_results/"
           fi
@@ -267,7 +294,7 @@ jobs:
           echo ""                                                       | tee -a "${{ env.LOG_DIR }}/cmake-output.txt"
           echo "Configuration:"                                         | tee -a "${{ env.LOG_DIR }}/cmake-output.txt"
           echo " - NODE_NAME = $NODE_NAME"                              | tee -a "${{ env.LOG_DIR }}/cmake-output.txt"
-          echo " - BUILD_TYPE = $BUILD_TYPE"                            | tee -a "${{ env.LOG_DIR }}/cmake-output.txt" 
+          echo " - BUILD_TYPE = $BUILD_TYPE"                            | tee -a "${{ env.LOG_DIR }}/cmake-output.txt"
           echo " - CONFIG = $CONFIG"                                    | tee -a "${{ env.LOG_DIR }}/cmake-output.txt"
           echo " - PYTHON_VERSION = ${{ inputs.python-version }}"       | tee -a "${{ env.LOG_DIR }}/cmake-output.txt"
           echo " - PRESET = ${{ inputs.preset }}"                       | tee -a "${{ env.LOG_DIR }}/cmake-output.txt"
@@ -283,9 +310,9 @@ jobs:
                 default_tag=${{ inputs.sofa-branch-name }}
               else
                 default_tag=master
-              fi       
+              fi
 
-              echo "${DOCKERHUB_TOKEN}" | docker login -u sofaframework --password-stdin 
+              echo "${DOCKERHUB_TOKEN}" | docker login -u sofaframework --password-stdin
 
               echo "Pulling Docker image sofaframework/sofabuilder_${builder_type}:${CI_BRANCH} ..."
               docker pull --quiet sofaframework/sofabuilder_${builder_type}:${CI_BRANCH} || true
@@ -316,13 +343,13 @@ jobs:
               docker run --rm --env XDG_CACHE_HOME --env GH_TOKEN="$GH_TOKEN" -v $BUILDER_CACHE_DIR:/cache\
                   --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \
                   ${DOCKER_IMAGE} \
-                  /bin/bash -c "env; echo \"$GH_TOKEN\" > gh auth login --with-token; gh auth setup-git; gh auth status; cd /workspace; ccache -M 5; /bin/bash $DOCKER_CI_DIR/scripts/configure-and-build.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ $DOCKER_LOG_DIR \"${NODE_NAME}\" \"${BUILD_TYPE}\" \"${CONFIG}\" \"${{ inputs.python-version }}\" \"${{ inputs.preset }}\" \"${{ inputs.generate-binaries }}\" \"${CMAKE_OPTIONS}\""             
+                  /bin/bash -c "env; echo \"$GH_TOKEN\" > gh auth login --with-token; gh auth setup-git; gh auth status; cd /workspace; ccache -M 5; /bin/bash $DOCKER_CI_DIR/scripts/configure-and-build.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ $DOCKER_LOG_DIR \"${NODE_NAME}\" \"${BUILD_TYPE}\" \"${CONFIG}\" \"${{ inputs.python-version }}\" \"${{ inputs.preset }}\" \"${{ inputs.generate-binaries }}\" \"${CMAKE_OPTIONS}\""
           else
               echo "Launching configuration and build"
 
               bash ${CI_DIR}/scripts/configure-and-build.sh "${BUILD_DIR}" "${SRC_DIR}" "${CI_DIR}/scripts/" "${{ env.LOG_DIR }}" "${NODE_NAME}" "${BUILD_TYPE}" "${CONFIG}" "${{ inputs.python-version }}" "${{ inputs.preset }}" "${{ inputs.generate-binaries }}" "${CMAKE_OPTIONS}"
           fi
-        
+
 
       - name: Unit tests
         id: unit-tests-step
@@ -337,7 +364,7 @@ jobs:
               docker run --rm \
                   --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \
                   ${DOCKER_IMAGE} \
-                  /bin/bash -c "env ; cd /workspace; /bin/bash $DOCKER_CI_DIR/scripts/test.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ ${NODE_NAME} ${{ inputs.python-version }} UNIT"             
+                  /bin/bash -c "env ; cd /workspace; /bin/bash $DOCKER_CI_DIR/scripts/test.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ ${NODE_NAME} ${{ inputs.python-version }} UNIT"
           else
               echo "Launching unit test suite."
 
@@ -361,7 +388,7 @@ jobs:
               docker run --rm \
                   --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \
                   ${DOCKER_IMAGE} \
-                  /bin/bash -c "env ; cd /workspace; /bin/bash $DOCKER_CI_DIR/scripts/test.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ ${NODE_NAME} ${{ inputs.python-version }} SCENE"             
+                  /bin/bash -c "env ; cd /workspace; /bin/bash $DOCKER_CI_DIR/scripts/test.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ ${NODE_NAME} ${{ inputs.python-version }} SCENE"
           else
               echo "Launching scene test suite."
 
@@ -385,7 +412,7 @@ jobs:
               docker run --rm \
                   --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \
                   ${DOCKER_IMAGE} \
-                  /bin/bash -c "env ; cd /workspace; /bin/bash $DOCKER_CI_DIR/scripts/test.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ ${NODE_NAME} ${{ inputs.python-version }} REGRESSION"             
+                  /bin/bash -c "env ; cd /workspace; /bin/bash $DOCKER_CI_DIR/scripts/test.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ ${NODE_NAME} ${{ inputs.python-version }} REGRESSION"
           else
               echo "Launching regression test suite"
 
@@ -404,8 +431,8 @@ jobs:
           name: binaries_${{ env.BUILDER_OS }}
           path: |
             ${{ env.BUILD_DIR }}/SOFA_v*
-      
-      
+
+
       - name: Publish build logs
         id: publish-build-logs
         if: always()
@@ -448,7 +475,7 @@ jobs:
           else
             echo "✅ Build OK."
           fi
-          
+
           if [[ "${{ inputs.generate-binaries }}" == "false" ]]; then
             if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" != "" ]]; then
               echo "❌ Tests have resulted in : "
@@ -459,10 +486,10 @@ jobs:
               echo "#---------------Quick Logs---------------#"
               echo "#----------------------------------------#"
               for testType in 'unit' 'scene' 'regression';
-                do 
+                do
                   for errorType in 'errors' 'crashes' 'failures';
                   do
-                    if [ -f "${{ env.BUILD_DIR }}/tests_results/${testType}-tests_${errorType}" ]; then 
+                    if [ -f "${{ env.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}"
@@ -486,7 +513,3 @@ jobs:
               echo ""
             fi
           fi
-
-
-
-

From 31cff32537ba4b73ed47cad0bb85b5b913b1229e Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Wed, 23 Sep 2026 11:13:00 +0200
Subject: [PATCH 02/26] Try new python based scripts on ubuntu and macos

---
 .github/workflows/CI_build_and_test.yml | 23 ++++++++++++++---------
 1 file changed, 14 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/CI_build_and_test.yml b/.github/workflows/CI_build_and_test.yml
index afdba103373..7102676b1b1 100644
--- a/.github/workflows/CI_build_and_test.yml
+++ b/.github/workflows/CI_build_and_test.yml
@@ -330,11 +330,13 @@ jobs:
               DOCKER_SRC_DIR="/workspace/$(realpath --relative-to=$WORKSPACE $SRC_DIR)"
               DOCKER_BUILD_DIR="/workspace/$(realpath --relative-to=$WORKSPACE $BUILD_DIR)"
               DOCKER_CI_DIR="/workspace/$(realpath --relative-to=$WORKSPACE $CI_DIR)"
+              DOCKER_REGRESSION_DIR="/workspace/$(realpath --relative-to=$WORKSPACE $REGRESSION_DIR)"
               DOCKER_LOG_DIR="/workspace/$(realpath --relative-to=$WORKSPACE ${{ env.LOG_DIR }})"
 
               echo "DOCKER_SRC_DIR=$DOCKER_SRC_DIR" >> $GITHUB_ENV
               echo "DOCKER_BUILD_DIR=$DOCKER_BUILD_DIR" >> $GITHUB_ENV
               echo "DOCKER_CI_DIR=$DOCKER_CI_DIR" >> $GITHUB_ENV
+              echo "DOCKER_REGRESSION_DIR=$DOCKER_REGRESSION_DIR" >> $GITHUB_ENV
               echo "DOCKER_LOG_DIR=$DOCKER_LOG_DIR" >> $GITHUB_ENV
 
               export XDG_CACHE_HOME="/cache"
@@ -364,14 +366,15 @@ jobs:
               docker run --rm \
                   --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \
                   ${DOCKER_IMAGE} \
-                  /bin/bash -c "env ; cd /workspace; /bin/bash $DOCKER_CI_DIR/scripts/test.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ ${NODE_NAME} ${{ inputs.python-version }} UNIT"
+                  /bin/bash -c "env ; cd /workspace; . ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\"; ${VM_PYTHON3_EXECUTABLE} ${DOCKER_CI_DIR}/scripts/tests/sofa_unit_tests.py --build-dir \"${DOCKER_BUILD_DIR}\" --results-dir \"${RESULTS_DIR}/unit\" -j ${VM_MAX_PARALLEL_TESTS}"
           else
               echo "Launching unit test suite."
 
-              bash ${CI_DIR}/scripts/test.sh "${BUILD_DIR}" "${SRC_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}" "UNIT"
+              . ${CI_DIR}/scripts/setup-test-env.sh "${BUILD_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}"
+              ${VM_PYTHON3_EXECUTABLE} ${CI_DIR}/scripts/tests/sofa_unit_tests.py --build-dir "${BUILD_DIR}" --results-dir "${RESULTS_DIR}/unit" -j ${VM_MAX_PARALLEL_TESTS}
           fi
 
-          if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" == *"unit-tests_"* ]]; then
+          if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/unit" && find . -maxdepth 1 -type f)" == *"summary"* ]]; then
             exit 1
           fi
 
@@ -388,14 +391,15 @@ jobs:
               docker run --rm \
                   --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \
                   ${DOCKER_IMAGE} \
-                  /bin/bash -c "env ; cd /workspace; /bin/bash $DOCKER_CI_DIR/scripts/test.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ ${NODE_NAME} ${{ inputs.python-version }} SCENE"
+                  /bin/bash -c "env ; cd /workspace; . ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\"; ${VM_PYTHON3_EXECUTABLE} ${DOCKER_CI_DIR}/scripts/tests/sofa_scene_tests.py --src-dir "${DOCKER_SRC_DIR}" --build-dir \"${DOCKER_BUILD_DIR}\" --results-dir \"${RESULTS_DIR}/scene\" -j ${VM_MAX_PARALLEL_TESTS}"
           else
               echo "Launching scene test suite."
 
-              bash ${CI_DIR}/scripts/test.sh "${BUILD_DIR}" "${SRC_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}" "SCENE"
+              . ${CI_DIR}/scripts/setup-test-env.sh "${BUILD_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}"
+              ${VM_PYTHON3_EXECUTABLE} ${CI_DIR}/scripts/tests/sofa_scene_tests.py --src-dir "${SRC_DIR}" --build-dir "${BUILD_DIR}" --results-dir "${RESULTS_DIR}/scene" -j ${VM_MAX_PARALLEL_TESTS}
           fi
 
-          if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" == *"scene-tests_"* ]]; then
+          if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/scene" && find . -maxdepth 1 -type f)" == *"summary"* ]]; then
             exit 1
           fi
 
@@ -412,14 +416,15 @@ jobs:
               docker run --rm \
                   --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \
                   ${DOCKER_IMAGE} \
-                  /bin/bash -c "env ; cd /workspace; /bin/bash $DOCKER_CI_DIR/scripts/test.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ ${NODE_NAME} ${{ inputs.python-version }} REGRESSION"
+                  /bin/bash -c "export REGRESSION_DIR="$DOCKER_REGRESSION_DIR"; env ; cd /workspace;. ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\"; ${VM_PYTHON3_EXECUTABLE} ${DOCKER_REGRESSION_DIR}/SofaRegressionProgram/SofaRegressionProgram.py --input "${DOCKER_SRC_DIR}/examples" --input "${DOCKER_SRC_DIR}/applications"  --input "${DOCKER_BUILD_DIR}/external_directories/fetched" --output-logs-errors "${RESULTS_DIR}/regression" -j ${VM_MAX_PARALLEL_TESTS} --legacy-regression"
           else
               echo "Launching regression test suite"
 
-              bash ${CI_DIR}/scripts/test.sh "${BUILD_DIR}" "${SRC_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}" "REGRESSION"
+              . ${CI_DIR}/scripts/setup-test-env.sh "${BUILD_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}"
+              ${VM_PYTHON3_EXECUTABLE} ${REGRESSION_DIR}/SofaRegressionProgram/SofaRegressionProgram.py --input "${SRC_DIR}/examples" --input "${SRC_DIR}/applications"  --input "${BUILD_DIR}/external_directories/fetched" --output-logs-errors "${RESULTS_DIR}/regression" -j ${VM_MAX_PARALLEL_TESTS} --legacy-regression
           fi
 
-          if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" == *"regression-tests_"* ]]; then
+          if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/regression" && find . -maxdepth 1 -type f)" == *"summary"* ]]; then
             exit 1
           fi
 

From 6466b3bc256122d286d43340a323690bdf5df289 Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Wed, 23 Sep 2026 11:13:54 +0200
Subject: [PATCH 03/26] TO REVERT, this enables to test my script

---
 .../workflows/CI_trigger_build_and_tests.yml  | 28 +++++++++----------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/.github/workflows/CI_trigger_build_and_tests.yml b/.github/workflows/CI_trigger_build_and_tests.yml
index da2efb038be..388ac0ad045 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 +39,16 @@ on:
       builder-os:
         type: choice
         description: On which OS run the binaries generation
-        options: 
+        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"]'
-    
+
   # PR-related build (open, labels, push)
   pull_request:
     types: [opened, synchronize]
-    
+
   # CI for dashboard master
   push:
     branches:
@@ -79,7 +79,7 @@ jobs:
       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 }}
-      
+
     steps:
       - name: Default values of environment variables
         run: |
@@ -97,7 +97,7 @@ jobs:
           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"]
-          
+
       - name: Run on dispatch
         if: ${{ github.event_name == 'workflow_dispatch' }}
         run: |
@@ -122,7 +122,7 @@ 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
@@ -170,11 +170,11 @@ jobs:
           PR_COMMIT_SHA: ${{ github.event.pull_request.head.sha }}
         run: |
           echo "This step runs only when a PR is opened or synchronized."
-          
+
           # Trigger the Build action
           # Warning ! This script also changes ENV variables
           python ci/scripts/checkPRInfoBeforeBuild.py
-  
+
       - name: Export environment variables as outputs
         id: export-vars
         run: |
@@ -184,7 +184,7 @@ jobs:
             echo "Branch name should be either master or any release branch (e.g., v25.06)"
             exit 1
           fi
-          
+
           echo "SOFA_BRANCH_NAME=${SOFA_BRANCH_NAME}" >> $GITHUB_OUTPUT
           echo "SOFA_COMMIT_SHA=${SOFA_COMMIT_SHA}" >> $GITHUB_OUTPUT
           echo "PRESET=${PRESET}" >> $GITHUB_OUTPUT
@@ -192,8 +192,8 @@ jobs:
           echo "CI_DEPENDS_ON=${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
@@ -208,7 +208,7 @@ jobs:
   build-on:
     needs: filter_build
     if: ${{ github.repository_owner == 'sofa-framework' }}
-    uses: sofa-framework/sofa/.github/workflows/CI_build_and_test.yml@master
+    uses: bakpaul/sofa/.github/workflows/CI_build_and_test.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 }}

From c15c8e36a5ca7c4db6781905be3415d3e098d984 Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Wed, 23 Sep 2026 14:01:58 +0200
Subject: [PATCH 04/26] Add insight for debug

---
 .github/workflows/CI_build_and_test.yml | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/CI_build_and_test.yml b/.github/workflows/CI_build_and_test.yml
index 117153d99b0..ca7790663e1 100644
--- a/.github/workflows/CI_build_and_test.yml
+++ b/.github/workflows/CI_build_and_test.yml
@@ -349,11 +349,12 @@ jobs:
               docker run --rm \
                   --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \
                   ${DOCKER_IMAGE} \
-                  /bin/bash -c "env ; cd /workspace; . ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\"; ${VM_PYTHON3_EXECUTABLE} ${DOCKER_CI_DIR}/scripts/tests/sofa_unit_tests.py --build-dir \"${DOCKER_BUILD_DIR}\" --results-dir \"${RESULTS_DIR}/unit\" -j ${VM_MAX_PARALLEL_TESTS}"
+                  /bin/bash -c "cd /workspace; . ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\"; env; ${VM_PYTHON3_EXECUTABLE} ${DOCKER_CI_DIR}/scripts/tests/sofa_unit_tests.py --build-dir \"${DOCKER_BUILD_DIR}\" --results-dir \"${RESULTS_DIR}/unit\" -j ${VM_MAX_PARALLEL_TESTS}"
           else
               echo "Launching unit test suite."
 
               . ${CI_DIR}/scripts/setup-test-env.sh "${BUILD_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}"
+              env
               ${VM_PYTHON3_EXECUTABLE} ${CI_DIR}/scripts/tests/sofa_unit_tests.py --build-dir "${BUILD_DIR}" --results-dir "${RESULTS_DIR}/unit" -j ${VM_MAX_PARALLEL_TESTS}
           fi
 
@@ -374,11 +375,12 @@ jobs:
               docker run --rm \
                   --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \
                   ${DOCKER_IMAGE} \
-                  /bin/bash -c "env ; cd /workspace; . ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\"; ${VM_PYTHON3_EXECUTABLE} ${DOCKER_CI_DIR}/scripts/tests/sofa_scene_tests.py --src-dir "${DOCKER_SRC_DIR}" --build-dir \"${DOCKER_BUILD_DIR}\" --results-dir \"${RESULTS_DIR}/scene\" -j ${VM_MAX_PARALLEL_TESTS}"
+                  /bin/bash -c "cd /workspace; . ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\"; env ; ${VM_PYTHON3_EXECUTABLE} ${DOCKER_CI_DIR}/scripts/tests/sofa_scene_tests.py --src-dir "${DOCKER_SRC_DIR}" --build-dir \"${DOCKER_BUILD_DIR}\" --results-dir \"${RESULTS_DIR}/scene\" -j ${VM_MAX_PARALLEL_TESTS}"
           else
               echo "Launching scene test suite."
 
               . ${CI_DIR}/scripts/setup-test-env.sh "${BUILD_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}"
+              env
               ${VM_PYTHON3_EXECUTABLE} ${CI_DIR}/scripts/tests/sofa_scene_tests.py --src-dir "${SRC_DIR}" --build-dir "${BUILD_DIR}" --results-dir "${RESULTS_DIR}/scene" -j ${VM_MAX_PARALLEL_TESTS}
           fi
 
@@ -399,11 +401,12 @@ jobs:
               docker run --rm \
                   --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \
                   ${DOCKER_IMAGE} \
-                  /bin/bash -c "export REGRESSION_DIR="$DOCKER_REGRESSION_DIR"; env ; cd /workspace;. ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\"; ${VM_PYTHON3_EXECUTABLE} ${DOCKER_REGRESSION_DIR}/SofaRegressionProgram/SofaRegressionProgram.py --input "${DOCKER_SRC_DIR}/examples" --input "${DOCKER_SRC_DIR}/applications"  --input "${DOCKER_BUILD_DIR}/external_directories/fetched" --output-logs-errors "${RESULTS_DIR}/regression" -j ${VM_MAX_PARALLEL_TESTS} --legacy-regression"
+                  /bin/bash -c "export REGRESSION_DIR="$DOCKER_REGRESSION_DIR"; cd /workspace;. ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\";  env ; ${VM_PYTHON3_EXECUTABLE} ${DOCKER_REGRESSION_DIR}/SofaRegressionProgram/SofaRegressionProgram.py --input "${DOCKER_SRC_DIR}/examples" --input "${DOCKER_SRC_DIR}/applications"  --input "${DOCKER_BUILD_DIR}/external_directories/fetched" --output-logs-errors "${RESULTS_DIR}/regression" -j ${VM_MAX_PARALLEL_TESTS} --legacy-regression"
           else
               echo "Launching regression test suite"
 
               . ${CI_DIR}/scripts/setup-test-env.sh "${BUILD_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}"
+              env
               ${VM_PYTHON3_EXECUTABLE} ${REGRESSION_DIR}/SofaRegressionProgram/SofaRegressionProgram.py --input "${SRC_DIR}/examples" --input "${SRC_DIR}/applications"  --input "${BUILD_DIR}/external_directories/fetched" --output-logs-errors "${RESULTS_DIR}/regression" -j ${VM_MAX_PARALLEL_TESTS} --legacy-regression
           fi
 

From d22ac9a2d34235ee32e6396dde6f07d9915c1765 Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Wed, 23 Sep 2026 14:40:52 +0200
Subject: [PATCH 05/26] Tru pass number threads

---
 .github/workflows/CI_build_and_test.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/CI_build_and_test.yml b/.github/workflows/CI_build_and_test.yml
index ca7790663e1..9177567db57 100644
--- a/.github/workflows/CI_build_and_test.yml
+++ b/.github/workflows/CI_build_and_test.yml
@@ -401,13 +401,13 @@ jobs:
               docker run --rm \
                   --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \
                   ${DOCKER_IMAGE} \
-                  /bin/bash -c "export REGRESSION_DIR="$DOCKER_REGRESSION_DIR"; cd /workspace;. ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\";  env ; ${VM_PYTHON3_EXECUTABLE} ${DOCKER_REGRESSION_DIR}/SofaRegressionProgram/SofaRegressionProgram.py --input "${DOCKER_SRC_DIR}/examples" --input "${DOCKER_SRC_DIR}/applications"  --input "${DOCKER_BUILD_DIR}/external_directories/fetched" --output-logs-errors "${RESULTS_DIR}/regression" -j ${VM_MAX_PARALLEL_TESTS} --legacy-regression"
+                  /bin/bash -c "export REGRESSION_DIR="$DOCKER_REGRESSION_DIR"; cd /workspace;. ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\";  env ; ${VM_PYTHON3_EXECUTABLE} ${DOCKER_REGRESSION_DIR}/SofaRegressionProgram/SofaRegressionProgram.py --input "${DOCKER_SRC_DIR}/examples" --input "${DOCKER_SRC_DIR}/applications"  --input "${DOCKER_BUILD_DIR}/external_directories/fetched" --output-logs-errors "${RESULTS_DIR}/regression" --legacy-regression --jobs ${VM_MAX_PARALLEL_TESTS} "
           else
               echo "Launching regression test suite"
 
               . ${CI_DIR}/scripts/setup-test-env.sh "${BUILD_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}"
               env
-              ${VM_PYTHON3_EXECUTABLE} ${REGRESSION_DIR}/SofaRegressionProgram/SofaRegressionProgram.py --input "${SRC_DIR}/examples" --input "${SRC_DIR}/applications"  --input "${BUILD_DIR}/external_directories/fetched" --output-logs-errors "${RESULTS_DIR}/regression" -j ${VM_MAX_PARALLEL_TESTS} --legacy-regression
+              ${VM_PYTHON3_EXECUTABLE} ${REGRESSION_DIR}/SofaRegressionProgram/SofaRegressionProgram.py --input "${SRC_DIR}/examples" --input "${SRC_DIR}/applications"  --input "${BUILD_DIR}/external_directories/fetched" --output-logs-errors "${RESULTS_DIR}/regression" --legacy-regression  -j ${VM_MAX_PARALLEL_TESTS}
           fi
 
           if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/regression" && find . -maxdepth 1 -type f)" == *"summary"* ]]; then

From 6995b575d76799f99b5cd94b13bcd47a7fcf1adb Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Wed, 23 Sep 2026 14:46:28 +0200
Subject: [PATCH 06/26] Print command line

---
 .github/workflows/CI_build_and_test.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/CI_build_and_test.yml b/.github/workflows/CI_build_and_test.yml
index 9177567db57..25dc4db2875 100644
--- a/.github/workflows/CI_build_and_test.yml
+++ b/.github/workflows/CI_build_and_test.yml
@@ -349,7 +349,7 @@ jobs:
               docker run --rm \
                   --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \
                   ${DOCKER_IMAGE} \
-                  /bin/bash -c "cd /workspace; . ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\"; env; ${VM_PYTHON3_EXECUTABLE} ${DOCKER_CI_DIR}/scripts/tests/sofa_unit_tests.py --build-dir \"${DOCKER_BUILD_DIR}\" --results-dir \"${RESULTS_DIR}/unit\" -j ${VM_MAX_PARALLEL_TESTS}"
+                  /bin/bash -c "cd /workspace; . ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\"; env; echo \"${VM_PYTHON3_EXECUTABLE} ${DOCKER_CI_DIR}/scripts/tests/sofa_unit_tests.py --build-dir ${DOCKER_BUILD_DIR} --results-dir ${RESULTS_DIR}/unit -j ${VM_MAX_PARALLEL_TESTS}\""
           else
               echo "Launching unit test suite."
 

From e5776af4b54ae59bf7f9043ea6cdbed54e32d322 Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Wed, 23 Sep 2026 15:06:55 +0200
Subject: [PATCH 07/26] Bad substitution level

---
 .github/workflows/CI_build_and_test.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/CI_build_and_test.yml b/.github/workflows/CI_build_and_test.yml
index 25dc4db2875..e8f5d92c0f1 100644
--- a/.github/workflows/CI_build_and_test.yml
+++ b/.github/workflows/CI_build_and_test.yml
@@ -349,7 +349,7 @@ jobs:
               docker run --rm \
                   --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \
                   ${DOCKER_IMAGE} \
-                  /bin/bash -c "cd /workspace; . ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\"; env; echo \"${VM_PYTHON3_EXECUTABLE} ${DOCKER_CI_DIR}/scripts/tests/sofa_unit_tests.py --build-dir ${DOCKER_BUILD_DIR} --results-dir ${RESULTS_DIR}/unit -j ${VM_MAX_PARALLEL_TESTS}\""
+                  /bin/bash -c "cd /workspace; . ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\"; env; ${VM_PYTHON3_EXECUTABLE} ${DOCKER_CI_DIR}/scripts/tests/sofa_unit_tests.py --build-dir ${DOCKER_BUILD_DIR} --results-dir \${RESULTS_DIR}/unit -j \${VM_MAX_PARALLEL_TESTS}"
           else
               echo "Launching unit test suite."
 
@@ -375,7 +375,7 @@ jobs:
               docker run --rm \
                   --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \
                   ${DOCKER_IMAGE} \
-                  /bin/bash -c "cd /workspace; . ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\"; env ; ${VM_PYTHON3_EXECUTABLE} ${DOCKER_CI_DIR}/scripts/tests/sofa_scene_tests.py --src-dir "${DOCKER_SRC_DIR}" --build-dir \"${DOCKER_BUILD_DIR}\" --results-dir \"${RESULTS_DIR}/scene\" -j ${VM_MAX_PARALLEL_TESTS}"
+                  /bin/bash -c "cd /workspace; . ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\"; env ; ${VM_PYTHON3_EXECUTABLE} ${DOCKER_CI_DIR}/scripts/tests/sofa_scene_tests.py --src-dir "${DOCKER_SRC_DIR}" --build-dir \"${DOCKER_BUILD_DIR}\" --results-dir \"\${RESULTS_DIR}/scene\" -j \${VM_MAX_PARALLEL_TESTS}"
           else
               echo "Launching scene test suite."
 
@@ -401,7 +401,7 @@ jobs:
               docker run --rm \
                   --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \
                   ${DOCKER_IMAGE} \
-                  /bin/bash -c "export REGRESSION_DIR="$DOCKER_REGRESSION_DIR"; cd /workspace;. ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\";  env ; ${VM_PYTHON3_EXECUTABLE} ${DOCKER_REGRESSION_DIR}/SofaRegressionProgram/SofaRegressionProgram.py --input "${DOCKER_SRC_DIR}/examples" --input "${DOCKER_SRC_DIR}/applications"  --input "${DOCKER_BUILD_DIR}/external_directories/fetched" --output-logs-errors "${RESULTS_DIR}/regression" --legacy-regression --jobs ${VM_MAX_PARALLEL_TESTS} "
+                  /bin/bash -c "export REGRESSION_DIR="$DOCKER_REGRESSION_DIR"; cd /workspace;. ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\";  env ; ${VM_PYTHON3_EXECUTABLE} ${DOCKER_REGRESSION_DIR}/SofaRegressionProgram/SofaRegressionProgram.py --input "${DOCKER_SRC_DIR}/examples" --input "${DOCKER_SRC_DIR}/applications"  --input "${DOCKER_BUILD_DIR}/external_directories/fetched" --output-logs-errors "\${RESULTS_DIR}/regression" --legacy-regression --jobs \${VM_MAX_PARALLEL_TESTS} "
           else
               echo "Launching regression test suite"
 

From f56409d91ce1cc846392b79760f2b12e1590be0e Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Wed, 23 Sep 2026 17:44:34 +0200
Subject: [PATCH 08/26] Fix summarize results

---
 .github/workflows/CI_build_and_test.yml | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/CI_build_and_test.yml b/.github/workflows/CI_build_and_test.yml
index e8f5d92c0f1..d13c0fb7697 100644
--- a/.github/workflows/CI_build_and_test.yml
+++ b/.github/workflows/CI_build_and_test.yml
@@ -358,7 +358,7 @@ jobs:
               ${VM_PYTHON3_EXECUTABLE} ${CI_DIR}/scripts/tests/sofa_unit_tests.py --build-dir "${BUILD_DIR}" --results-dir "${RESULTS_DIR}/unit" -j ${VM_MAX_PARALLEL_TESTS}
           fi
 
-          if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/unit" && find . -maxdepth 1 -type f)" == *"summary"* ]]; then
+          if [[ ! "$(cd "${{ env.BUILD_DIR }}/tests_results/unit" && find . -maxdepth 1 -type f)" == *"summary"* ]]; then
             exit 1
           fi
 
@@ -384,7 +384,7 @@ jobs:
               ${VM_PYTHON3_EXECUTABLE} ${CI_DIR}/scripts/tests/sofa_scene_tests.py --src-dir "${SRC_DIR}" --build-dir "${BUILD_DIR}" --results-dir "${RESULTS_DIR}/scene" -j ${VM_MAX_PARALLEL_TESTS}
           fi
 
-          if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/scene" && find . -maxdepth 1 -type f)" == *"summary"* ]]; then
+          if [[ ! "$(cd "${{ env.BUILD_DIR }}/tests_results/scene" && find . -maxdepth 1 -type f)" == *"summary"* ]]; then
             exit 1
           fi
 
@@ -410,7 +410,7 @@ jobs:
               ${VM_PYTHON3_EXECUTABLE} ${REGRESSION_DIR}/SofaRegressionProgram/SofaRegressionProgram.py --input "${SRC_DIR}/examples" --input "${SRC_DIR}/applications"  --input "${BUILD_DIR}/external_directories/fetched" --output-logs-errors "${RESULTS_DIR}/regression" --legacy-regression  -j ${VM_MAX_PARALLEL_TESTS}
           fi
 
-          if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/regression" && find . -maxdepth 1 -type f)" == *"summary"* ]]; then
+          if [[ ! "$(cd "${{ env.BUILD_DIR }}/tests_results/regression" && find . -maxdepth 1 -type f)" == *"summary"* ]]; then
             exit 1
           fi
 
@@ -478,18 +478,18 @@ jobs:
               echo "#----------------------------------------#"
               for testType in 'unit' 'scene' 'regression';
                 do
+                  capitalized="$(echo "${testType:0:1}" | tr '[:lower:]' '[:upper:]')${testType:1}"
+                  echo -e "${bold}${capitalized}:${normal}"
                   for errorType in 'errors' 'crashes' 'failures';
                   do
-                    if [ -f "${{ env.BUILD_DIR }}/tests_results/${testType}-tests_${errorType}" ]; then
-                      capitalized="$(echo "${testType:0:1}" | tr '[:lower:]' '[:upper:]')${testType:1}"
+                    if [ -f "${{ env.BUILD_DIR }}/tests_results/${testType}/${testType}_${errorType}.txt" ]; then
                       echo ""
-                      echo -e "${bold}${capitalized} ${errorType}:${normal}"
+                      cat "${{ env.BUILD_DIR }}/tests_results/${testType}/${testType}_${errorType}.txt"
                       echo ""
-                      cat "${{ env.BUILD_DIR }}/tests_results/${testType}-tests_${errorType}"
-                      echo ""
-                      echo "#----------------------------------------#"
                     fi
                   done
+                  echo "#----------------------------------------#"
+                  echo ""
                 done
               echo -e "${bold}You can download all logs here : ${{ steps.publish-tests-logs.outputs.artifact-url }}${normal}"
               exit 1

From bb1d3891ae7d175595478c0dbb8fcd9cb9b38fdb Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Wed, 23 Sep 2026 18:10:59 +0200
Subject: [PATCH 09/26] Fix python execution

---
 .github/workflows/CI_build_and_test.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/CI_build_and_test.yml b/.github/workflows/CI_build_and_test.yml
index d13c0fb7697..d9f970a4e70 100644
--- a/.github/workflows/CI_build_and_test.yml
+++ b/.github/workflows/CI_build_and_test.yml
@@ -349,7 +349,7 @@ jobs:
               docker run --rm \
                   --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \
                   ${DOCKER_IMAGE} \
-                  /bin/bash -c "cd /workspace; . ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\"; env; ${VM_PYTHON3_EXECUTABLE} ${DOCKER_CI_DIR}/scripts/tests/sofa_unit_tests.py --build-dir ${DOCKER_BUILD_DIR} --results-dir \${RESULTS_DIR}/unit -j \${VM_MAX_PARALLEL_TESTS}"
+                  /bin/bash -c "cd /workspace; . ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\"; env; \${VM_PYTHON3_EXECUTABLE} ${DOCKER_CI_DIR}/scripts/tests/sofa_unit_tests.py --build-dir ${DOCKER_BUILD_DIR} --results-dir \${RESULTS_DIR}/unit -j \${VM_MAX_PARALLEL_TESTS}"
           else
               echo "Launching unit test suite."
 
@@ -375,7 +375,7 @@ jobs:
               docker run --rm \
                   --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \
                   ${DOCKER_IMAGE} \
-                  /bin/bash -c "cd /workspace; . ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\"; env ; ${VM_PYTHON3_EXECUTABLE} ${DOCKER_CI_DIR}/scripts/tests/sofa_scene_tests.py --src-dir "${DOCKER_SRC_DIR}" --build-dir \"${DOCKER_BUILD_DIR}\" --results-dir \"\${RESULTS_DIR}/scene\" -j \${VM_MAX_PARALLEL_TESTS}"
+                  /bin/bash -c "cd /workspace; . ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\"; env ; \${VM_PYTHON3_EXECUTABLE} ${DOCKER_CI_DIR}/scripts/tests/sofa_scene_tests.py --src-dir "${DOCKER_SRC_DIR}" --build-dir \"${DOCKER_BUILD_DIR}\" --results-dir \"\${RESULTS_DIR}/scene\" -j \${VM_MAX_PARALLEL_TESTS}"
           else
               echo "Launching scene test suite."
 
@@ -401,7 +401,7 @@ jobs:
               docker run --rm \
                   --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \
                   ${DOCKER_IMAGE} \
-                  /bin/bash -c "export REGRESSION_DIR="$DOCKER_REGRESSION_DIR"; cd /workspace;. ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\";  env ; ${VM_PYTHON3_EXECUTABLE} ${DOCKER_REGRESSION_DIR}/SofaRegressionProgram/SofaRegressionProgram.py --input "${DOCKER_SRC_DIR}/examples" --input "${DOCKER_SRC_DIR}/applications"  --input "${DOCKER_BUILD_DIR}/external_directories/fetched" --output-logs-errors "\${RESULTS_DIR}/regression" --legacy-regression --jobs \${VM_MAX_PARALLEL_TESTS} "
+                  /bin/bash -c "export REGRESSION_DIR="$DOCKER_REGRESSION_DIR"; cd /workspace;. ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\";  env ; \${VM_PYTHON3_EXECUTABLE} ${DOCKER_REGRESSION_DIR}/SofaRegressionProgram/SofaRegressionProgram.py --input "${DOCKER_SRC_DIR}/examples" --input "${DOCKER_SRC_DIR}/applications"  --input "${DOCKER_BUILD_DIR}/external_directories/fetched" --output-logs-errors "\${RESULTS_DIR}/regression" --legacy-regression --jobs \${VM_MAX_PARALLEL_TESTS} "
           else
               echo "Launching regression test suite"
 

From 325f84e6e4bfa352a37d4c19d27b06c9e93e02d5 Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Thu, 24 Sep 2026 13:57:31 +0200
Subject: [PATCH 10/26] Better dealing with failures

---
 .github/workflows/CI_build_and_test.yml | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/CI_build_and_test.yml b/.github/workflows/CI_build_and_test.yml
index d9f970a4e70..6f85df8e09a 100644
--- a/.github/workflows/CI_build_and_test.yml
+++ b/.github/workflows/CI_build_and_test.yml
@@ -360,8 +360,13 @@ jobs:
 
           if [[ ! "$(cd "${{ env.BUILD_DIR }}/tests_results/unit" && find . -maxdepth 1 -type f)" == *"summary"* ]]; then
             exit 1
+          else
+              if [[ "$(awk -F= '$1=="crashes" {print $2}' ${{ env.BUILD_DIR }}/tests_results/unit/summary.txt)" != '0' || "$(awk -F= '$1=="failures" {print $2}' ${{ env.BUILD_DIR }}/tests_results/unit/summary.txt)" != "0" ]]; then
+                  exit 1
+              fi
           fi
 
+
       - name: Scene tests
         id: scene-tests-step
         if: always() && steps.build-step.outcome == 'success' && inputs.generate-binaries == false && inputs.with-all-tests == true
@@ -386,6 +391,10 @@ jobs:
 
           if [[ ! "$(cd "${{ env.BUILD_DIR }}/tests_results/scene" && find . -maxdepth 1 -type f)" == *"summary"* ]]; then
             exit 1
+          else
+              if [[ "$(awk -F= '$1=="crashes" {print $2}' ${{ env.BUILD_DIR }}/tests_results/scene/summary.txt)" != '0' || "$(awk -F= '$1=="failures" {print $2}' ${{ env.BUILD_DIR }}/tests_results/scene/summary.txt)" != "0" ]]; then
+                  exit 1
+              fi
           fi
 
       - name: Regression tests
@@ -411,7 +420,11 @@ jobs:
           fi
 
           if [[ ! "$(cd "${{ env.BUILD_DIR }}/tests_results/regression" && find . -maxdepth 1 -type f)" == *"summary"* ]]; then
-            exit 1
+              exit 1
+          else
+              if [[ "$(awk -F= '$1=="crashes" {print $2}' ${{ env.BUILD_DIR }}/tests_results/regression/summary.txt)" != '0' || "$(awk -F= '$1=="failures" {print $2}' ${{ env.BUILD_DIR }}/tests_results/regression/summary.txt)" != "0" ]]; then
+                  exit 1
+              fi
           fi
 
 
@@ -468,7 +481,7 @@ jobs:
           fi
 
           if [[ "${{ inputs.generate-binaries }}" == "false" ]]; then
-            if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" != "" ]]; then
+            if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -mindepth 2 -maxdepth 2 -type f -name 'summary.txt')" != "" ]]; then
               echo "❌ Tests have resulted in : "
               echo ""
               python3 ${{ env.CI_DIR }}/scripts/generate-tests-table.py "${{ env.BUILD_DIR }}/tests_results/"

From 2ffa0fd2536be901e6811dc0762edcb7d1519ac5 Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Thu, 24 Sep 2026 16:29:33 +0200
Subject: [PATCH 11/26] bootstrap pixi ci launch

---
 .../workflows/CI_trigger_build_and_tests.yml  | 64 ++++++++++++++++---
 1 file changed, 54 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/CI_trigger_build_and_tests.yml b/.github/workflows/CI_trigger_build_and_tests.yml
index 388ac0ad045..7f2cc72b843 100644
--- a/.github/workflows/CI_trigger_build_and_tests.yml
+++ b/.github/workflows/CI_trigger_build_and_tests.yml
@@ -40,10 +40,14 @@ on:
         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"]'
+        - '["ubuntu"]'
+        - '["macos"]'
+        - '["windows"]'
+        - '["ubuntu","macos"]'
+        - '["ubuntu","windows"]'
+        - '["macos","windows"]'
+        - '["ubuntu","macos","windows"]'
+        default: '["ubuntu","macos","windows"]'
 
   # PR-related build (open, labels, push)
   pull_request:
@@ -78,7 +82,8 @@ 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
@@ -96,7 +101,8 @@ 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: ${{ github.event_name == 'workflow_dispatch' }}
@@ -134,6 +140,21 @@ jobs:
           echo "EXTERNAL_PLUGINS=${{ 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
@@ -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: ${{ github.event_name == 'pull_request' }}
@@ -198,7 +220,8 @@ jobs:
           echo "PR_OWNER_URL=${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: bakpaul/sofa/.github/workflows/CI_build_and_test.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 }}
@@ -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 }}

From 65df1c234ad26e3647e8f06097e4a69b4a4d2663 Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Thu, 24 Sep 2026 16:31:12 +0200
Subject: [PATCH 12/26] TO REVERT, use working ci branch in trigger build and
 test

---
 .github/workflows/CI_trigger_build_and_tests.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/CI_trigger_build_and_tests.yml b/.github/workflows/CI_trigger_build_and_tests.yml
index 7f2cc72b843..430873c3f14 100644
--- a/.github/workflows/CI_trigger_build_and_tests.yml
+++ b/.github/workflows/CI_trigger_build_and_tests.yml
@@ -169,8 +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)

From c314a2e3b5aabd71bedf22ba3a1407ca49b3627d Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Thu, 24 Sep 2026 18:15:13 +0200
Subject: [PATCH 13/26] First try for pixi-based CI

---
 .../workflows/CI_macos_linux_windows_pixi.yml | 433 +++++++++++++++++-
 1 file changed, 409 insertions(+), 24 deletions(-)

diff --git a/.github/workflows/CI_macos_linux_windows_pixi.yml b/.github/workflows/CI_macos_linux_windows_pixi.yml
index 7016e0ae9d3..05a93851554 100644
--- a/.github/workflows/CI_macos_linux_windows_pixi.yml
+++ b/.github/workflows/CI_macos_linux_windows_pixi.yml
@@ -1,50 +1,435 @@
 name: CI - MacOS/Linux/Windows via Pixi
 
 on:
-  push:
-    branches:
-      - master
-  pull_request:
-    paths:
-      - 'pixi*'
-  workflow_dispatch:
+  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", }'
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
 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: ${{ inputs.sofa-branch-name }}
+          path: sofa
+
+      - run: git config --global user.email "<>"
+      - run: git config --global user.name "SOFA Bot"
+
+      - name: Setup SOFA and clone CI
+        shell: bash -el {0}
+        run: |
+          export WORKSPACE=$GITHUB_WORKSPACE
+          echo "WORKSPACE=$WORKSPACE" >> $GITHUB_ENV
+
+          export SRC_DIR=$GITHUB_WORKSPACE/sofa
+          echo "SRC_DIR=$SRC_DIR" >> $GITHUB_ENV
+
+          cd $SRC_DIR
+          if [ ! -z "${{ 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 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 checkout ${{ inputs.sofa-commit-sha }}
+          fi
+
+          cd $WORKSPACE
+
+          ## Clone CI and use ci-depends-on structure
+          ci_branch=${{ 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
+          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: |
-          pixi run -e ${{ matrix.environment }} runSofa -g batch
+          cd ${SRC_DIR}
+          PIXI_PREFIX="$(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} ${SRC_DIR}/scripts default none
+
+
+          echo "BUILD_DIR=$(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: cmd
+        run: |
+          cd /d "%SRC_DIR%"
+
+          set "UNIT_RESULTS_DIR=%BUILD_DIR%\tests_results\unit"
+
+          pixi run -e ${{ inputs.preset }} python %CI_DIR%\scripts\tests\sofa_unit_tests.py --build-dir "%BUILD_DIR%" --results-dir "%UNIT_RESULTS_DIR%" -j %VM_MAX_PARALLEL_TESTS%
+
+          if not exist "%UNIT_RESULTS_DIR%\*summary*" exit /b 1
+
+          set "CRASHES="
+          set "FAILURES="
+          for /f "usebackq tokens=1,2 delims==" %%a in ("%UNIT_RESULTS_DIR%\summary.txt") do (
+            if "%%a"=="crashes" set "CRASHES=%%b"
+            if "%%a"=="failures" set "FAILURES=%%b"
+          )
+
+          if not "%CRASHES%"=="0" exit /b 1
+          if not "%FAILURES%"=="0" exit /b 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: cmd
+        run: |
+          cd /d "%SRC_DIR%"
+
+          set "SCENE_RESULTS_DIR=%BUILD_DIR%\tests_results\scene"
+
+          pixi run -e ${{ inputs.preset }} python %CI_DIR%\scripts\tests\sofa_scene_tests.py --src-dir "%SRC_DIR%" --build-dir "%BUILD_DIR%" --results-dir "%SCENE_RESULTS_DIR%" -j %VM_MAX_PARALLEL_TESTS%
+
+          if not exist "%SCENE_RESULTS_DIR%\*summary*" exit /b 1
+
+          set "CRASHES="
+          set "FAILURES="
+          for /f "usebackq tokens=1,2 delims==" %%a in ("%SCENE_RESULTS_DIR%\summary.txt") do (
+            if "%%a"=="crashes" set "CRASHES=%%b"
+            if "%%a"=="failures" set "FAILURES=%%b"
+          )
+
+          if not "%CRASHES%"=="0" exit /b 1
+          if not "%FAILURES%"=="0" exit /b 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: cmd
+        run: |
+          cd /d "%SRC_DIR%"
+
+          set "REG_RESULTS_DIR=%BUILD_DIR%\tests_results\regression"
+
+          pixi run -e ${{ inputs.preset }} python %REGRESSION_DIR%\SofaRegressionProgram\SofaRegressionProgram.py --input "%SRC_DIR%/examples" --input "%SRC_DIR%\applications"  --input "%BUILD_DIR%\external_directories\fetched" --output-logs-errors "%REG_RESULTS_DIR%" --legacy-regression  -j %VM_MAX_PARALLEL_TESTS%
+          if not exist "%REG_RESULTS_DIR%\*summary*" exit /b 1
+
+          set "CRASHES="
+          set "FAILURES="
+          for /f "usebackq tokens=1,2 delims==" %%a in ("%REG_RESULTS_DIR%\summary.txt") do (
+            if "%%a"=="crashes" set "CRASHES=%%b"
+            if "%%a"=="failures" set "FAILURES=%%b"
+          )
+
+          if not "%CRASHES%"=="0" exit /b 1
+          if not "%FAILURES%"=="0" exit /b 1
+
+
+      - name: Publish artifacts
+        if: steps.build-step.outcome == 'success' && inputs.generate-binaries == true
+        uses: actions/upload-artifact@v4
+        with:
+          name: binaries_${{ 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.configure.outcome }}" == "failure" || "${{ steps.clone.outcome }}" == "failure" ]]; then
+            echo "❌ Something whent wrong during the configure or clone steps..."
+            echo -e "${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}You can download all logs here : ${{ steps.publish-build-logs.outputs.artifact-url }}${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

From f42d516a2813bb63a3a7dfcf5e83064c13988368 Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Thu, 24 Sep 2026 18:19:35 +0200
Subject: [PATCH 14/26] Fix merge for pixi

---
 .github/workflows/CI_macos_linux_windows_pixi.yml | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/CI_macos_linux_windows_pixi.yml b/.github/workflows/CI_macos_linux_windows_pixi.yml
index 05a93851554..7d3a2fdf3d3 100644
--- a/.github/workflows/CI_macos_linux_windows_pixi.yml
+++ b/.github/workflows/CI_macos_linux_windows_pixi.yml
@@ -111,9 +111,10 @@ jobs:
           export SRC_DIR=$GITHUB_WORKSPACE/sofa
           echo "SRC_DIR=$SRC_DIR" >> $GITHUB_ENV
 
-          cd $SRC_DIR
           if [ ! -z "${{ 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
 
@@ -124,6 +125,8 @@ jobs:
               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
 

From 81db71513a52b3c2a04ba07f40c8aeadaa786a72 Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Thu, 24 Sep 2026 18:23:41 +0200
Subject: [PATCH 15/26] Check if directory exists

---
 .github/workflows/CI_macos_linux_windows_pixi.yml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/.github/workflows/CI_macos_linux_windows_pixi.yml b/.github/workflows/CI_macos_linux_windows_pixi.yml
index 7d3a2fdf3d3..ed586d8e4ba 100644
--- a/.github/workflows/CI_macos_linux_windows_pixi.yml
+++ b/.github/workflows/CI_macos_linux_windows_pixi.yml
@@ -111,6 +111,10 @@ jobs:
           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

From 43c3007fb146018f24245e0bf218aea7e942ae58 Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Fri, 25 Sep 2026 09:43:55 +0200
Subject: [PATCH 16/26] Fix input for setup test script

---
 .github/workflows/CI_macos_linux_windows_pixi.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/CI_macos_linux_windows_pixi.yml b/.github/workflows/CI_macos_linux_windows_pixi.yml
index ed586d8e4ba..e4fa3f468e8 100644
--- a/.github/workflows/CI_macos_linux_windows_pixi.yml
+++ b/.github/workflows/CI_macos_linux_windows_pixi.yml
@@ -257,7 +257,7 @@ jobs:
           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} ${SRC_DIR}/scripts default none
+          . ${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

From 9444a9af017d9a9822392b61e3364480b709574f Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Fri, 25 Sep 2026 14:52:00 +0200
Subject: [PATCH 17/26] fix build dir

---
 development/scripts/pixi/activation.bat | 2 +-
 development/scripts/pixi/activation.sh  | 8 +++++++-
 2 files changed, 8 insertions(+), 2 deletions(-)

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

From 9efe3081792f797c60bb7daf62e685ca104ab0f5 Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Fri, 25 Sep 2026 17:26:06 +0200
Subject: [PATCH 18/26] Fix ci script + filter scenes for cuda

---
 .../workflows/CI_macos_linux_windows_pixi.yml | 25 +++++++---------
 .../plugins/SofaCUDA/examples/.scene-tests    | 30 +++++++++----------
 2 files changed, 26 insertions(+), 29 deletions(-)

diff --git a/.github/workflows/CI_macos_linux_windows_pixi.yml b/.github/workflows/CI_macos_linux_windows_pixi.yml
index e4fa3f468e8..fbdc7a377eb 100644
--- a/.github/workflows/CI_macos_linux_windows_pixi.yml
+++ b/.github/workflows/CI_macos_linux_windows_pixi.yml
@@ -55,10 +55,6 @@ on:
         default: 'NONE'
         description: 'Json scructure with three parameters {"COMMIT_HASH":"fullhsashofthecommit", }'
 
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
   display-inputs:
     runs-on: ubuntu-latest
@@ -103,6 +99,7 @@ jobs:
       - 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
@@ -288,7 +285,7 @@ jobs:
 
       - name: Unit tests
         id: unit-tests-step
-        if: always() && ${{ runner.os == 'Windows' }} && steps.build-step.outcome == 'success' && inputs.generate-binaries == false
+        if: always() && runner.os == 'Windows' && steps.build-step.outcome == 'success' && inputs.generate-binaries == false
         shell: cmd
         run: |
           cd /d "%SRC_DIR%"
@@ -311,7 +308,7 @@ jobs:
 
       - 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
+        if: always() && runner.os == 'Windows' && steps.build-step.outcome == 'success' && inputs.generate-binaries == false && inputs.with-all-tests == true
         shell: cmd
         run: |
           cd /d "%SRC_DIR%"
@@ -334,7 +331,7 @@ jobs:
 
       - 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
+        if: always() && runner.os == 'Windows' && steps.build-step.outcome == 'success' && inputs.generate-binaries == false && inputs.with-all-tests == true
         shell: cmd
         run: |
           cd /d "%SRC_DIR%"
@@ -356,7 +353,7 @@ jobs:
 
 
       - name: Publish artifacts
-        if: steps.build-step.outcome == 'success' && inputs.generate-binaries == true
+        if: always() && steps.build-step.outcome == 'success' && inputs.generate-binaries == true
         uses: actions/upload-artifact@v4
         with:
           name: binaries_${{ matrix.os }}
@@ -366,7 +363,7 @@ jobs:
 
       - name: Publish tests logs
         id: publish-tests-logs
-        if: always() && ${{ runner.os == 'Windows' }}
+        if: always() && runner.os == 'Windows'
         uses: actions/upload-artifact@v4
         with:
           name: tests-logs_${{ matrix.os }}
@@ -375,20 +372,20 @@ jobs:
 
 
       - name: Configure python for display
-        if: always() && ${{ runner.os == 'Windows' }}
+        if: always() && runner.os == 'Windows'
         shell: bash
         run: |
           python3 -m pip install prettytable
 
       - name: Summarize results
-        if: always() && ${{ runner.os == 'Windows' }}
+        if: always() && runner.os == 'Windows'
         shell: bash
         run: |
 
           bold="\033[1m"
           normal="\033[0m"
-          if [[ "${{ steps.configure.outcome }}" == "failure" || "${{ steps.clone.outcome }}" == "failure" ]]; then
-            echo "❌ Something whent wrong during the configure or clone steps..."
+          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
@@ -397,7 +394,7 @@ jobs:
 
           if [[ "${{ steps.build-step.outcome }}" == "failure" ]]; then
             echo "❌ Build step failed"
-            echo -e "${bold}You can download all logs here : ${{ steps.publish-build-logs.outputs.artifact-url }}${normal}"
+            echo -e "${bold}Please check those actions logs${normal}"
             exit 1
           else
             echo "✅ Build OK."
diff --git a/applications/plugins/SofaCUDA/examples/.scene-tests b/applications/plugins/SofaCUDA/examples/.scene-tests
index f40de927183..b2dde060046 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 "cpu-gpu_validation/CorotationalFEMForceField_tetra_cpu_gpu.scn"
+ignore "benchmarks/Tetrahedron_corotational.py"
+ignore "benchmarks/Hexahedron_corotational.py"

From f1a60d73364f05a37f2897ab8186059c3039a80c Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Mon, 28 Sep 2026 08:56:00 +0200
Subject: [PATCH 19/26] Try to launch out of the pixi shell

---
 .../workflows/CI_macos_linux_windows_pixi.yml | 22 ++++++++++++++++---
 1 file changed, 19 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/CI_macos_linux_windows_pixi.yml b/.github/workflows/CI_macos_linux_windows_pixi.yml
index fbdc7a377eb..ce9ae585970 100644
--- a/.github/workflows/CI_macos_linux_windows_pixi.yml
+++ b/.github/workflows/CI_macos_linux_windows_pixi.yml
@@ -292,7 +292,12 @@ jobs:
 
           set "UNIT_RESULTS_DIR=%BUILD_DIR%\tests_results\unit"
 
-          pixi run -e ${{ inputs.preset }} python %CI_DIR%\scripts\tests\sofa_unit_tests.py --build-dir "%BUILD_DIR%" --results-dir "%UNIT_RESULTS_DIR%" -j %VM_MAX_PARALLEL_TESTS%
+          REM Activate the environment in the terminal
+          pixi shell-hook --shell cmd -e ${{ inputs.preset }} > "%TEMP%\pixi_hook.bat"
+          call "%TEMP%\pixi_hook.bat"
+          del "%TEMP%\pixi_hook.bat"
+
+          python %CI_DIR%\scripts\tests\sofa_unit_tests.py --build-dir "%BUILD_DIR%" --results-dir "%UNIT_RESULTS_DIR%" -j %VM_MAX_PARALLEL_TESTS%
 
           if not exist "%UNIT_RESULTS_DIR%\*summary*" exit /b 1
 
@@ -315,7 +320,12 @@ jobs:
 
           set "SCENE_RESULTS_DIR=%BUILD_DIR%\tests_results\scene"
 
-          pixi run -e ${{ inputs.preset }} python %CI_DIR%\scripts\tests\sofa_scene_tests.py --src-dir "%SRC_DIR%" --build-dir "%BUILD_DIR%" --results-dir "%SCENE_RESULTS_DIR%" -j %VM_MAX_PARALLEL_TESTS%
+          REM Activate the environment in the terminal
+          pixi shell-hook --shell cmd -e ${{ inputs.preset }} > "%TEMP%\pixi_hook.bat"
+          call "%TEMP%\pixi_hook.bat"
+          del "%TEMP%\pixi_hook.bat"
+
+          python %CI_DIR%\scripts\tests\sofa_scene_tests.py --src-dir "%SRC_DIR%" --build-dir "%BUILD_DIR%" --results-dir "%SCENE_RESULTS_DIR%" -j %VM_MAX_PARALLEL_TESTS%
 
           if not exist "%SCENE_RESULTS_DIR%\*summary*" exit /b 1
 
@@ -338,7 +348,13 @@ jobs:
 
           set "REG_RESULTS_DIR=%BUILD_DIR%\tests_results\regression"
 
-          pixi run -e ${{ inputs.preset }} python %REGRESSION_DIR%\SofaRegressionProgram\SofaRegressionProgram.py --input "%SRC_DIR%/examples" --input "%SRC_DIR%\applications"  --input "%BUILD_DIR%\external_directories\fetched" --output-logs-errors "%REG_RESULTS_DIR%" --legacy-regression  -j %VM_MAX_PARALLEL_TESTS%
+          REM Activate the environment in the terminal
+          pixi shell-hook --shell cmd -e ${{ inputs.preset }} > "%TEMP%\pixi_hook.bat"
+          call "%TEMP%\pixi_hook.bat"
+          del "%TEMP%\pixi_hook.bat"
+
+
+          python %REGRESSION_DIR%\SofaRegressionProgram\SofaRegressionProgram.py --input "%SRC_DIR%/examples" --input "%SRC_DIR%\applications"  --input "%BUILD_DIR%\external_directories\fetched" --output-logs-errors "%REG_RESULTS_DIR%" --legacy-regression  -j %VM_MAX_PARALLEL_TESTS%
           if not exist "%REG_RESULTS_DIR%\*summary*" exit /b 1
 
           set "CRASHES="

From e5b7caa035afd31ceaf1aa0d3aac23ddc6af9ea0 Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Mon, 28 Sep 2026 10:07:19 +0200
Subject: [PATCH 20/26] Revert changes on UNIX CI as #6325 supersed it

---
 .github/workflows/CI_build_and_test.yml       | 84 ++++---------------
 .../workflows/CI_trigger_build_and_tests.yml  |  2 +-
 2 files changed, 19 insertions(+), 67 deletions(-)

diff --git a/.github/workflows/CI_build_and_test.yml b/.github/workflows/CI_build_and_test.yml
index 6f85df8e09a..6bdef27983d 100644
--- a/.github/workflows/CI_build_and_test.yml
+++ b/.github/workflows/CI_build_and_test.yml
@@ -103,7 +103,7 @@ jobs:
 
             echo "Workspace folder for this build will be $WORKSPACE"
 
-      - name: Clone SOFA, CI and Regression
+      - name: Clone SOFA and CI
         id: clone
         shell: bash
         run: |
@@ -170,33 +170,6 @@ jobs:
 
           cd $WORKSPACE
 
-          ## 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}"
-
-          if [ -d  $WORKSPACE/Regression ]; then
-              rm -rf $WORKSPACE/Regression
-          fi
-          REGRESSION_DIR=$WORKSPACE/Regression
-          echo "REGRESSION_DIR=$REGRESSION_DIR" >> $GITHUB_ENV
-
-          git clone -b ${regression_branch//\"} --single-branch ${regression_repo_url//\"}
-
-          cd $WORKSPACE
-
           ## Setup build folder
           if [ "${{ inputs.force-full-build }}" == "true" ] && [ -d  $WORKSPACE/build ]; then
               rm -rf $WORKSPACE/build
@@ -313,13 +286,11 @@ jobs:
               DOCKER_SRC_DIR="/workspace/$(realpath --relative-to=$WORKSPACE $SRC_DIR)"
               DOCKER_BUILD_DIR="/workspace/$(realpath --relative-to=$WORKSPACE $BUILD_DIR)"
               DOCKER_CI_DIR="/workspace/$(realpath --relative-to=$WORKSPACE $CI_DIR)"
-              DOCKER_REGRESSION_DIR="/workspace/$(realpath --relative-to=$WORKSPACE $REGRESSION_DIR)"
               DOCKER_LOG_DIR="/workspace/$(realpath --relative-to=$WORKSPACE ${{ env.LOG_DIR }})"
 
               echo "DOCKER_SRC_DIR=$DOCKER_SRC_DIR" >> $GITHUB_ENV
               echo "DOCKER_BUILD_DIR=$DOCKER_BUILD_DIR" >> $GITHUB_ENV
               echo "DOCKER_CI_DIR=$DOCKER_CI_DIR" >> $GITHUB_ENV
-              echo "DOCKER_REGRESSION_DIR=$DOCKER_REGRESSION_DIR" >> $GITHUB_ENV
               echo "DOCKER_LOG_DIR=$DOCKER_LOG_DIR" >> $GITHUB_ENV
 
               export XDG_CACHE_HOME="/cache"
@@ -349,24 +320,17 @@ jobs:
               docker run --rm \
                   --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \
                   ${DOCKER_IMAGE} \
-                  /bin/bash -c "cd /workspace; . ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\"; env; \${VM_PYTHON3_EXECUTABLE} ${DOCKER_CI_DIR}/scripts/tests/sofa_unit_tests.py --build-dir ${DOCKER_BUILD_DIR} --results-dir \${RESULTS_DIR}/unit -j \${VM_MAX_PARALLEL_TESTS}"
+                  /bin/bash -c "env ; cd /workspace; /bin/bash $DOCKER_CI_DIR/scripts/test.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ ${NODE_NAME} ${{ inputs.python-version }} UNIT"
           else
               echo "Launching unit test suite."
 
-              . ${CI_DIR}/scripts/setup-test-env.sh "${BUILD_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}"
-              env
-              ${VM_PYTHON3_EXECUTABLE} ${CI_DIR}/scripts/tests/sofa_unit_tests.py --build-dir "${BUILD_DIR}" --results-dir "${RESULTS_DIR}/unit" -j ${VM_MAX_PARALLEL_TESTS}
+              bash ${CI_DIR}/scripts/test.sh "${BUILD_DIR}" "${SRC_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}" "UNIT"
           fi
 
-          if [[ ! "$(cd "${{ env.BUILD_DIR }}/tests_results/unit" && find . -maxdepth 1 -type f)" == *"summary"* ]]; then
+          if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" == *"unit-tests_"* ]]; then
             exit 1
-          else
-              if [[ "$(awk -F= '$1=="crashes" {print $2}' ${{ env.BUILD_DIR }}/tests_results/unit/summary.txt)" != '0' || "$(awk -F= '$1=="failures" {print $2}' ${{ env.BUILD_DIR }}/tests_results/unit/summary.txt)" != "0" ]]; then
-                  exit 1
-              fi
           fi
 
-
       - name: Scene tests
         id: scene-tests-step
         if: always() && steps.build-step.outcome == 'success' && inputs.generate-binaries == false && inputs.with-all-tests == true
@@ -380,21 +344,15 @@ jobs:
               docker run --rm \
                   --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \
                   ${DOCKER_IMAGE} \
-                  /bin/bash -c "cd /workspace; . ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\"; env ; \${VM_PYTHON3_EXECUTABLE} ${DOCKER_CI_DIR}/scripts/tests/sofa_scene_tests.py --src-dir "${DOCKER_SRC_DIR}" --build-dir \"${DOCKER_BUILD_DIR}\" --results-dir \"\${RESULTS_DIR}/scene\" -j \${VM_MAX_PARALLEL_TESTS}"
+                  /bin/bash -c "env ; cd /workspace; /bin/bash $DOCKER_CI_DIR/scripts/test.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ ${NODE_NAME} ${{ inputs.python-version }} SCENE"
           else
               echo "Launching scene test suite."
 
-              . ${CI_DIR}/scripts/setup-test-env.sh "${BUILD_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}"
-              env
-              ${VM_PYTHON3_EXECUTABLE} ${CI_DIR}/scripts/tests/sofa_scene_tests.py --src-dir "${SRC_DIR}" --build-dir "${BUILD_DIR}" --results-dir "${RESULTS_DIR}/scene" -j ${VM_MAX_PARALLEL_TESTS}
+              bash ${CI_DIR}/scripts/test.sh "${BUILD_DIR}" "${SRC_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}" "SCENE"
           fi
 
-          if [[ ! "$(cd "${{ env.BUILD_DIR }}/tests_results/scene" && find . -maxdepth 1 -type f)" == *"summary"* ]]; then
+          if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" == *"scene-tests_"* ]]; then
             exit 1
-          else
-              if [[ "$(awk -F= '$1=="crashes" {print $2}' ${{ env.BUILD_DIR }}/tests_results/scene/summary.txt)" != '0' || "$(awk -F= '$1=="failures" {print $2}' ${{ env.BUILD_DIR }}/tests_results/scene/summary.txt)" != "0" ]]; then
-                  exit 1
-              fi
           fi
 
       - name: Regression tests
@@ -410,21 +368,15 @@ jobs:
               docker run --rm \
                   --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \
                   ${DOCKER_IMAGE} \
-                  /bin/bash -c "export REGRESSION_DIR="$DOCKER_REGRESSION_DIR"; cd /workspace;. ${DOCKER_CI_DIR}/scripts/setup-test-env.sh \"${DOCKER_BUILD_DIR}\" \"${DOCKER_CI_DIR}/scripts/\" \"${NODE_NAME}\" \"${{ inputs.python-version }}\";  env ; \${VM_PYTHON3_EXECUTABLE} ${DOCKER_REGRESSION_DIR}/SofaRegressionProgram/SofaRegressionProgram.py --input "${DOCKER_SRC_DIR}/examples" --input "${DOCKER_SRC_DIR}/applications"  --input "${DOCKER_BUILD_DIR}/external_directories/fetched" --output-logs-errors "\${RESULTS_DIR}/regression" --legacy-regression --jobs \${VM_MAX_PARALLEL_TESTS} "
+                  /bin/bash -c "env ; cd /workspace; /bin/bash $DOCKER_CI_DIR/scripts/test.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ ${NODE_NAME} ${{ inputs.python-version }} REGRESSION"
           else
               echo "Launching regression test suite"
 
-              . ${CI_DIR}/scripts/setup-test-env.sh "${BUILD_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}"
-              env
-              ${VM_PYTHON3_EXECUTABLE} ${REGRESSION_DIR}/SofaRegressionProgram/SofaRegressionProgram.py --input "${SRC_DIR}/examples" --input "${SRC_DIR}/applications"  --input "${BUILD_DIR}/external_directories/fetched" --output-logs-errors "${RESULTS_DIR}/regression" --legacy-regression  -j ${VM_MAX_PARALLEL_TESTS}
+              bash ${CI_DIR}/scripts/test.sh "${BUILD_DIR}" "${SRC_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}" "REGRESSION"
           fi
 
-          if [[ ! "$(cd "${{ env.BUILD_DIR }}/tests_results/regression" && find . -maxdepth 1 -type f)" == *"summary"* ]]; then
-              exit 1
-          else
-              if [[ "$(awk -F= '$1=="crashes" {print $2}' ${{ env.BUILD_DIR }}/tests_results/regression/summary.txt)" != '0' || "$(awk -F= '$1=="failures" {print $2}' ${{ env.BUILD_DIR }}/tests_results/regression/summary.txt)" != "0" ]]; then
-                  exit 1
-              fi
+          if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" == *"regression-tests_"* ]]; then
+            exit 1
           fi
 
 
@@ -481,7 +433,7 @@ jobs:
           fi
 
           if [[ "${{ inputs.generate-binaries }}" == "false" ]]; then
-            if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -mindepth 2 -maxdepth 2 -type f -name 'summary.txt')" != "" ]]; then
+            if [[ "$(cd "${{ env.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.BUILD_DIR }}/tests_results/"
@@ -491,18 +443,18 @@ jobs:
               echo "#----------------------------------------#"
               for testType in 'unit' 'scene' 'regression';
                 do
-                  capitalized="$(echo "${testType:0:1}" | tr '[:lower:]' '[:upper:]')${testType:1}"
-                  echo -e "${bold}${capitalized}:${normal}"
                   for errorType in 'errors' 'crashes' 'failures';
                   do
-                    if [ -f "${{ env.BUILD_DIR }}/tests_results/${testType}/${testType}_${errorType}.txt" ]; then
+                    if [ -f "${{ env.BUILD_DIR }}/tests_results/${testType}-tests_${errorType}" ]; then
+                      capitalized="$(echo "${testType:0:1}" | tr '[:lower:]' '[:upper:]')${testType:1}"
+                      echo ""
+                      echo -e "${bold}${capitalized} ${errorType}:${normal}"
                       echo ""
-                      cat "${{ env.BUILD_DIR }}/tests_results/${testType}/${testType}_${errorType}.txt"
+                      cat "${{ env.BUILD_DIR }}/tests_results/${testType}-tests_${errorType}"
                       echo ""
+                      echo "#----------------------------------------#"
                     fi
                   done
-                  echo "#----------------------------------------#"
-                  echo ""
                 done
               echo -e "${bold}You can download all logs here : ${{ steps.publish-tests-logs.outputs.artifact-url }}${normal}"
               exit 1
diff --git a/.github/workflows/CI_trigger_build_and_tests.yml b/.github/workflows/CI_trigger_build_and_tests.yml
index 430873c3f14..ebb9a7c2a03 100644
--- a/.github/workflows/CI_trigger_build_and_tests.yml
+++ b/.github/workflows/CI_trigger_build_and_tests.yml
@@ -231,7 +231,7 @@ jobs:
   build-on:
     needs: filter_build
     if: ${{ github.repository_owner == 'sofa-framework' && needs.filter_build.outputs.SH_BUILDER_OS != '[]' }}
-    uses: bakpaul/sofa/.github/workflows/CI_build_and_test.yml@26_09_update_ci_with_new_test_scripts_and_pixi_based_ci_for_windows
+    uses: sofa-framework/sofa/.github/workflows/CI_build_and_test.yml@master
     with:
       sofa-branch-name: ${{ needs.filter_build.outputs.SOFA_BRANCH_NAME }}
       sofa-commit-sha: ${{ needs.filter_build.outputs.SOFA_COMMIT_SHA }}

From 38a773eff92bcd47739a59ec34055d0af7d788d0 Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Mon, 28 Sep 2026 10:18:37 +0200
Subject: [PATCH 21/26] Force the ci working branch unit UNIX CI follows

---
 .../workflows/CI_macos_linux_windows_pixi.yml | 28 +++++++++++++------
 1 file changed, 19 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/CI_macos_linux_windows_pixi.yml b/.github/workflows/CI_macos_linux_windows_pixi.yml
index ce9ae585970..32a9fda687b 100644
--- a/.github/workflows/CI_macos_linux_windows_pixi.yml
+++ b/.github/workflows/CI_macos_linux_windows_pixi.yml
@@ -134,17 +134,27 @@ jobs:
           cd $WORKSPACE
 
           ## Clone CI and use ci-depends-on structure
-          ci_branch=${{ inputs.sofa-branch-name }}
-          ci_repo_url="https://www.github.com/sofa-framework/ci"
+          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 ###
 
-          # 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
           echo "CI_BRANCH=$ci_branch" >> $GITHUB_ENV
 
 

From a4328ec713b02503112b755446ecbe1f3e84ce79 Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Mon, 28 Sep 2026 11:26:24 +0200
Subject: [PATCH 22/26] Base tests on powershell

---
 .../workflows/CI_macos_linux_windows_pixi.yml | 139 +++++++++++-------
 1 file changed, 82 insertions(+), 57 deletions(-)

diff --git a/.github/workflows/CI_macos_linux_windows_pixi.yml b/.github/workflows/CI_macos_linux_windows_pixi.yml
index 32a9fda687b..25b17ceed24 100644
--- a/.github/workflows/CI_macos_linux_windows_pixi.yml
+++ b/.github/workflows/CI_macos_linux_windows_pixi.yml
@@ -260,6 +260,12 @@ jobs:
         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
@@ -296,86 +302,105 @@ jobs:
       - name: Unit tests
         id: unit-tests-step
         if: always() && runner.os == 'Windows' && steps.build-step.outcome == 'success' && inputs.generate-binaries == false
-        shell: cmd
+        shell: pwsh
         run: |
-          cd /d "%SRC_DIR%"
+          Set-Location $env:SRC_DIR
 
-          set "UNIT_RESULTS_DIR=%BUILD_DIR%\tests_results\unit"
+          $UnitResultsDir = Join-Path $env:BUILD_DIR "tests_results\unit"
+          $env:UNIT_RESULTS_DIR = $UnitResultsDir   # in case the script or child processes need it
 
-          REM Activate the environment in the terminal
-          pixi shell-hook --shell cmd -e ${{ inputs.preset }} > "%TEMP%\pixi_hook.bat"
-          call "%TEMP%\pixi_hook.bat"
-          del "%TEMP%\pixi_hook.bat"
+          # Activate the environment in the terminal
+          pixi shell-hook --shell powershell -e ${{ inputs.preset }} | Out-String | Invoke-Expression
 
-          python %CI_DIR%\scripts\tests\sofa_unit_tests.py --build-dir "%BUILD_DIR%" --results-dir "%UNIT_RESULTS_DIR%" -j %VM_MAX_PARALLEL_TESTS%
+          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 exist "%UNIT_RESULTS_DIR%\*summary*" exit /b 1
+          if (-not (Test-Path "$UnitResultsDir\*summary*")) { exit 1 }
 
-          set "CRASHES="
-          set "FAILURES="
-          for /f "usebackq tokens=1,2 delims==" %%a in ("%UNIT_RESULTS_DIR%\summary.txt") do (
-            if "%%a"=="crashes" set "CRASHES=%%b"
-            if "%%a"=="failures" set "FAILURES=%%b"
-          )
+          $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 not "%CRASHES%"=="0" exit /b 1
-          if not "%FAILURES%"=="0" exit /b 1
+          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: cmd
+        shell: pwsh
         run: |
-          cd /d "%SRC_DIR%"
+          Set-Location $env:SRC_DIR
 
-          set "SCENE_RESULTS_DIR=%BUILD_DIR%\tests_results\scene"
+          $SceneResultsDir = Join-Path $env:BUILD_DIR "tests_results\scene"
+          $env:SCENE_RESULTS_DIR = $SceneResultsDir   # in case the script or child processes need it
 
-          REM Activate the environment in the terminal
-          pixi shell-hook --shell cmd -e ${{ inputs.preset }} > "%TEMP%\pixi_hook.bat"
-          call "%TEMP%\pixi_hook.bat"
-          del "%TEMP%\pixi_hook.bat"
+          # Activate the environment in the terminal
+          pixi shell-hook --shell powershell -e ${{ inputs.preset }} | Out-String | Invoke-Expression
 
-          python %CI_DIR%\scripts\tests\sofa_scene_tests.py --src-dir "%SRC_DIR%" --build-dir "%BUILD_DIR%" --results-dir "%SCENE_RESULTS_DIR%" -j %VM_MAX_PARALLEL_TESTS%
+          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 exist "%SCENE_RESULTS_DIR%\*summary*" exit /b 1
+          if (-not (Test-Path "$SceneResultsDir\*summary*")) { exit 1 }
 
-          set "CRASHES="
-          set "FAILURES="
-          for /f "usebackq tokens=1,2 delims==" %%a in ("%SCENE_RESULTS_DIR%\summary.txt") do (
-            if "%%a"=="crashes" set "CRASHES=%%b"
-            if "%%a"=="failures" set "FAILURES=%%b"
-          )
+          $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 not "%CRASHES%"=="0" exit /b 1
-          if not "%FAILURES%"=="0" exit /b 1
+          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: cmd
+        shell: pwsh
         run: |
-          cd /d "%SRC_DIR%"
-
-          set "REG_RESULTS_DIR=%BUILD_DIR%\tests_results\regression"
-
-          REM Activate the environment in the terminal
-          pixi shell-hook --shell cmd -e ${{ inputs.preset }} > "%TEMP%\pixi_hook.bat"
-          call "%TEMP%\pixi_hook.bat"
-          del "%TEMP%\pixi_hook.bat"
-
-
-          python %REGRESSION_DIR%\SofaRegressionProgram\SofaRegressionProgram.py --input "%SRC_DIR%/examples" --input "%SRC_DIR%\applications"  --input "%BUILD_DIR%\external_directories\fetched" --output-logs-errors "%REG_RESULTS_DIR%" --legacy-regression  -j %VM_MAX_PARALLEL_TESTS%
-          if not exist "%REG_RESULTS_DIR%\*summary*" exit /b 1
-
-          set "CRASHES="
-          set "FAILURES="
-          for /f "usebackq tokens=1,2 delims==" %%a in ("%REG_RESULTS_DIR%\summary.txt") do (
-            if "%%a"=="crashes" set "CRASHES=%%b"
-            if "%%a"=="failures" set "FAILURES=%%b"
-          )
-
-          if not "%CRASHES%"=="0" exit /b 1
-          if not "%FAILURES%"=="0" exit /b 1
+          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 `
+            -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

From eb1e0c13ac262069df2e50ce59d55b08170ea596 Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Mon, 28 Sep 2026 14:17:15 +0200
Subject: [PATCH 23/26] Fix remaining CUDA scene launched

---
 applications/plugins/SofaCUDA/examples/.scene-tests | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/applications/plugins/SofaCUDA/examples/.scene-tests b/applications/plugins/SofaCUDA/examples/.scene-tests
index b2dde060046..cb5fb7f685f 100644
--- a/applications/plugins/SofaCUDA/examples/.scene-tests
+++ b/applications/plugins/SofaCUDA/examples/.scene-tests
@@ -47,6 +47,6 @@ ignore "ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_tetra.scn"
 ignore "ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_triangle.scn"
 ignore "ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_prism.scn"
 ignore "ElementFEMForcefield/CudaLinearSmallStrainFEMForceField_pyramid.scn"
-ignore "cpu-gpu_validation/CorotationalFEMForceField_tetra_cpu_gpu.scn"
-ignore "benchmarks/Tetrahedron_corotational.py"
-ignore "benchmarks/Hexahedron_corotational.py"
+ignore "ElementFEMForcefield/cpu-gpu_validation/CorotationalFEMForceField_tetra_cpu_gpu.scn"
+ignore "ElementFEMForcefield/benchmarks/Tetrahedron_corotational.py"
+ignore "ElementFEMForcefield/benchmarks/Hexahedron_corotational.py"

From aa458c87d47513b1f90140a4ed7a3a8370d9d40e Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Mon, 28 Sep 2026 15:12:14 +0200
Subject: [PATCH 24/26] Skip PrecomputedConstraintCorrection in scene tests as
 they are launched by the regression tests and the scene test make the aciton
 crash

---
 examples/.scene-tests | 3 +++
 1 file changed, 3 insertions(+)

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"

From 2c3cd11eaf5eca4c347cae324956435c33e2a211 Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Mon, 28 Sep 2026 15:14:56 +0200
Subject: [PATCH 25/26] Fix warning

---
 .github/workflows/CI_macos_linux_windows_pixi.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/CI_macos_linux_windows_pixi.yml b/.github/workflows/CI_macos_linux_windows_pixi.yml
index 25b17ceed24..5dd5d0db5b6 100644
--- a/.github/workflows/CI_macos_linux_windows_pixi.yml
+++ b/.github/workflows/CI_macos_linux_windows_pixi.yml
@@ -257,7 +257,7 @@ jobs:
 
       - name: Setup env for tests
         shell: bash
-        if: always() && ${{ runner.os == 'Windows' }}
+        if: always() && runner.os == 'Windows'
         run: |
           cd ${SRC_DIR}
 

From 2fcaae6bc95a9d68d9b4c1209419ae2e2f81917a Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Mon, 28 Sep 2026 19:44:13 +0200
Subject: [PATCH 26/26] TO REVERT, pass verbose to 2 for regression

---
 .github/workflows/CI_macos_linux_windows_pixi.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/CI_macos_linux_windows_pixi.yml b/.github/workflows/CI_macos_linux_windows_pixi.yml
index 5dd5d0db5b6..6a48aeb7df7 100644
--- a/.github/workflows/CI_macos_linux_windows_pixi.yml
+++ b/.github/workflows/CI_macos_linux_windows_pixi.yml
@@ -385,6 +385,7 @@ jobs:
             --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 }