diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
index 87ab0ed8..0da49801 100644
--- a/.github/workflows/ubuntu.yml
+++ b/.github/workflows/ubuntu.yml
@@ -11,18 +11,13 @@ on:
 jobs:
   build:
     name: Building with ${{ matrix.sofa_version }}
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     container: ${{ matrix.CONTAINER }}
     strategy:
       fail-fast: false
       matrix:
-        sofa_version: [ master ]
-        include:
-          - sofa_version: master
-            SOFA_VERSION_I: 999999
-            CONTAINER: jnbrunet/caribou-ubuntu-2004-builder:latest
-            PYTHON_VERSION: 3.8
-            PYBIND11_VERSION: 2.6
+        sofa_branch: [ master ]
+        os: [ubuntu-22.04]
     env:
       SOFA_VERSION: ${{ matrix.sofa_version }}
       SOFA_ROOT: /opt/sofa
@@ -38,29 +33,14 @@ jobs:
           git config --global user.name "Caribou Github"
           git fetch origin
           git rebase origin/master
-
-      - name: Install pybind11
-        if: ${{ matrix.PYBIND11_VERSION != '2.4' }}
-        run: |
-          git clone --depth 1 -b v${{ matrix.PYBIND11_VERSION }}  https://github.com/pybind/pybind11.git /tmp/pybind11
-          cmake -GNinja -S/tmp/pybind11 -B/tmp/pybind11/build -DPYBIND11_TEST=OFF -DCMAKE_BUILD_TYPE=Release
-          cmake --install /tmp/pybind11/build
-          rm -rf /tmp/pybind11
-
-      - name: Download SOFA Release
-        run:  |
-          if [ "$SOFA_VERSION" = "master" ]; then
-              curl --output sofa.zip -L "https://ci.inria.fr/sofa-ci-dev/job/nightly-generate-binaries/lastStableBuild/CI_BRANCH=master,CI_SCOPE=standard/artifact/Linux/*zip*/Linux.zip"
-              unzip sofa.zip -d temp
-              mv temp/Linux/`ls temp/Linux` sofa.zip 
-              rm -rf temp
-              unzip sofa.zip -d temp
-              mv temp/`ls temp` $SOFA_ROOT
-          else
-              curl --output sofa.zip -L "https://github.com/sofa-framework/sofa/releases/download/$SOFA_VERSION/SOFA_"$SOFA_VERSION"_Linux.zip"
-              unzip sofa.zip -d temp
-              mv temp/`ls temp` $SOFA_ROOT
-          fi
+          
+      - name: Setup SOFA and environment
+        id: sofa
+        uses: sofa-framework/sofa-setup-action@v5
+        with:
+          sofa_root: ${{ github.workspace }}/sofa
+          sofa_version: ${{ matrix.sofa_branch }}
+          sofa_scope: 'standard'
 
       - name: Get Time
         id: time
@@ -83,14 +63,12 @@ jobs:
           CCACHE_COMPRESS: true
           CCACHE_COMPRESSLEVEL: 6
           CCACHE_MAXSIZE: "500M"
-          PYTHONEXE: ${{ format('/usr/bin/python{0}', matrix.PYTHON_VERSION) }}
         run:
           export CCACHE_BASEDIR=$GITHUB_WORKSPACE &&
           export CCACHE_DIR=$GITHUB_WORKSPACE/.ccache &&
           ccache -z &&
           cmake
           -GNinja
-          -DPYTHON_EXECUTABLE=$PYTHONEXE
           -DCMAKE_C_COMPILER_LAUNCHER=ccache
           -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
           -DCARIBOU_BUILD_TESTS=ON
@@ -105,14 +83,14 @@ jobs:
       - name: Archive production
         uses: actions/upload-artifact@v2
         with:
-          name: caribou_${{ matrix.sofa_version }}
+          name: caribou_${{ matrix.sofa_branch }}
           path: SofaCaribou.tar.gz
 
   test:
-    name: Testing with ${{ matrix.sofa_version }}
+    name: Testing with ${{ matrix.sofa_branch }}
     needs: [build]
-    runs-on: ubuntu-20.04
-    container: ubuntu:20.04
+    runs-on: ubuntu-22.04
+    container: ubuntu:22.04
     strategy:
       fail-fast: false
       matrix: