diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
index 059febc1..c8040e7f 100644
--- a/.github/workflows/macos.yml
+++ b/.github/workflows/macos.yml
@@ -145,11 +145,17 @@ jobs:
         run:  |
           if [ "$SOFA_VERSION" = "master" ]; then
               curl --output sofa.zip -L "https://ci.inria.fr/sofa-ci-dev/job/nightly-generate-binaries/CI_BRANCH=master,CI_SCOPE=standard/lastSuccessfulBuild/artifact/MacOS/*zip*/MacOS.zip"
+              unzip sofa.zip -d temp
+              mv temp/MacOS/`ls temp/MacOS` 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"_MacOS.zip"
+              unzip sofa.zip -d temp
+              sudo mv temp/`ls temp` $SOFA_ROOT
           fi
-          unzip sofa.zip -d temp
-          sudo mv temp/`ls temp` $SOFA_ROOT
+
 
 
 #     CCACHE
diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
index 5c1d7116..978c7fef 100644
--- a/.github/workflows/ubuntu.yml
+++ b/.github/workflows/ubuntu.yml
@@ -22,22 +22,27 @@ jobs:
             SOFA_VERSION_I: 999999
             CONTAINER: jnbrunet/caribou-ubuntu-2004-builder:latest
             PYTHON_VERSION: 3.8
+            PYBIND11_VERSION: 2.6
           - sofa_version: v21.12.00
             SOFA_VERSION_I: 211200
             CONTAINER: jnbrunet/caribou-ubuntu-2004-builder:latest
             PYTHON_VERSION: 3.8
+            PYBIND11_VERSION: 2.4
           - sofa_version: v21.06.03
             SOFA_VERSION_I: 210603
             CONTAINER: jnbrunet/caribou-ubuntu-1804-builder:latest
             PYTHON_VERSION: 3.7
+            PYBIND11_VERSION: 2.4
           - sofa_version: v20.12.03
             SOFA_VERSION_I: 201203
             CONTAINER: jnbrunet/caribou-ubuntu-1804-builder:latest
             PYTHON_VERSION: 3.7
+            PYBIND11_VERSION: 2.4
           - sofa_version: v20.06.01
             SOFA_VERSION_I: 200601
             CONTAINER: jnbrunet/caribou-ubuntu-1804-builder:latest
             PYTHON_VERSION: 3.7
+            PYBIND11_VERSION: 2.4
     env:
       SOFA_VERSION: ${{ matrix.sofa_version }}
       SOFA_ROOT: /opt/sofa
@@ -54,6 +59,14 @@ jobs:
           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
@@ -217,6 +230,8 @@ jobs:
         if: ${{ always() }}
         run: |
             [ "$SOFA_VERSION" = "v20.06.01" ] && export LD_LIBRARY_PATH="$SOFA_ROOT/lib:$LD_LIBRARY_PATH"
+            export LD_LIBRARY_PATH="$SOFA_ROOT/collections/SofaBaseMechanics/lib:$LD_LIBRARY_PATH"
+            export LD_LIBRARY_PATH="$SOFA_ROOT/collections/SofaBaseUtils/lib:$LD_LIBRARY_PATH"
             $CARIBOU_ROOT/bin/Caribou.unittests.SofaCaribou
 
       - name: SofaCaribou.PyTest
diff --git a/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldRecomputeF.h b/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldRecomputeF.h
index dd59b6ea..cb43a13f 100644
--- a/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldRecomputeF.h
+++ b/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldRecomputeF.h
@@ -17,7 +17,7 @@
 #include <SofaCaribou/Topology/CaribouTopology.h>
 
 DISABLE_ALL_WARNINGS_BEGIN
-#include <sofa/defaulttype/BaseMatrix.h>
+#include <SofaCaribou/Algebra/BaseMatrixOperations.h>
 DISABLE_ALL_WARNINGS_END
 
 #if (defined(SOFA_VERSION) && SOFA_VERSION < 201200)
@@ -101,7 +101,7 @@ class HyperelasticForcefieldRecomputeF : public ::SofaCaribou::forcefield::Carib
         const sofa::core::objectmodel::Data<VecCoord>& /* d_x */) const override;
 
     
-    void addKToMatrix(sofa::defaulttype::BaseMatrix * /*matrix*/, SReal /*kFact*/, unsigned int & /*offset*/) override;
+    void addKToMatrix(SofaCaribou::Algebra::BaseMatrix * /*matrix*/, SReal /*kFact*/, unsigned int & /*offset*/) override;
 
     /** Get the set of Gauss integration nodes of an element */
     inline auto gauss_nodes_of(std::size_t element_id) const -> const auto & {
diff --git a/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldRecomputeF.inl b/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldRecomputeF.inl
index 9c2e0ec5..3a1f30b7 100644
--- a/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldRecomputeF.inl
+++ b/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldRecomputeF.inl
@@ -214,7 +214,7 @@ void HyperelasticForcefieldRecomputeF<Element>::addDForce(
 
 template <typename Element>
 void HyperelasticForcefieldRecomputeF<Element>::addKToMatrix(
-    sofa::defaulttype::BaseMatrix * matrix,
+    SofaCaribou::Algebra::BaseMatrix * matrix,
     SReal kFact, unsigned int & offset)
 {
     if (not K_is_up_to_date) {
diff --git a/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldStoreF.h b/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldStoreF.h
index d8b4b21e..6717b0ba 100644
--- a/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldStoreF.h
+++ b/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldStoreF.h
@@ -6,6 +6,7 @@
 #include <SofaCaribou/config.h>
 #include <SofaCaribou/Material/HyperelasticMaterial.h>
 #include <SofaCaribou/Forcefield/CaribouForcefield.h>
+#include <SofaCaribou/Algebra/BaseMatrixOperations.h>
 
 #include <Caribou/config.h>
 #include <Caribou/constants.h>
@@ -98,7 +99,7 @@ class HyperelasticForcefieldStoreF : public ::SofaCaribou::forcefield::CaribouFo
         const sofa::core::objectmodel::Data<VecCoord>& /* d_x */) const override;
 
     
-    void addKToMatrix(sofa::defaulttype::BaseMatrix * /*matrix*/, SReal /*kFact*/, unsigned int & /*offset*/) override;
+    void addKToMatrix(SofaCaribou::Algebra::BaseMatrix * /*matrix*/, SReal /*kFact*/, unsigned int & /*offset*/) override;
 
     /** Get the set of Gauss integration nodes of an element */
     auto gauss_nodes_of(std::size_t element_id) const -> const auto & {
diff --git a/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldStoreF.inl b/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldStoreF.inl
index 6bfd5cae..a72a8839 100644
--- a/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldStoreF.inl
+++ b/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldStoreF.inl
@@ -215,7 +215,7 @@ void HyperelasticForcefieldStoreF<Element>::addDForce(
 
 template <typename Element>
 void HyperelasticForcefieldStoreF<Element>::addKToMatrix(
-    sofa::defaulttype::BaseMatrix * matrix,
+    SofaCaribou::Algebra::BaseMatrix * matrix,
     SReal kFact, unsigned int & offset)
 {
     if (not K_is_up_to_date) {
diff --git a/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldStoreFAndS.h b/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldStoreFAndS.h
index 7a03d7ea..6f153ab4 100644
--- a/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldStoreFAndS.h
+++ b/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldStoreFAndS.h
@@ -6,6 +6,7 @@
 #include <SofaCaribou/config.h>
 #include <SofaCaribou/Material/HyperelasticMaterial.h>
 #include <SofaCaribou/Forcefield/CaribouForcefield.h>
+#include <SofaCaribou/Algebra/BaseMatrixOperations.h>
 
 #include <Caribou/config.h>
 #include <Caribou/constants.h>
@@ -17,7 +18,7 @@
 #include <SofaCaribou/Topology/CaribouTopology.h>
 
 DISABLE_ALL_WARNINGS_BEGIN
-#include <sofa/defaulttype/BaseMatrix.h>
+#include <SofaCaribou/Algebra/BaseMatrixOperations.h>
 DISABLE_ALL_WARNINGS_END
 
 #if (defined(SOFA_VERSION) && SOFA_VERSION < 201200)
@@ -105,7 +106,7 @@ class HyperelasticForcefieldStoreFAndS : public ::SofaCaribou::forcefield::Carib
         const sofa::core::objectmodel::Data<VecCoord>& /* d_x */) const override;
 
     
-    void addKToMatrix(sofa::defaulttype::BaseMatrix * /*matrix*/, SReal /*kFact*/, unsigned int & /*offset*/) override;
+    void addKToMatrix(SofaCaribou::Algebra::BaseMatrix * /*matrix*/, SReal /*kFact*/, unsigned int & /*offset*/) override;
 
     /** Get the set of Gauss integration nodes of an element */
     auto gauss_nodes_of(std::size_t element_id) const -> const auto & {
diff --git a/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldStoreFAndS.inl b/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldStoreFAndS.inl
index 3dcbe0ed..b7c08728 100644
--- a/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldStoreFAndS.inl
+++ b/Benchmark/SofaCaribou/Forcefield/RecomputeOrStore/HyperelasticForcefieldStoreFAndS.inl
@@ -214,7 +214,7 @@ void HyperelasticForcefieldStoreFAndS<Element>::addDForce(
 
 template <typename Element>
 void HyperelasticForcefieldStoreFAndS<Element>::addKToMatrix(
-    sofa::defaulttype::BaseMatrix * matrix,
+    SofaCaribou::Algebra::BaseMatrix * matrix,
     SReal kFact, unsigned int & offset)
 {
     if (not K_is_up_to_date) {
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3fbf9f06..9eb2b5d2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -94,7 +94,9 @@ else()
 endif()
 
 # Python 3 option
-find_package(SofaPython3 QUIET)
+if (CARIBOU_WITH_SOFA)
+    sofa_find_package(SofaPython3 QUIET)
+endif()
 set(CMAKE_CXX_STANDARD 17)
 set(PYBIND11_FINDPYTHON ON)
 set(PYBIND11_PYTHON_VERSION 3)
diff --git a/cmake/FindSOFA.cmake b/cmake/FindSOFA.cmake
index 510e6200..1f0db7b0 100644
--- a/cmake/FindSOFA.cmake
+++ b/cmake/FindSOFA.cmake
@@ -65,6 +65,9 @@ endif()
 # Compatibility layer
 set(SOFA_VERSION ${SofaFramework_VERSION})
 foreach(component ${SOFA_FIND_COMPONENTS})
+    if (SOFA_VERSION VERSION_LESS "22.06.99")
+        string(REGEX REPLACE "Sofa.Simulation.*" "SofaSimulation" component ${component})
+    endif()
     if (SOFA_VERSION VERSION_LESS "20.12.99")
         string(REGEX REPLACE "SofaSimpleFem|SofaRigid|SofaDeformable|SofaObjectInteraction|SofaMeshCollision|SofaEngine|SofaExplicitOdeSolver|SofaImplicitOdeSolver|SofaLoader" "SofaCommon" component ${component})
 
diff --git a/src/SofaCaribou/Algebra/BaseMatrixOperations.h b/src/SofaCaribou/Algebra/BaseMatrixOperations.h
new file mode 100644
index 00000000..9283f772
--- /dev/null
+++ b/src/SofaCaribou/Algebra/BaseMatrixOperations.h
@@ -0,0 +1,26 @@
+#pragma once
+
+#include <SofaCaribou/config.h>
+
+// Various utilities to perform numerical operations on SOFA's BaseMatrix.
+DISABLE_ALL_WARNINGS_BEGIN
+#include <sofa/version.h> // for SOFA_VERSION
+DISABLE_ALL_WARNINGS_END
+
+#if (defined(SOFA_VERSION) && SOFA_VERSION < 211200)
+#include <sofa/defaulttype/BaseMatrix.h>
+#else
+#include <sofa/linearalgebra/BaseMatrix.h>
+#endif // (defined(SOFA_VERSION) && SOFA_VERSION < 211299)
+
+namespace SofaCaribou::Algebra
+{
+
+#if (defined(SOFA_VERSION) && SOFA_VERSION < 211200)
+using BaseMatrix = sofa::defaulttype::BaseMatrix;
+#else
+using BaseMatrix = sofa::linearalgebra::BaseMatrix;
+#endif // (defined(SOFA_VERSION) && SOFA_VERSION < 211299)
+
+
+} // namespace SofaCaribou::Algebra
diff --git a/src/SofaCaribou/Algebra/BaseVectorOperations.cpp b/src/SofaCaribou/Algebra/BaseVectorOperations.cpp
index 438776a1..3c9d6d63 100644
--- a/src/SofaCaribou/Algebra/BaseVectorOperations.cpp
+++ b/src/SofaCaribou/Algebra/BaseVectorOperations.cpp
@@ -4,11 +4,10 @@
 DISABLE_ALL_WARNINGS_BEGIN
 #include <sofa/version.h>
 #if (defined(SOFA_VERSION) && SOFA_VERSION < 211299)
-#include <sofa/defaulttype/BaseVector.h>
+#include <SofaBaseLinearSolver/FullVector.h>
 #else
-#include <sofa/linearalgebra/BaseVector.h>
+#include <sofa/linearalgebra/FullVector.h>
 #endif // #if (defined(SOFA_VERSION) && SOFA_VERSION < 211299)
-#include <SofaBaseLinearSolver/FullVector.h>
 DISABLE_ALL_WARNINGS_END
 
 #if (defined(SOFA_VERSION) && SOFA_VERSION < 201200)
@@ -21,14 +20,20 @@ using Index = sofa::defaulttype::BaseVector::Index;
 namespace SofaCaribou::Algebra {
 
 namespace { // Anonymous
+#if (defined(SOFA_VERSION) && SOFA_VERSION < 211299)
+using namespace sofa::component::linearsolver;
+#else
+using namespace sofa::linearalgebra;
+#endif
+
 template <typename Real>
-auto to_full_vector(const sofa::defaulttype::BaseVector* v) -> const sofa::component::linearsolver::FullVector<Real> * {
-    return dynamic_cast<const sofa::component::linearsolver::FullVector<Real> *>(v);
+auto to_full_vector(const BaseVector* v) -> const FullVector<Real> * {
+    return dynamic_cast<const FullVector<Real> *>(v);
 }
 
 // Dot product between a SOFA full vector and any BaseVector
 template <typename ReturnValue, typename Real>
-ReturnValue dot(const sofa::component::linearsolver::FullVector<Real> * v1, const sofa::defaulttype::BaseVector * v2) {
+ReturnValue dot(const FullVector<Real> * v1, const BaseVector * v2) {
     const auto n = static_cast<sofa::Size>(v1->size());
     auto value = static_cast<ReturnValue>(0);
     for (sofa::Index i = 0; i < n; ++i) {
@@ -40,7 +45,7 @@ ReturnValue dot(const sofa::component::linearsolver::FullVector<Real> * v1, cons
 
 // Dot product between a two SOFA full vectors
 template <typename ReturnValue, typename Real1, typename Real2>
-ReturnValue dot(const sofa::component::linearsolver::FullVector<Real1> * v1, const sofa::component::linearsolver::FullVector<Real2> * v2) {
+ReturnValue dot(const FullVector<Real1> * v1, const FullVector<Real2> * v2) {
     const auto n = static_cast<sofa::Size>(v1->size());
     auto value = static_cast<ReturnValue>(0);
     for (sofa::Index i = 0; i < n; ++i) {
@@ -52,7 +57,7 @@ ReturnValue dot(const sofa::component::linearsolver::FullVector<Real1> * v1, con
 }
 
 /** Compute the dot product between two BaseVector, i.e. scalar = v1.dot(v2) */
- double dot(const sofa::defaulttype::BaseVector * v1, const sofa::defaulttype::BaseVector * v2) {
+ double dot(const BaseVector * v1, const BaseVector * v2) {
     caribou_assert(v1->size() == v2->size());
 
     // todo(jnbrunet2000@gmail.com): This function is awful. I'm sure there is a much much cleaner and faster way
@@ -119,4 +124,4 @@ ReturnValue dot(const sofa::component::linearsolver::FullVector<Real1> * v1, con
     return static_cast<double> (value);
 }
 
-} // namespace SofaCaribou::Algebra
\ No newline at end of file
+} // namespace SofaCaribou::Algebra
diff --git a/src/SofaCaribou/Algebra/BaseVectorOperations.h b/src/SofaCaribou/Algebra/BaseVectorOperations.h
index f1fb048d..593ce5a3 100644
--- a/src/SofaCaribou/Algebra/BaseVectorOperations.h
+++ b/src/SofaCaribou/Algebra/BaseVectorOperations.h
@@ -10,20 +10,18 @@ DISABLE_ALL_WARNINGS_BEGIN
 DISABLE_ALL_WARNINGS_END
 
 #if (defined(SOFA_VERSION) && SOFA_VERSION < 211200)
-namespace sofa::defaulttype {
-    class BaseVector;
-}
+#include <sofa/defaulttype/BaseVector.h>
 #else
-namespace sofa::linearalgebra {
-    class BaseVector;
-}
-namespace sofa::defaulttype {
-    using BaseVector = sofa::linearalgebra::BaseVector;
-}
+#include <sofa/linearalgebra/BaseVector.h>
 #endif // (defined(SOFA_VERSION) && SOFA_VERSION < 211299)
 
 namespace SofaCaribou::Algebra {
 
+#if (defined(SOFA_VERSION) && SOFA_VERSION < 211200)
+using BaseVector = sofa::defaulttype::BaseVector;
+#else
+using BaseVector = sofa::linearalgebra::BaseVector;
+#endif
 
 /**
  * Compute the dot product between two BaseVector, i.e. scalar = v1.dot(v2) *
@@ -33,6 +31,6 @@ namespace SofaCaribou::Algebra {
  *                                  simply reuse this callback. Hence we avoid the need to do multiple virtual checks
  *                                  each time this function is called
  */
- double dot(const sofa::defaulttype::BaseVector * v1, const sofa::defaulttype::BaseVector * v2);
+ double dot(const BaseVector * v1, const BaseVector * v2);
 
-} // namespace SofaCaribou::Algebra
\ No newline at end of file
+} // namespace SofaCaribou::Algebra
diff --git a/src/SofaCaribou/Algebra/EigenMatrix.h b/src/SofaCaribou/Algebra/EigenMatrix.h
index 171ec806..9e7a18dd 100644
--- a/src/SofaCaribou/Algebra/EigenMatrix.h
+++ b/src/SofaCaribou/Algebra/EigenMatrix.h
@@ -5,7 +5,7 @@
 
 DISABLE_ALL_WARNINGS_BEGIN
 #include <sofa/version.h>
-#include <sofa/defaulttype/BaseMatrix.h>
+#include <SofaCaribou/Algebra/BaseMatrixOperations.h>
 DISABLE_ALL_WARNINGS_END
 
 #if (defined(SOFA_VERSION) && SOFA_VERSION < 201200)
@@ -68,7 +68,7 @@ namespace SofaCaribou::Algebra {
  * \endcode
  */
 template <typename Derived, typename Enable = void>
-class EigenMatrix : public sofa::defaulttype::BaseMatrix
+class EigenMatrix : public BaseMatrix
 {
     static_assert(
         std::is_base_of_v<Eigen::EigenBase<std::decay_t<Derived> >, std::decay_t<Derived> >,
@@ -77,7 +77,7 @@ class EigenMatrix : public sofa::defaulttype::BaseMatrix
 
 public:
     using EigenType = std::remove_cv_t<std::remove_reference_t<Derived>>;
-    using Base = sofa::defaulttype::BaseMatrix;
+    using Base = BaseMatrix;
     using Index = Base::Index;
     using Real = SReal;
     using Scalar = typename EigenType::Scalar;
@@ -168,12 +168,12 @@ class EigenMatrix : public sofa::defaulttype::BaseMatrix
 /// SparseMatrix specialization ///
 ///////////////////////////////////
 template <typename Derived>
-class EigenMatrix<Derived, CLASS_REQUIRES(std::is_base_of_v<Eigen::SparseMatrixBase<std::decay_t<Derived>>, std::decay_t<Derived>>)> : public sofa::defaulttype::BaseMatrix
+class EigenMatrix<Derived, CLASS_REQUIRES(std::is_base_of_v<Eigen::SparseMatrixBase<std::decay_t<Derived>>, std::decay_t<Derived>>)> : public BaseMatrix
 {
 
 public:
     using EigenType = std::remove_cv_t<std::remove_reference_t<Derived>>;
-    using Base = sofa::defaulttype::BaseMatrix;
+    using Base = BaseMatrix;
     using Index = Base::Index;
     using Real = SReal;
     using Scalar = typename EigenType::Scalar;
diff --git a/src/SofaCaribou/Algebra/EigenVector.h b/src/SofaCaribou/Algebra/EigenVector.h
index eec18671..cb2779ee 100644
--- a/src/SofaCaribou/Algebra/EigenVector.h
+++ b/src/SofaCaribou/Algebra/EigenVector.h
@@ -5,8 +5,8 @@
 #include <Caribou/traits.h>
 
 DISABLE_ALL_WARNINGS_BEGIN
-#include <sofa/defaulttype/BaseMatrix.h>
-#include <sofa/defaulttype/BaseVector.h>
+#include <SofaCaribou/Algebra/BaseMatrixOperations.h>
+#include <SofaCaribou/Algebra/BaseVectorOperations.h>
 DISABLE_ALL_WARNINGS_END
 
 #include <Eigen/Dense>
@@ -23,7 +23,7 @@ namespace SofaCaribou::Algebra {
  * @tparam Enable
  */
 template <typename Derived, typename Enable = void>
-class EigenVector : public sofa::defaulttype::BaseVector
+class EigenVector : public BaseVector
 {
     static_assert(
             std::is_base_of_v<Eigen::EigenBase<std::decay_t<Derived> >, std::decay_t<Derived> >,
@@ -38,7 +38,7 @@ class EigenVector : public sofa::defaulttype::BaseVector
 
 public:
     using EigenType = std::remove_cv_t<std::remove_reference_t<Derived>>;
-    using Base = sofa::defaulttype::BaseVector;
+    using Base = BaseVector;
     using Index = Base::Index;
     using Real = typename EigenType::Scalar;
 
diff --git a/src/SofaCaribou/CMakeLists.txt b/src/SofaCaribou/CMakeLists.txt
index db549418..7b22406c 100644
--- a/src/SofaCaribou/CMakeLists.txt
+++ b/src/SofaCaribou/CMakeLists.txt
@@ -4,6 +4,7 @@ set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
 
 set(HEADER_FILES
     config.h.in
+    Algebra/BaseMatrixOperations.h
     Algebra/BaseVectorOperations.h
     Algebra/EigenMatrix.h
     Algebra/EigenVector.h
diff --git a/src/SofaCaribou/Forcefield/CaribouForcefield.h b/src/SofaCaribou/Forcefield/CaribouForcefield.h
index 5d548dd5..aeb546ea 100644
--- a/src/SofaCaribou/Forcefield/CaribouForcefield.h
+++ b/src/SofaCaribou/Forcefield/CaribouForcefield.h
@@ -69,9 +69,9 @@ class CaribouForcefield : public sofa::core::behavior::ForceField<typename SofaV
     
     static auto canCreate(Derived * o, sofa::core::objectmodel::BaseContext* context, sofa::core::objectmodel::BaseObjectDescription* arg) -> bool;
 
-    [[nodiscard]] auto
-    getTemplateName() const -> std::string override {
-        return templateName(this);
+    static auto
+    GetCustomTemplateName() -> std::string {
+        return templateName();
     }
 
     static auto templateName(const CaribouForcefield<Element>* = nullptr) -> std::string;
diff --git a/src/SofaCaribou/Forcefield/HexahedronElasticForce.cpp b/src/SofaCaribou/Forcefield/HexahedronElasticForce.cpp
index f41780cb..ce1186ca 100644
--- a/src/SofaCaribou/Forcefield/HexahedronElasticForce.cpp
+++ b/src/SofaCaribou/Forcefield/HexahedronElasticForce.cpp
@@ -344,7 +344,7 @@ void HexahedronElasticForce::addDForce(
     sofa::helper::AdvancedTimer::stepEnd("HexahedronElasticForce::addDForce");
 }
 
-void HexahedronElasticForce::addKToMatrix(sofa::defaulttype::BaseMatrix * matrix, SReal kFact, unsigned int & offset)
+void HexahedronElasticForce::addKToMatrix(SofaCaribou::Algebra::BaseMatrix * matrix, SReal kFact, unsigned int & offset)
 {
     auto * topology = d_topology_container.get();
 
diff --git a/src/SofaCaribou/Forcefield/HexahedronElasticForce.h b/src/SofaCaribou/Forcefield/HexahedronElasticForce.h
index cc91a6d9..98b66d31 100644
--- a/src/SofaCaribou/Forcefield/HexahedronElasticForce.h
+++ b/src/SofaCaribou/Forcefield/HexahedronElasticForce.h
@@ -4,7 +4,10 @@
 
 DISABLE_ALL_WARNINGS_BEGIN
 #include <sofa/version.h>
-#include <sofa/defaulttype/BaseMatrix.h>
+
+#include <SofaCaribou/Algebra/BaseMatrixOperations.h>
+
+
 #include <sofa/core/behavior/ForceField.h>
 #include <sofa/core/topology/BaseTopology.h>
 #include <sofa/core/behavior/MechanicalState.h>
@@ -88,29 +91,29 @@ class HexahedronElasticForce : public ForceField<Vec3Types>
 
     // Public methods
 
-    
+
     HexahedronElasticForce();
 
-    
+
     void init() override;
 
-    
+
     void reinit() override;
 
-    
+
     void addForce(
             const MechanicalParams* mparams,
             Data<VecDeriv>& d_f,
             const Data<VecCoord>& d_x,
             const Data<VecDeriv>& d_v) override;
 
-    
+
     void addDForce(
             const MechanicalParams* /*mparams*/,
             Data<VecDeriv>& /*d_df*/,
             const Data<VecDeriv>& /*d_dx*/) override;
 
-    
+
     void draw(const sofa::core::visual::VisualParams* vparams) override;
 
     SReal getPotentialEnergy(
@@ -118,10 +121,10 @@ class HexahedronElasticForce : public ForceField<Vec3Types>
             const Data<VecCoord>& /* d_x */) const override
     {return 0;}
 
-    
-    void addKToMatrix(sofa::defaulttype::BaseMatrix * /*matrix*/, SReal /*kFact*/, unsigned int & /*offset*/) override;
 
-    
+    void addKToMatrix(SofaCaribou::Algebra::BaseMatrix * /*matrix*/, SReal /*kFact*/, unsigned int & /*offset*/) override;
+
+
     void computeBBox(const sofa::core::ExecParams* params, bool onlyVisible) override;
 
     template <typename T>
@@ -173,15 +176,15 @@ class HexahedronElasticForce : public ForceField<Vec3Types>
     }
 
     /** Get the complete tangent stiffness matrix */
-    
+
     const Eigen::SparseMatrix<Real> & K();
 
     /** Get the eigen values of the tangent stiffness matrix */
-    
+
     const Vector<Eigen::Dynamic> & eigenvalues();
 
     /** Get the condition number of the tangent stiffness matrix */
-    
+
     Real cond();
 
 private:
diff --git a/src/SofaCaribou/Forcefield/HyperelasticForcefield.h b/src/SofaCaribou/Forcefield/HyperelasticForcefield.h
index 7aec1b20..8f3480d8 100644
--- a/src/SofaCaribou/Forcefield/HyperelasticForcefield.h
+++ b/src/SofaCaribou/Forcefield/HyperelasticForcefield.h
@@ -17,7 +17,7 @@
 #include <SofaCaribou/Topology/CaribouTopology.h>
 
 DISABLE_ALL_WARNINGS_BEGIN
-#include <sofa/defaulttype/BaseMatrix.h>
+#include <SofaCaribou/Algebra/BaseMatrixOperations.h>
 DISABLE_ALL_WARNINGS_END
 
 #if (defined(SOFA_VERSION) && SOFA_VERSION < 201200)
@@ -73,35 +73,35 @@ class HyperelasticForcefield : public CaribouForcefield<Element> {
 
     // Public methods
 
-    
+
     HyperelasticForcefield();
 
-    
+
     void init() override;
 
-    
+
     void addForce(const sofa::core::MechanicalParams* mparams, sofa::core::MultiVecDerivId fId ) override;
 
-    
+
     void addForce(
         const sofa::core::MechanicalParams* mparams,
         sofa::core::objectmodel::Data<VecDeriv>& d_f,
         const sofa::core::objectmodel::Data<VecCoord>& d_x,
         const sofa::core::objectmodel::Data<VecDeriv>& d_v) override;
 
-    
+
     void addDForce(
         const sofa::core::MechanicalParams* /*mparams*/,
         sofa::core::objectmodel::Data<VecDeriv>& /*d_df*/,
         const sofa::core::objectmodel::Data<VecDeriv>& /*d_dx*/) override;
 
-    
+
     SReal getPotentialEnergy(
         const sofa::core::MechanicalParams* /* mparams */,
         const sofa::core::objectmodel::Data<VecCoord>& /* d_x */) const override;
 
-    
-    void addKToMatrix(sofa::defaulttype::BaseMatrix * /*matrix*/, SReal /*kFact*/, unsigned int & /*offset*/) override;
+
+    void addKToMatrix(SofaCaribou::Algebra::BaseMatrix * /*matrix*/, SReal /*kFact*/, unsigned int & /*offset*/) override;
 
     /** Get the set of Gauss integration nodes of an element */
     inline auto gauss_nodes_of(std::size_t element_id) const -> const auto & {
@@ -152,11 +152,11 @@ class HyperelasticForcefield : public CaribouForcefield<Element> {
     }
 
     /** Get the eigen values of the tangent stiffness matrix */
-    
+
     auto eigenvalues() -> const Vector<Eigen::Dynamic> &;
 
     /** Get the condition number of the tangent stiffness matrix */
-    
+
     auto cond() -> Real;
 
     /**
diff --git a/src/SofaCaribou/Forcefield/HyperelasticForcefield.inl b/src/SofaCaribou/Forcefield/HyperelasticForcefield.inl
index 70e53676..83147a27 100644
--- a/src/SofaCaribou/Forcefield/HyperelasticForcefield.inl
+++ b/src/SofaCaribou/Forcefield/HyperelasticForcefield.inl
@@ -6,7 +6,7 @@
 #include <SofaCaribou/Topology/CaribouTopology.h>
 
 DISABLE_ALL_WARNINGS_BEGIN
-#include <sofa/defaulttype/BaseMatrix.h>
+#include <SofaCaribou/Algebra/BaseMatrixOperations.h>
 #include <sofa/helper/AdvancedTimer.h>
 #include <sofa/core/MechanicalParams.h>
 DISABLE_ALL_WARNINGS_END
@@ -215,7 +215,7 @@ void HyperelasticForcefield<Element>::addDForce(
 
 template <typename Element>
 void HyperelasticForcefield<Element>::addKToMatrix(
-    sofa::defaulttype::BaseMatrix * matrix,
+    SofaCaribou::Algebra::BaseMatrix * matrix,
     SReal kFact, unsigned int & offset)
 {
     if (not K_is_up_to_date) {
diff --git a/src/SofaCaribou/Forcefield/TetrahedronElasticForce.cpp b/src/SofaCaribou/Forcefield/TetrahedronElasticForce.cpp
index bdbaa83f..ecbf587d 100644
--- a/src/SofaCaribou/Forcefield/TetrahedronElasticForce.cpp
+++ b/src/SofaCaribou/Forcefield/TetrahedronElasticForce.cpp
@@ -282,7 +282,7 @@ void TetrahedronElasticForce::addDForce(
 }
 
 void TetrahedronElasticForce::addKToMatrix(
-        sofa::defaulttype::BaseMatrix * matrix,
+        SofaCaribou::Algebra::BaseMatrix * matrix,
         SReal kFact,
         unsigned int & offset)
 {
diff --git a/src/SofaCaribou/Forcefield/TetrahedronElasticForce.h b/src/SofaCaribou/Forcefield/TetrahedronElasticForce.h
index 0d238b3e..0b1de65d 100644
--- a/src/SofaCaribou/Forcefield/TetrahedronElasticForce.h
+++ b/src/SofaCaribou/Forcefield/TetrahedronElasticForce.h
@@ -4,7 +4,7 @@
 
 DISABLE_ALL_WARNINGS_BEGIN
 #include <sofa/version.h>
-#include <sofa/defaulttype/BaseMatrix.h>
+#include <SofaCaribou/Algebra/BaseMatrixOperations.h>
 #include <sofa/core/objectmodel/BaseObject.h>
 #include <sofa/helper/OptionsGroup.h>
 #include <sofa/core/topology/BaseTopology.h>
@@ -93,7 +93,7 @@ class TetrahedronElasticForce : public ForceField<Vec3Types> {
             const Data<VecDeriv>& /*d_dx*/) override;
 
     void addKToMatrix(
-            sofa::defaulttype::BaseMatrix * /*matrix*/,
+            SofaCaribou::Algebra::BaseMatrix * /*matrix*/,
             SReal /*kFact*/,
             unsigned int & /*offset*/) override;
 
diff --git a/src/SofaCaribou/Forcefield/TractionForcefield.h b/src/SofaCaribou/Forcefield/TractionForcefield.h
index 28ccf64f..73478801 100644
--- a/src/SofaCaribou/Forcefield/TractionForcefield.h
+++ b/src/SofaCaribou/Forcefield/TractionForcefield.h
@@ -6,7 +6,7 @@
 #include <SofaCaribou/Forcefield/CaribouForcefield.h>
 
 DISABLE_ALL_WARNINGS_BEGIN
-#include <sofa/defaulttype/BaseMatrix.h>
+#include <SofaCaribou/Algebra/BaseMatrixOperations.h>
 #include <sofa/core/behavior/MechanicalState.h>
 DISABLE_ALL_WARNINGS_END
 
@@ -73,25 +73,25 @@ class TractionForcefield : public CaribouForcefield<Element>
 
     // Public methods
 
-    
+
     TractionForcefield();
 
-    
+
     void init() override;
 
-    
+
     void reset() override;
 
-    
+
     void addForce(const sofa::core::MechanicalParams* mparams, Data<VecDeriv>& d_f, const Data<VecCoord>& d_x, const Data<VecDeriv>& d_v) override;
 
-    
+
     void addDForce(const sofa::core::MechanicalParams* /*mparams*/, Data<VecDeriv>& /*d_df*/, const Data<VecDeriv>& /*d_dx*/) override {}
 
-    
-    void addKToMatrix(sofa::defaulttype::BaseMatrix * /*matrix*/, SReal /*kFact*/, unsigned int & /*offset*/) override {}
 
-    
+    void addKToMatrix(SofaCaribou::Algebra::BaseMatrix * /*matrix*/, SReal /*kFact*/, unsigned int & /*offset*/) override {}
+
+
     void handleEvent(sofa::core::objectmodel::Event* event) override;
 
     SReal getPotentialEnergy(const sofa::core::MechanicalParams* /*mparams*/, const Data<VecDeriv>&  /* x */) const override
diff --git a/src/SofaCaribou/Mapping/CaribouBarycentricMapping.h b/src/SofaCaribou/Mapping/CaribouBarycentricMapping.h
index dd8aa306..6783a929 100644
--- a/src/SofaCaribou/Mapping/CaribouBarycentricMapping.h
+++ b/src/SofaCaribou/Mapping/CaribouBarycentricMapping.h
@@ -57,9 +57,9 @@ class CaribouBarycentricMapping
      void applyJT (const sofa::core::ConstraintParams* cparams, DataMapMapSparseMatrix & output_jacobian, const MappedDataMapMapSparseMatrix & input_jacobian) override;
      void draw    (const sofa::core::visual::VisualParams* vparams) override;
 
-    [[nodiscard]]  auto
-    getTemplateName() const -> std::string override {
-        return templateName(this);
+    static auto
+    GetCustomTemplateName() -> std::string {
+        return templateName();
     }
 
     static auto templateName(const CaribouBarycentricMapping<Element, MappedDataTypes>* = nullptr) -> std::string {
diff --git a/src/SofaCaribou/Mass/CaribouMass.h b/src/SofaCaribou/Mass/CaribouMass.h
index 124b8064..ac4e27dd 100644
--- a/src/SofaCaribou/Mass/CaribouMass.h
+++ b/src/SofaCaribou/Mass/CaribouMass.h
@@ -7,7 +7,7 @@ DISABLE_ALL_WARNINGS_BEGIN
 #include <sofa/version.h>
 #include <sofa/core/topology/BaseMeshTopology.h>
 #include <sofa/defaulttype/VecTypes.h>
-#include <sofa/defaulttype/BaseMatrix.h>
+#include <SofaCaribou/Algebra/BaseMatrixOperations.h>
 #include <sofa/core/behavior/Mass.h>
 DISABLE_ALL_WARNINGS_END
 
@@ -101,14 +101,14 @@ class CaribouMass : public sofa::core::behavior::Mass<typename SofaVecType<carib
     >::type;
 
     // Public methods
-    
+
     CaribouMass();
 
-    
+
     void init() override;
 
     template <typename Derived>
-    
+
     static auto canCreate(Derived * o, sofa::core::objectmodel::BaseContext* context, sofa::core::objectmodel::BaseObjectDescription* arg) -> bool;
 
     template <typename DerivedElement>
@@ -155,24 +155,24 @@ class CaribouMass : public sofa::core::behavior::Mass<typename SofaVecType<carib
         return p_topology;
     }
 
-    
+
     void addForce(const sofa::core::MechanicalParams * mparams, DataVecDeriv & f, const DataVecCoord & x, const DataVecDeriv & v) override;
 
-    
-    void addMToMatrix(sofa::defaulttype::BaseMatrix * matrix, SReal mFact, unsigned int & offset) override;
 
-    
+    void addMToMatrix(SofaCaribou::Algebra::BaseMatrix * matrix, SReal mFact, unsigned int & offset) override;
+
+
     void addMToMatrix(const sofa::core::MechanicalParams * mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override {
         Inherit1::addMToMatrix(mparams, matrix);
     }
 
-    
+
     void addGravityToV(const sofa::core::MechanicalParams * /* mparams */, DataVecDeriv& /* d_v */) override;
 
-    
+
     void accFromF(const sofa::core::MechanicalParams * mparams, DataVecDeriv & d_a, const DataVecDeriv & d_f) override;
 
-    
+
     void addMDx(const sofa::core::MechanicalParams * mparams, DataVecDeriv & d_f, const DataVecDeriv & d_dx, SReal factor) override;
 
 #if (defined(SOFA_VERSION) && SOFA_VERSION < 210600)
@@ -180,14 +180,14 @@ class CaribouMass : public sofa::core::behavior::Mass<typename SofaVecType<carib
      * @return True if the mass matrix is lumped, false otherwise. The lumping is done by placing integration point
      * directly onto the nodes of each elements.
      */
-    
+
     bool isDiagonal() override {return d_lumped.getValue();}
 #else
     /**
      * @return True if the mass matrix is lumped, false otherwise. The lumping is done by placing integration point
      * directly onto the nodes of each elements.
      */
-    
+
     bool isDiagonal() const override {return d_lumped.getValue();}
 #endif
     /**
@@ -198,7 +198,7 @@ class CaribouMass : public sofa::core::behavior::Mass<typename SofaVecType<carib
      * changes. By default, it will use the mechanical state vector "restPosition". If another state vector
      * should be used as the x, use instead the assemble_mass_matrix(x) method.
      */
-    
+
     void assemble_mass_matrix();
 
     /**
@@ -210,7 +210,7 @@ class CaribouMass : public sofa::core::behavior::Mass<typename SofaVecType<carib
      * A reference to the assembled consistent mass matrix M as a column major sparse matrix can be later
      *  obtained using the method M().
      */
-    
+
     void assemble_mass_matrix(const sofa::core::objectmodel::Data<VecCoord> & x0);
 
     /**
@@ -223,11 +223,11 @@ class CaribouMass : public sofa::core::behavior::Mass<typename SofaVecType<carib
      *  obtained using the method M().
      */
     template <typename Derived>
-    
+
     void assemble_mass_matrix(const Eigen::MatrixBase<Derived> & x0);
 
     /** Get the set of Gauss integration nodes of an element */
-    
+
     inline auto gauss_nodes_of(std::size_t element_id) const -> const auto & {
         return p_elements_quadrature_nodes[element_id];
     }
diff --git a/src/SofaCaribou/Mass/CaribouMass.inl b/src/SofaCaribou/Mass/CaribouMass.inl
index 6833a4d2..7236cfad 100644
--- a/src/SofaCaribou/Mass/CaribouMass.inl
+++ b/src/SofaCaribou/Mass/CaribouMass.inl
@@ -415,7 +415,7 @@ void CaribouMass<Element>::addForce(const sofa::core::MechanicalParams * /*mpara
 }
 
 template<typename Element>
-void CaribouMass<Element>::addMToMatrix(sofa::defaulttype::BaseMatrix * matrix, SReal mFact, unsigned int & offset) {
+void CaribouMass<Element>::addMToMatrix(SofaCaribou::Algebra::BaseMatrix * matrix, SReal mFact, unsigned int & offset) {
     // Start the timer
     sofa::helper::ScopedAdvancedTimer _t_ ("CaribouMass::addMToMatrix");
 
diff --git a/src/SofaCaribou/Ode/BackwardEulerODESolver.cpp b/src/SofaCaribou/Ode/BackwardEulerODESolver.cpp
index 75433a13..58d134d2 100644
--- a/src/SofaCaribou/Ode/BackwardEulerODESolver.cpp
+++ b/src/SofaCaribou/Ode/BackwardEulerODESolver.cpp
@@ -36,8 +36,6 @@ using sofa::core::MechanicalParams;
 using sofa::core::MultiVecCoordId;
 using sofa::core::MultiVecDerivId;
 using sofa::component::linearsolver::DefaultMultiMatrixAccessor;
-using sofa::defaulttype::BaseMatrix;
-using sofa::defaulttype::BaseVector;
 using Timer = sofa::helper::AdvancedTimer;
 
 // Constructor
@@ -81,7 +79,7 @@ void BackwardEulerODESolver::solve(const sofa::core::ExecParams *params, SReal d
 void BackwardEulerODESolver::assemble_rhs_vector(const MechanicalParams &    mechanical_parameters,
                                                  const MultiMatrixAccessor & matrix_accessor,
                                                  MultiVecDerivId & f_id,
-                                                 BaseVector *      f)
+                                                 SofaCaribou::Algebra::BaseVector *      f)
 {
 
     const auto h = mechanical_parameters.dt();
@@ -160,7 +158,7 @@ void BackwardEulerODESolver::assemble_rhs_vector(const MechanicalParams &    mec
 //          A = (1 + h*r_m) M   +   h C  +  [h * (h + r_k)] K
 void BackwardEulerODESolver::assemble_system_matrix(const MechanicalParams & mechanical_parameters,
                                                     DefaultMultiMatrixAccessor & matrix_accessor,
-                                                    BaseMatrix * A)
+                                                    SofaCaribou::Algebra::BaseMatrix * A)
 {
     const auto h = mechanical_parameters.dt();
 
@@ -202,7 +200,7 @@ void BackwardEulerODESolver::assemble_system_matrix(const MechanicalParams & mec
 // Propagate dv that was previously solved in A [dv] = F
 void BackwardEulerODESolver::propagate_solution_increment(const MechanicalParams & mechanical_parameters,
                                                           const MultiMatrixAccessor & matrix_accessor,
-                                                          const BaseVector * dx,
+                                                          const SofaCaribou::Algebra::BaseVector * dx,
                                                           MultiVecCoordId & x_id, MultiVecDerivId & v_id,
                                                           MultiVecDerivId & dx_id) {
     // 1. Prepare everything need to solve constraints later on
@@ -242,4 +240,4 @@ void BackwardEulerODESolver::propagate_solution_increment(const MechanicalParams
 
 }
 
-} // namespace SofaCaribou::ode
\ No newline at end of file
+} // namespace SofaCaribou::ode
diff --git a/src/SofaCaribou/Ode/BackwardEulerODESolver.h b/src/SofaCaribou/Ode/BackwardEulerODESolver.h
index 20020373..c722133f 100644
--- a/src/SofaCaribou/Ode/BackwardEulerODESolver.h
+++ b/src/SofaCaribou/Ode/BackwardEulerODESolver.h
@@ -101,31 +101,31 @@ class BackwardEulerODESolver : public NewtonRaphsonSolver {
     template <typename T>
     using Data = sofa::core::objectmodel::Data<T>;
 
-    
+
     BackwardEulerODESolver();
 
-    
+
     void solve (const sofa::core::ExecParams* params, SReal dt, sofa::core::MultiVecCoordId x_id, sofa::core::MultiVecDerivId v_id) override;
 private:
 
     /** @see NewtonRaphsonSolver::assemble_rhs_vector */
-    
+
     void assemble_rhs_vector(const sofa::core::MechanicalParams & mechanical_parameters,
                              const sofa::core::behavior::MultiMatrixAccessor & matrix_accessor,
                              sofa::core::MultiVecDerivId & f_id,
-                             sofa::defaulttype::BaseVector * f) final;
+                             SofaCaribou::Algebra::BaseVector * f) final;
 
     /** @see NewtonRaphsonSolver::assemble_system_matrix */
-    
+
     void assemble_system_matrix(const sofa::core::MechanicalParams & mechanical_parameters,
                                 sofa::component::linearsolver::DefaultMultiMatrixAccessor & matrix_accessor,
-                                sofa::defaulttype::BaseMatrix * A) final;
+                                SofaCaribou::Algebra::BaseMatrix * A) final;
 
     /** @see NewtonRaphsonSolver::propagate_position_increment */
-    
+
     void propagate_solution_increment(const sofa::core::MechanicalParams & mechanical_parameters,
                                       const sofa::core::behavior::MultiMatrixAccessor & matrix_accessor,
-                                      const sofa::defaulttype::BaseVector * dx,
+                                      const SofaCaribou::Algebra::BaseVector * dx,
                                       sofa::core::MultiVecCoordId & x_id,
                                       sofa::core::MultiVecDerivId & v_id,
                                       sofa::core::MultiVecDerivId & dx_id) final;
diff --git a/src/SofaCaribou/Ode/NewtonRaphsonSolver.h b/src/SofaCaribou/Ode/NewtonRaphsonSolver.h
index 91c92a87..680a3daa 100644
--- a/src/SofaCaribou/Ode/NewtonRaphsonSolver.h
+++ b/src/SofaCaribou/Ode/NewtonRaphsonSolver.h
@@ -6,8 +6,8 @@ DISABLE_ALL_WARNINGS_BEGIN
 #include <sofa/core/behavior/OdeSolver.h>
 #include <sofa/core/behavior/LinearSolver.h>
 #include <sofa/core/objectmodel/Data.h>
-#include <sofa/defaulttype/BaseMatrix.h>
-#include <sofa/defaulttype/BaseVector.h>
+#include <SofaCaribou/Algebra/BaseMatrixOperations.h>
+#include <SofaCaribou/Algebra/BaseVectorOperations.h>
 #include <sofa/core/objectmodel/Link.h>
 #include <sofa/helper/OptionsGroup.h>
 #include <SofaBaseLinearSolver/DefaultMultiMatrixAccessor.h>
@@ -63,16 +63,16 @@ class NewtonRaphsonSolver : public sofa::core::behavior::OdeSolver {
         ALWAYS
     };
 
-    
+
     NewtonRaphsonSolver();
 
-    
+
     void init() override;
 
-    
+
     void reset() override;
 
-    
+
     void solve (const sofa::core::ExecParams* params, SReal dt, sofa::core::MultiVecCoordId x_id, sofa::core::MultiVecDerivId v_id) override;
 
     /** List of times (in nanoseconds) that each Newton-Raphson iteration took to compute in the last call to Solve(). */
@@ -85,11 +85,11 @@ class NewtonRaphsonSolver : public sofa::core::behavior::OdeSolver {
     auto squared_initial_residual() const -> const FLOATING_POINT_TYPE & { return p_squared_initial_residual; }
 
     /** Get the current strategy that determine when the pattern of the system matrix should be analyzed. */
-    
+
     auto pattern_analysis_strategy() const -> PatternAnalysisStrategy;
 
     /** Set the current strategy that determine when the pattern of the system matrix should be analyzed. */
-    
+
     void set_pattern_analysis_strategy(const PatternAnalysisStrategy & strategy);
 
 private:
@@ -114,7 +114,7 @@ class NewtonRaphsonSolver : public sofa::core::behavior::OdeSolver {
     virtual void assemble_rhs_vector(const sofa::core::MechanicalParams & mechanical_parameters,
                                      const sofa::core::behavior::MultiMatrixAccessor & matrix_accessor,
                                      sofa::core::MultiVecDerivId & f_id,
-                                     sofa::defaulttype::BaseVector * f) = 0;
+                                     SofaCaribou::Algebra::BaseVector * f) = 0;
 
     /**
      * Assemble the left-hand side (LHS) system matrix of the equation to be solved. This will be done at the beginning
@@ -137,7 +137,7 @@ class NewtonRaphsonSolver : public sofa::core::behavior::OdeSolver {
      */
     virtual void assemble_system_matrix(const sofa::core::MechanicalParams & mechanical_parameters,
                                         sofa::component::linearsolver::DefaultMultiMatrixAccessor & matrix_accessor,
-                                        sofa::defaulttype::BaseMatrix * A) = 0;
+                                        SofaCaribou::Algebra::BaseMatrix * A) = 0;
 
     /**
      * Propagate the newly solved increment vector.
@@ -159,14 +159,14 @@ class NewtonRaphsonSolver : public sofa::core::behavior::OdeSolver {
      */
     virtual void propagate_solution_increment(const sofa::core::MechanicalParams & mechanical_parameters,
                                               const sofa::core::behavior::MultiMatrixAccessor & matrix_accessor,
-                                              const sofa::defaulttype::BaseVector * dx,
+                                              const SofaCaribou::Algebra::BaseVector * dx,
                                               sofa::core::MultiVecCoordId & x_id,
                                               sofa::core::MultiVecDerivId & v_id,
                                               sofa::core::MultiVecDerivId & dx_id) = 0;
 
 protected:
     /** Check that the linked linear solver is not null and that it implements the SofaCaribou::solver::LinearSolver interface */
-    
+
     bool has_valid_linear_solver () const;
 
     /// INPUTS
@@ -185,13 +185,13 @@ class NewtonRaphsonSolver : public sofa::core::behavior::OdeSolver {
     /// Private members
 
     /// Global system matrix A = mM + bB + kK
-    std::unique_ptr<sofa::defaulttype::BaseMatrix> p_A;
+    std::unique_ptr<SofaCaribou::Algebra::BaseMatrix> p_A;
 
     /// Global system LHS vector (the solution)
-    std::unique_ptr<sofa::defaulttype::BaseVector> p_DX;
+    std::unique_ptr<SofaCaribou::Algebra::BaseVector> p_DX;
 
     /// Global system RHS vector (the forces)
-    std::unique_ptr<sofa::defaulttype::BaseVector> p_F;
+    std::unique_ptr<SofaCaribou::Algebra::BaseVector> p_F;
 
     /// Total displacement since the beginning of the step
     sofa::core::MultiVecDerivId p_U_id;
diff --git a/src/SofaCaribou/Ode/StaticODESolver.cpp b/src/SofaCaribou/Ode/StaticODESolver.cpp
index 18f8906a..644a42a3 100644
--- a/src/SofaCaribou/Ode/StaticODESolver.cpp
+++ b/src/SofaCaribou/Ode/StaticODESolver.cpp
@@ -35,7 +35,7 @@ using Timer = sofa::helper::AdvancedTimer;
 void StaticODESolver::assemble_rhs_vector(const sofa::core::MechanicalParams &mechanical_parameters,
                                           const sofa::core::behavior::MultiMatrixAccessor & matrix_accessor,
                                           sofa::core::MultiVecDerivId & f_id,
-                                          sofa::defaulttype::BaseVector *f) {
+                                          SofaCaribou::Algebra::BaseVector *f) {
     // 1. Clear the force vector (F := 0)
     MechanicalResetForceVisitor(&mechanical_parameters, f_id,
                                 false /* onlyMapped */)
@@ -61,7 +61,7 @@ void StaticODESolver::assemble_rhs_vector(const sofa::core::MechanicalParams &me
 // Assemble A in A [dx] = F
 void StaticODESolver::assemble_system_matrix(const sofa::core::MechanicalParams &mechanical_parameters,
                                              sofa::component::linearsolver::DefaultMultiMatrixAccessor & matrix_accessor,
-                                             sofa::defaulttype::BaseMatrix *A) {
+                                             SofaCaribou::Algebra::BaseMatrix *A) {
     // Step 1. Building stage:
     //         Here we go down on the current context sub-graph and call :
     //           1. ff->addMBKToMatrix(&K) for every force field "ff" found.
@@ -99,7 +99,7 @@ void StaticODESolver::assemble_system_matrix(const sofa::core::MechanicalParams
 // Propagate Dx that was previously solved in A [dx] = F
 void StaticODESolver::propagate_solution_increment(const sofa::core::MechanicalParams &mechanical_parameters,
                                                    const sofa::core::behavior::MultiMatrixAccessor & matrix_accessor,
-                                                   const sofa::defaulttype::BaseVector * dx,
+                                                   const SofaCaribou::Algebra::BaseVector * dx,
                                                    sofa::core::MultiVecCoordId & x_id,
                                                    sofa::core::MultiVecDerivId & /* v_id */,
                                                    sofa::core::MultiVecDerivId & dx_id) {
@@ -124,4 +124,4 @@ void StaticODESolver::propagate_solution_increment(const sofa::core::MechanicalP
     //    This will call the methods apply and applyJ on every mechanical mappings.
     MechanicalPropagateOnlyPositionAndVelocityVisitor(&mechanical_parameters).execute(this->getContext());
 }
-} // namespace SofaCaribou::ode
\ No newline at end of file
+} // namespace SofaCaribou::ode
diff --git a/src/SofaCaribou/Ode/StaticODESolver.h b/src/SofaCaribou/Ode/StaticODESolver.h
index 642d66d1..47d990e2 100644
--- a/src/SofaCaribou/Ode/StaticODESolver.h
+++ b/src/SofaCaribou/Ode/StaticODESolver.h
@@ -50,20 +50,20 @@ class StaticODESolver : public NewtonRaphsonSolver {
     void assemble_rhs_vector(const sofa::core::MechanicalParams & mechanical_parameters,
                              const sofa::core::behavior::MultiMatrixAccessor & matrix_accessor,
                              sofa::core::MultiVecDerivId & f_id,
-                             sofa::defaulttype::BaseVector * f) final;
+                             SofaCaribou::Algebra::BaseVector * f) final;
 
     /** @see NewtonRaphsonSolver::assemble_system_matrix */
     void assemble_system_matrix(const sofa::core::MechanicalParams & mechanical_parameters,
                                 sofa::component::linearsolver::DefaultMultiMatrixAccessor & matrix_accessor,
-                                sofa::defaulttype::BaseMatrix * A) final;
+                                SofaCaribou::Algebra::BaseMatrix * A) final;
 
     /** @see NewtonRaphsonSolver::propagate_solution_increment */
     void propagate_solution_increment(const sofa::core::MechanicalParams & mechanical_parameters,
                                       const sofa::core::behavior::MultiMatrixAccessor & matrix_accessor,
-                                      const sofa::defaulttype::BaseVector * dx,
+                                      const SofaCaribou::Algebra::BaseVector * dx,
                                       sofa::core::MultiVecCoordId & x_id,
                                       sofa::core::MultiVecDerivId & v_id,
                                       sofa::core::MultiVecDerivId & dx_id) final;
 };
 
-} // namespace SofaCaribou::ode
\ No newline at end of file
+} // namespace SofaCaribou::ode
diff --git a/src/SofaCaribou/Solver/ConjugateGradientSolver.h b/src/SofaCaribou/Solver/ConjugateGradientSolver.h
index 01490403..c13dc868 100644
--- a/src/SofaCaribou/Solver/ConjugateGradientSolver.h
+++ b/src/SofaCaribou/Solver/ConjugateGradientSolver.h
@@ -160,7 +160,7 @@ class ConjugateGradientSolver : public EigenSolver<EigenMatrix_t> {
 
     /** @see SofaCaribou::solver::LinearSolver::solve */
     
-    bool solve(const sofa::defaulttype::BaseVector * F, sofa::defaulttype::BaseVector * X) override;
+    bool solve(const SofaCaribou::Algebra::BaseVector * F, SofaCaribou::Algebra::BaseVector * X) override;
 
     /**
      * Solve the linear system Ax = b using a preconditioner.
diff --git a/src/SofaCaribou/Solver/ConjugateGradientSolver.inl b/src/SofaCaribou/Solver/ConjugateGradientSolver.inl
index f8ca4214..edcafdee 100644
--- a/src/SofaCaribou/Solver/ConjugateGradientSolver.inl
+++ b/src/SofaCaribou/Solver/ConjugateGradientSolver.inl
@@ -463,7 +463,7 @@ bool ConjugateGradientSolver<EigenMatrix_t>::factorize() {
 }
 
 template <class EigenMatrix_t>
-bool ConjugateGradientSolver<EigenMatrix_t>::solve(const sofa::defaulttype::BaseVector * F_, sofa::defaulttype::BaseVector *X_) {
+bool ConjugateGradientSolver<EigenMatrix_t>::solve(const SofaCaribou::Algebra::BaseVector * F_, SofaCaribou::Algebra::BaseVector *X_) {
     const auto & F = dynamic_cast<const SofaCaribou::Algebra::EigenVector<Vector> *>(F_)->vector();
     auto & X = dynamic_cast<SofaCaribou::Algebra::EigenVector<Vector> *>(X_)->vector();
     const PreconditioningMethod preconditioning_method = get_preconditioning_method_from_string(d_preconditioning_method.getValue().getSelectedItem());
diff --git a/src/SofaCaribou/Solver/EigenSolver.h b/src/SofaCaribou/Solver/EigenSolver.h
index 84e8cfd7..ec5e7e7c 100644
--- a/src/SofaCaribou/Solver/EigenSolver.h
+++ b/src/SofaCaribou/Solver/EigenSolver.h
@@ -143,14 +143,14 @@ class EigenSolver : public sofa::core::behavior::LinearSolver, public SofaCaribo
     static auto canCreate(Derived* o, sofa::core::objectmodel::BaseContext* context, sofa::core::objectmodel::BaseObjectDescription* arg) -> bool;
 
 protected:
-    void set_system_matrix(const sofa::defaulttype::BaseMatrix * A) override {
+    void set_system_matrix(const SofaCaribou::Algebra::BaseMatrix * A) override {
         p_A_ptr = dynamic_cast<const SofaCaribou::Algebra::EigenMatrix<Matrix> *>(A);
     }
 private:
     /**
      * @see SofaCaribou::solver::LinearSolver::create_new_matrix
      */
-    sofa::defaulttype::BaseMatrix * create_new_matrix(sofa::Size rows, sofa::Size cols) const override {
+    SofaCaribou::Algebra::BaseMatrix * create_new_matrix(sofa::Size rows, sofa::Size cols) const override {
         auto * matrix = new SofaCaribou::Algebra::EigenMatrix<Matrix> (static_cast<Eigen::Index>(rows), static_cast<Eigen::Index>(cols));
         if (symmetric()) {
             matrix->set_symmetric(symmetric());
@@ -161,7 +161,7 @@ class EigenSolver : public sofa::core::behavior::LinearSolver, public SofaCaribo
     /**
      * @see SofaCaribou::solver::LinearSolver::create_new_vector
      */
-    sofa::defaulttype::BaseVector * create_new_vector(sofa::Size n) const override {
+    SofaCaribou::Algebra::BaseVector * create_new_vector(sofa::Size n) const override {
         return new SofaCaribou::Algebra::EigenVector<Vector>(n);
     }
 
diff --git a/src/SofaCaribou/Solver/EigenSolver.inl b/src/SofaCaribou/Solver/EigenSolver.inl
index 6632435f..dcd6b646 100644
--- a/src/SofaCaribou/Solver/EigenSolver.inl
+++ b/src/SofaCaribou/Solver/EigenSolver.inl
@@ -9,7 +9,7 @@ DISABLE_ALL_WARNINGS_BEGIN
 #include <sofa/helper/AdvancedTimer.h>
 #include <sofa/simulation/MechanicalOperations.h>
 #include <sofa/simulation/VectorOperations.h>
-#include <SofaEigen2Solver/EigenVectorWrapper.h>
+//#include <SofaEigen2Solver/EigenVectorWrapper.h>
 DISABLE_ALL_WARNINGS_END
 
 #ifndef _WIN32
@@ -252,4 +252,4 @@ auto EigenSolver<EigenMatrix_t>::canCreate(Derived*, sofa::core::objectmodel::Ba
     return true;
 }
 
-} // namespace SofaCaribou::solver
\ No newline at end of file
+} // namespace SofaCaribou::solver
diff --git a/src/SofaCaribou/Solver/LDLTSolver.h b/src/SofaCaribou/Solver/LDLTSolver.h
index d3a488f4..e8dcdedf 100644
--- a/src/SofaCaribou/Solver/LDLTSolver.h
+++ b/src/SofaCaribou/Solver/LDLTSolver.h
@@ -47,7 +47,7 @@ class LDLTSolver : public EigenSolver<typename EigenSolver_t::MatrixType> {
      * @see SofaCaribou::solver::LinearSolver::solve
      */
     
-    bool solve(const sofa::defaulttype::BaseVector * F, sofa::defaulttype::BaseVector * X) override;
+    bool solve(const SofaCaribou::Algebra::BaseVector * F, SofaCaribou::Algebra::BaseVector * X) override;
 
     // Get the backend name of the class derived from the EigenSolver template parameter
     
diff --git a/src/SofaCaribou/Solver/LDLTSolver.inl b/src/SofaCaribou/Solver/LDLTSolver.inl
index 646b76a9..7fc008a8 100644
--- a/src/SofaCaribou/Solver/LDLTSolver.inl
+++ b/src/SofaCaribou/Solver/LDLTSolver.inl
@@ -64,8 +64,8 @@ bool LDLTSolver<EigenSolver_t>::factorize() {
 }
 
 template<class EigenSolver_t>
-bool LDLTSolver<EigenSolver_t>::solve(const sofa::defaulttype::BaseVector * F,
-                                      sofa::defaulttype::BaseVector *X) {
+bool LDLTSolver<EigenSolver_t>::solve(const SofaCaribou::Algebra::BaseVector * F,
+                                      SofaCaribou::Algebra::BaseVector *X) {
     auto F_ = dynamic_cast<const SofaCaribou::Algebra::EigenVector<Vector> *>(F);
     auto X_ = dynamic_cast<SofaCaribou::Algebra::EigenVector<Vector> *>(X);
 
diff --git a/src/SofaCaribou/Solver/LLTSolver.h b/src/SofaCaribou/Solver/LLTSolver.h
index 6adecf84..fd48c981 100644
--- a/src/SofaCaribou/Solver/LLTSolver.h
+++ b/src/SofaCaribou/Solver/LLTSolver.h
@@ -47,7 +47,7 @@ class LLTSolver : public EigenSolver<typename EigenSolver_t::MatrixType> {
      * @see SofaCaribou::solver::LinearSolver::solve
      */
     
-    bool solve(const sofa::defaulttype::BaseVector * F, sofa::defaulttype::BaseVector * X) override;
+    bool solve(const SofaCaribou::Algebra::BaseVector * F, SofaCaribou::Algebra::BaseVector * X) override;
 
     /// Get the backend name of the class derived from the EigenSolver_t template parameter
     
diff --git a/src/SofaCaribou/Solver/LLTSolver.inl b/src/SofaCaribou/Solver/LLTSolver.inl
index 3b9a518e..2cf9da0b 100644
--- a/src/SofaCaribou/Solver/LLTSolver.inl
+++ b/src/SofaCaribou/Solver/LLTSolver.inl
@@ -63,8 +63,8 @@ bool LLTSolver<EigenSolver_t>::factorize() {
 }
 
 template<class EigenSolver_t>
-bool LLTSolver<EigenSolver_t>::solve(const sofa::defaulttype::BaseVector * F,
-                                      sofa::defaulttype::BaseVector *X) {
+bool LLTSolver<EigenSolver_t>::solve(const SofaCaribou::Algebra::BaseVector * F,
+                                      SofaCaribou::Algebra::BaseVector *X) {
     auto F_ = dynamic_cast<const SofaCaribou::Algebra::EigenVector<Vector> *>(F);
     auto X_ = dynamic_cast<SofaCaribou::Algebra::EigenVector<Vector> *>(X);
 
diff --git a/src/SofaCaribou/Solver/LUSolver.h b/src/SofaCaribou/Solver/LUSolver.h
index da2fc136..746ed0fa 100644
--- a/src/SofaCaribou/Solver/LUSolver.h
+++ b/src/SofaCaribou/Solver/LUSolver.h
@@ -36,7 +36,7 @@ class LUSolver : public EigenSolver<typename EigenSolver_t::MatrixType> {
      * @see SofaCaribou::solver::LinearSolver::solve
      */
     
-    bool solve(const sofa::defaulttype::BaseVector * F, sofa::defaulttype::BaseVector * X) override;
+    bool solve(const SofaCaribou::Algebra::BaseVector * F, SofaCaribou::Algebra::BaseVector * X) override;
 
     /**
      * States if the system matrix is symmetric. Note that this value isn't set automatically, the user must
diff --git a/src/SofaCaribou/Solver/LUSolver.inl b/src/SofaCaribou/Solver/LUSolver.inl
index 77bb85da..db309de1 100644
--- a/src/SofaCaribou/Solver/LUSolver.inl
+++ b/src/SofaCaribou/Solver/LUSolver.inl
@@ -70,8 +70,8 @@ bool LUSolver<EigenSolver_t>::factorize() {
 }
 
 template<class EigenSolver_t>
-bool LUSolver<EigenSolver_t>::solve(const sofa::defaulttype::BaseVector * F,
-                                     sofa::defaulttype::BaseVector *X) {
+bool LUSolver<EigenSolver_t>::solve(const SofaCaribou::Algebra::BaseVector * F,
+                                     SofaCaribou::Algebra::BaseVector *X) {
     auto F_ = dynamic_cast<const SofaCaribou::Algebra::EigenVector<Vector> *>(F);
     auto X_ = dynamic_cast<SofaCaribou::Algebra::EigenVector<Vector> *>(X);
 
diff --git a/src/SofaCaribou/Solver/LinearSolver.h b/src/SofaCaribou/Solver/LinearSolver.h
index a5d969aa..ed32190e 100644
--- a/src/SofaCaribou/Solver/LinearSolver.h
+++ b/src/SofaCaribou/Solver/LinearSolver.h
@@ -12,10 +12,6 @@ namespace sofa::linearalgebra {
     class BaseVector;
     class BaseMatrix;
 }
-namespace sofa::defaulttype {
-    using BaseVector = sofa::linearalgebra::BaseVector;
-    using BaseMatrix = sofa::linearalgebra::BaseMatrix;
-}
 #endif // (defined(SOFA_VERSION) && SOFA_VERSION < 211299)
 
 namespace SofaCaribou::solver {
@@ -26,6 +22,13 @@ namespace SofaCaribou::solver {
  */
 class LinearSolver {
 public:
+#if (defined(SOFA_VERSION) && SOFA_VERSION < 211200)
+    using BaseMatrix = sofa::defaulttype::BaseMatrix;
+    using BaseVector = sofa::defaulttype::BaseVector;
+#else
+    using BaseMatrix = sofa::linearalgebra::BaseMatrix;
+    using BaseVector = sofa::linearalgebra::BaseVector;
+#endif
     /**
      * Creates a new BaseMatrix of size rows x cols.
      *
@@ -41,7 +44,7 @@ class LinearSolver {
      *       memory of this newly created matrix.
      */
     [[nodiscard]]
-    virtual sofa::defaulttype::BaseMatrix * create_new_matrix(unsigned int rows, unsigned int cols) const = 0;
+    virtual BaseMatrix * create_new_matrix(unsigned int rows, unsigned int cols) const = 0;
 
     /**
      * Creates a new BaseVector of size n.
@@ -58,7 +61,7 @@ class LinearSolver {
      *       memory of this newly created vector.
      */
     [[nodiscard]]
-    virtual sofa::defaulttype::BaseVector * create_new_vector(unsigned int n) const = 0;
+    virtual BaseVector * create_new_vector(unsigned int n) const = 0;
 
     /**
      * Solve the linear system A [X] = F
@@ -71,8 +74,8 @@ class LinearSolver {
      * @note The vectors must be of the virtual type SofaCaribou::Algebra::EigenVector<Vector>
      * @note LinearSolver::factorize must have been called before this method.
      */
-    virtual bool solve(const sofa::defaulttype::BaseVector * F,
-                       sofa::defaulttype::BaseVector * X) = 0;
+    virtual bool solve(const BaseVector * F,
+                       BaseVector * X) = 0;
 
     /**
      * Analyze the pattern of the given matrix.
@@ -101,7 +104,7 @@ class LinearSolver {
      * later on using the analyse_patern(), factorize(), and solve() methods.
      * @param A A pointer to the fully assembled system matrix.
      */
-    virtual void set_system_matrix(const sofa::defaulttype::BaseMatrix * A) = 0;
+    virtual void set_system_matrix(const BaseMatrix * A) = 0;
 
     /**
      * Returns true if this solver is an iterative one, false otherwise. In case of iterative solvers,
diff --git a/src/SofaCaribou/Topology/CaribouTopology.h b/src/SofaCaribou/Topology/CaribouTopology.h
index 9d48c308..2551a8c3 100644
--- a/src/SofaCaribou/Topology/CaribouTopology.h
+++ b/src/SofaCaribou/Topology/CaribouTopology.h
@@ -80,12 +80,12 @@ class CaribouTopology : public sofa::core::objectmodel::BaseObject {
     CaribouTopology();
     void init() override;
 
-    [[nodiscard]] auto
-    getTemplateName() const -> std::string override {
-        return templateName(this);
+    static auto GetCustomTemplateName() -> std::string {
+        return "Unknown";
     }
+
     static auto templateName(const CaribouTopology<Element>* = nullptr) -> std::string {
-        return "Unknown";
+        return GetCustomTemplateName();
     }
 
     /**
diff --git a/src/SofaCaribou/Topology/CaribouTopology[Hexahedron20].cpp b/src/SofaCaribou/Topology/CaribouTopology[Hexahedron20].cpp
index 3288d0c9..6b49a22a 100644
--- a/src/SofaCaribou/Topology/CaribouTopology[Hexahedron20].cpp
+++ b/src/SofaCaribou/Topology/CaribouTopology[Hexahedron20].cpp
@@ -19,7 +19,7 @@ namespace SofaCaribou::topology {
 // Hexahedron Quadratic specialization
 template<>
 auto
-CaribouTopology<Hexahedron20>::templateName(const CaribouTopology<Hexahedron20> *) -> std::string {
+CaribouTopology<Hexahedron20>::GetCustomTemplateName() -> std::string {
     return "Hexahedron20";
 }
 
diff --git a/src/SofaCaribou/Topology/CaribouTopology[Hexahedron20].h b/src/SofaCaribou/Topology/CaribouTopology[Hexahedron20].h
index 7886a693..114a98e5 100644
--- a/src/SofaCaribou/Topology/CaribouTopology[Hexahedron20].h
+++ b/src/SofaCaribou/Topology/CaribouTopology[Hexahedron20].h
@@ -7,8 +7,7 @@ namespace SofaCaribou::topology {
 
 // Hexahedron quadratic specialization
 template<>
-auto CaribouTopology<caribou::geometry::Hexahedron20>::templateName(
-        const CaribouTopology<caribou::geometry::Hexahedron20> *) -> std::string;
+auto CaribouTopology<caribou::geometry::Hexahedron20>::GetCustomTemplateName() -> std::string;
 
 template <> auto CaribouTopology<caribou::geometry::Hexahedron20>::mesh_is_compatible(
         const sofa::core::topology::BaseMeshTopology * topology) -> bool;
diff --git a/src/SofaCaribou/Topology/CaribouTopology[Hexahedron].cpp b/src/SofaCaribou/Topology/CaribouTopology[Hexahedron].cpp
index 7add6d8c..b3b4dd54 100644
--- a/src/SofaCaribou/Topology/CaribouTopology[Hexahedron].cpp
+++ b/src/SofaCaribou/Topology/CaribouTopology[Hexahedron].cpp
@@ -18,7 +18,8 @@ namespace SofaCaribou::topology {
 
 // Hexahedron linear specialization
 template<>
-auto CaribouTopology<Hexahedron>::templateName(const CaribouTopology<Hexahedron> *) -> std::string {
+auto
+CaribouTopology<Hexahedron>::GetCustomTemplateName() -> std::string {
     return "Hexahedron";
 }
 
diff --git a/src/SofaCaribou/Topology/CaribouTopology[Hexahedron].h b/src/SofaCaribou/Topology/CaribouTopology[Hexahedron].h
index 19866853..e6d7b29a 100644
--- a/src/SofaCaribou/Topology/CaribouTopology[Hexahedron].h
+++ b/src/SofaCaribou/Topology/CaribouTopology[Hexahedron].h
@@ -7,8 +7,7 @@ namespace SofaCaribou::topology {
 
 // Hexahedron linear specialization
 template<>
-auto CaribouTopology<caribou::geometry::Hexahedron>::templateName(
-        const CaribouTopology<caribou::geometry::Hexahedron> *) -> std::string;
+auto CaribouTopology<caribou::geometry::Hexahedron>::GetCustomTemplateName() -> std::string;
 
 template <> auto CaribouTopology<caribou::geometry::Hexahedron>::mesh_is_compatible(
         const sofa::core::topology::BaseMeshTopology * topology) -> bool;
diff --git a/src/SofaCaribou/Topology/CaribouTopology[Quad8].cpp b/src/SofaCaribou/Topology/CaribouTopology[Quad8].cpp
index 96b28647..66eef25d 100644
--- a/src/SofaCaribou/Topology/CaribouTopology[Quad8].cpp
+++ b/src/SofaCaribou/Topology/CaribouTopology[Quad8].cpp
@@ -17,7 +17,7 @@ namespace SofaCaribou::topology {
 
 // Quad 2D quadratic specialization
 template<>
-auto CaribouTopology<Quad8<_2D>>::templateName(const CaribouTopology<Quad8<_2D>> *) -> std::string {
+auto CaribouTopology<Quad8<_2D>>::GetCustomTemplateName() -> std::string {
     return "Quad8_2D";
 }
 
@@ -30,7 +30,7 @@ auto CaribouTopology<Quad8<_2D>>::mesh_is_compatible(const BaseMeshTopology *) -
 // Quad 3D quadratic specialization
 template<>
 auto
-CaribouTopology<Quad8<_3D>>::templateName(const CaribouTopology<Quad8<_3D>> *) -> std::string {
+CaribouTopology<Quad8<_3D>>::GetCustomTemplateName() -> std::string {
     return "Quad8";
 }
 
diff --git a/src/SofaCaribou/Topology/CaribouTopology[Quad8].h b/src/SofaCaribou/Topology/CaribouTopology[Quad8].h
index d499599f..2f429630 100644
--- a/src/SofaCaribou/Topology/CaribouTopology[Quad8].h
+++ b/src/SofaCaribou/Topology/CaribouTopology[Quad8].h
@@ -7,8 +7,7 @@ namespace SofaCaribou::topology {
 
 // Quad 2D quadratic specialization
 template<>
-auto CaribouTopology<caribou::geometry::Quad8<caribou::_2D>>::templateName(
-        const CaribouTopology<caribou::geometry::Quad8<caribou::_2D>> *) -> std::string;
+auto CaribouTopology<caribou::geometry::Quad8<caribou::_2D>>::GetCustomTemplateName() -> std::string;
 
 template <> auto CaribouTopology<caribou::geometry::Quad8<caribou::_2D>>::mesh_is_compatible(
         const sofa::core::topology::BaseMeshTopology * topology) -> bool;
@@ -18,8 +17,7 @@ class CaribouTopology<caribou::geometry::Quad8<caribou::_2D>>;
 
 // Quad 3D quadratic specialization
 template<>
-auto CaribouTopology<caribou::geometry::Quad8<caribou::_3D>>::templateName(
-        const CaribouTopology<caribou::geometry::Quad8<caribou::_3D>> *) -> std::string;
+auto CaribouTopology<caribou::geometry::Quad8<caribou::_3D>>::GetCustomTemplateName() -> std::string;
 
 template <> auto CaribouTopology<caribou::geometry::Quad8<caribou::_3D>>::mesh_is_compatible(
         const sofa::core::topology::BaseMeshTopology * topology) -> bool;
diff --git a/src/SofaCaribou/Topology/CaribouTopology[Quad].cpp b/src/SofaCaribou/Topology/CaribouTopology[Quad].cpp
index cd76ecf6..b9c1fb84 100644
--- a/src/SofaCaribou/Topology/CaribouTopology[Quad].cpp
+++ b/src/SofaCaribou/Topology/CaribouTopology[Quad].cpp
@@ -17,7 +17,7 @@ namespace SofaCaribou::topology {
 
 // Quad 2D linear specialization
 template<>
-auto CaribouTopology<Quad<_2D>>::templateName(const CaribouTopology<Quad<_2D>> *) -> std::string {
+auto CaribouTopology<Quad<_2D>>::GetCustomTemplateName() -> std::string {
     return "Quad_2D";
 }
 
@@ -36,7 +36,7 @@ auto CaribouTopology<Quad<_2D>>::get_indices_data_from(const BaseMeshTopology *
 // Quad 3D linear specialization
 template<>
 auto
-CaribouTopology<Quad<_3D>>::templateName(const CaribouTopology<Quad<_3D>> *) -> std::string {
+CaribouTopology<Quad<_3D>>::GetCustomTemplateName() -> std::string {
     return "Quad";
 }
 
diff --git a/src/SofaCaribou/Topology/CaribouTopology[Quad].h b/src/SofaCaribou/Topology/CaribouTopology[Quad].h
index ea6aea06..1aafa436 100644
--- a/src/SofaCaribou/Topology/CaribouTopology[Quad].h
+++ b/src/SofaCaribou/Topology/CaribouTopology[Quad].h
@@ -7,8 +7,7 @@ namespace SofaCaribou::topology {
 
 // Quad 2D linear specialization
 template<>
-auto CaribouTopology<caribou::geometry::Quad<caribou::_2D>>::templateName(
-        const CaribouTopology<caribou::geometry::Quad<caribou::_2D>> *) -> std::string;
+auto CaribouTopology<caribou::geometry::Quad<caribou::_2D>>::GetCustomTemplateName() -> std::string;
 
 template <> auto CaribouTopology<caribou::geometry::Quad<caribou::_2D>>::mesh_is_compatible(
         const sofa::core::topology::BaseMeshTopology * topology) -> bool;
@@ -21,8 +20,7 @@ class CaribouTopology<caribou::geometry::Quad<caribou::_2D>>;
 
 // Quad 3D linear specialization
 template<>
-auto CaribouTopology<caribou::geometry::Quad<caribou::_3D>>::templateName(
-        const CaribouTopology<caribou::geometry::Quad<caribou::_3D>> *) -> std::string;
+auto CaribouTopology<caribou::geometry::Quad<caribou::_3D>>::GetCustomTemplateName() -> std::string;
 
 template <> auto CaribouTopology<caribou::geometry::Quad <caribou::_3D>>::mesh_is_compatible(
         const sofa::core::topology::BaseMeshTopology * topology) -> bool;
diff --git a/src/SofaCaribou/Topology/CaribouTopology[Tetrahedron10].cpp b/src/SofaCaribou/Topology/CaribouTopology[Tetrahedron10].cpp
index a1c8f851..58a69cad 100644
--- a/src/SofaCaribou/Topology/CaribouTopology[Tetrahedron10].cpp
+++ b/src/SofaCaribou/Topology/CaribouTopology[Tetrahedron10].cpp
@@ -18,7 +18,7 @@ namespace SofaCaribou::topology {
 // Tetrahedron Quadratic specialization
 template<>
 auto
-CaribouTopology<Tetrahedron10>::templateName(const CaribouTopology<Tetrahedron10> *) -> std::string {
+CaribouTopology<Tetrahedron10>::GetCustomTemplateName() -> std::string {
     return "Tetrahedron10";
 }
 
diff --git a/src/SofaCaribou/Topology/CaribouTopology[Tetrahedron10].h b/src/SofaCaribou/Topology/CaribouTopology[Tetrahedron10].h
index 2c29ec8e..00b3a0d4 100644
--- a/src/SofaCaribou/Topology/CaribouTopology[Tetrahedron10].h
+++ b/src/SofaCaribou/Topology/CaribouTopology[Tetrahedron10].h
@@ -7,8 +7,7 @@ namespace SofaCaribou::topology {
 
 // Tetrahedron quadratic specialization
 template<>
-auto CaribouTopology<caribou::geometry::Tetrahedron10>::templateName(
-        const CaribouTopology<caribou::geometry::Tetrahedron10> *) -> std::string;
+auto CaribouTopology<caribou::geometry::Tetrahedron10>::GetCustomTemplateName() -> std::string;
 
 template <> auto CaribouTopology<caribou::geometry::Tetrahedron10>::mesh_is_compatible(
         const sofa::core::topology::BaseMeshTopology * topology) -> bool;
diff --git a/src/SofaCaribou/Topology/CaribouTopology[Tetrahedron].cpp b/src/SofaCaribou/Topology/CaribouTopology[Tetrahedron].cpp
index 90142697..a6fe735b 100644
--- a/src/SofaCaribou/Topology/CaribouTopology[Tetrahedron].cpp
+++ b/src/SofaCaribou/Topology/CaribouTopology[Tetrahedron].cpp
@@ -17,7 +17,7 @@ namespace SofaCaribou::topology {
 
 // Tetrahedron linear specialization
 template<>
-auto CaribouTopology<Tetrahedron>::templateName(const CaribouTopology<Tetrahedron> *) -> std::string {
+auto CaribouTopology<Tetrahedron>::GetCustomTemplateName() -> std::string {
     return "Tetrahedron";
 }
 
diff --git a/src/SofaCaribou/Topology/CaribouTopology[Tetrahedron].h b/src/SofaCaribou/Topology/CaribouTopology[Tetrahedron].h
index a8fc11bc..799c4dff 100644
--- a/src/SofaCaribou/Topology/CaribouTopology[Tetrahedron].h
+++ b/src/SofaCaribou/Topology/CaribouTopology[Tetrahedron].h
@@ -7,8 +7,7 @@ namespace SofaCaribou::topology {
 
 // Tetrahedron linear specialization
 template<>
-auto CaribouTopology<caribou::geometry::Tetrahedron>::templateName(
-        const CaribouTopology<caribou::geometry::Tetrahedron> *) -> std::string;
+auto CaribouTopology<caribou::geometry::Tetrahedron>::GetCustomTemplateName() -> std::string;
 
 template <> auto CaribouTopology<caribou::geometry::Tetrahedron>::mesh_is_compatible(
         const sofa::core::topology::BaseMeshTopology * topology) -> bool;
diff --git a/src/SofaCaribou/Topology/CaribouTopology[Triangle6].cpp b/src/SofaCaribou/Topology/CaribouTopology[Triangle6].cpp
index 024d450a..189688da 100644
--- a/src/SofaCaribou/Topology/CaribouTopology[Triangle6].cpp
+++ b/src/SofaCaribou/Topology/CaribouTopology[Triangle6].cpp
@@ -17,7 +17,7 @@ namespace SofaCaribou::topology {
 
 // Triangle 2D quadratic specialization
 template<>
-auto CaribouTopology<Triangle6<_2D>>::templateName(const CaribouTopology<Triangle6<_2D>> *) -> std::string {
+auto CaribouTopology<Triangle6<_2D>>::GetCustomTemplateName() -> std::string {
     return "Triangle6_2D";
 }
 
@@ -30,7 +30,7 @@ auto CaribouTopology<Triangle6<_2D>>::mesh_is_compatible(const BaseMeshTopology
 // Triangle 3D quadratic specialization
 template<>
 auto
-CaribouTopology<Triangle6<_3D>>::templateName(const CaribouTopology<Triangle6<_3D>> *) -> std::string {
+CaribouTopology<Triangle6<_3D>>::GetCustomTemplateName() -> std::string {
     return "Triangle6";
 }
 
diff --git a/src/SofaCaribou/Topology/CaribouTopology[Triangle6].h b/src/SofaCaribou/Topology/CaribouTopology[Triangle6].h
index 12c3577d..756b1afe 100644
--- a/src/SofaCaribou/Topology/CaribouTopology[Triangle6].h
+++ b/src/SofaCaribou/Topology/CaribouTopology[Triangle6].h
@@ -6,8 +6,7 @@
 namespace SofaCaribou::topology {
 
 // Triangle 2D quadratic specialization
-template<> auto CaribouTopology<caribou::geometry::Triangle6<caribou::_2D>>::templateName(
-        const CaribouTopology<caribou::geometry::Triangle6<caribou::_2D>> *) -> std::string;
+template<> auto CaribouTopology<caribou::geometry::Triangle6<caribou::_2D>>::GetCustomTemplateName() -> std::string;
 
 template <> auto CaribouTopology<caribou::geometry::Triangle6<caribou::_2D>>::mesh_is_compatible(
         const sofa::core::topology::BaseMeshTopology * topology) -> bool;
@@ -16,8 +15,7 @@ extern template
 class CaribouTopology<caribou::geometry::Triangle6<caribou::_2D>>;
 
 // Triangle 3D quadratic specialization
-template<> auto CaribouTopology<caribou::geometry::Triangle6<caribou::_3D>>::templateName(
-        const CaribouTopology<caribou::geometry::Triangle6<caribou::_3D>> *) -> std::string;
+template<> auto CaribouTopology<caribou::geometry::Triangle6<caribou::_3D>>::GetCustomTemplateName() -> std::string;
 
 template <> auto CaribouTopology<caribou::geometry::Triangle6<caribou::_3D>>::mesh_is_compatible(
         const sofa::core::topology::BaseMeshTopology * topology) -> bool;
diff --git a/src/SofaCaribou/Topology/CaribouTopology[Triangle].cpp b/src/SofaCaribou/Topology/CaribouTopology[Triangle].cpp
index 51017906..5809c7c7 100644
--- a/src/SofaCaribou/Topology/CaribouTopology[Triangle].cpp
+++ b/src/SofaCaribou/Topology/CaribouTopology[Triangle].cpp
@@ -17,7 +17,7 @@ namespace SofaCaribou::topology {
 
 // Triangle 2D linear specialization
 template<>
-auto CaribouTopology<Triangle<_2D>>::templateName(const CaribouTopology<Triangle<_2D>> *) -> std::string {
+auto CaribouTopology<Triangle<_2D>>::GetCustomTemplateName() -> std::string {
     return "Triangle_2D";
 }
 
@@ -36,7 +36,7 @@ auto CaribouTopology<Triangle<_2D>>::get_indices_data_from(const BaseMeshTopolog
 // Triangle 3D linear specialization
 template<>
 auto
-CaribouTopology<Triangle<_3D>>::templateName(const CaribouTopology<Triangle<_3D>> *) -> std::string {
+CaribouTopology<Triangle<_3D>>::GetCustomTemplateName() -> std::string {
     return "Triangle";
 }
 
diff --git a/src/SofaCaribou/Topology/CaribouTopology[Triangle].h b/src/SofaCaribou/Topology/CaribouTopology[Triangle].h
index 2c243f66..24c5043f 100644
--- a/src/SofaCaribou/Topology/CaribouTopology[Triangle].h
+++ b/src/SofaCaribou/Topology/CaribouTopology[Triangle].h
@@ -7,8 +7,7 @@ namespace SofaCaribou::topology {
 
 // Triangle 2D linear specialization
 template<>
-auto CaribouTopology<caribou::geometry::Triangle<caribou::_2D>>::templateName(
-        const CaribouTopology<caribou::geometry::Triangle<caribou::_2D>> *) -> std::string;
+auto CaribouTopology<caribou::geometry::Triangle<caribou::_2D>>::GetCustomTemplateName() -> std::string;
 
 template <> auto CaribouTopology<caribou::geometry::Triangle<caribou::_2D>>::mesh_is_compatible(
         const sofa::core::topology::BaseMeshTopology * topology) -> bool;
@@ -21,8 +20,7 @@ class CaribouTopology<caribou::geometry::Triangle<caribou::_2D>>;
 
 // Triangle 3D linear specialization
 template<>
-auto CaribouTopology<caribou::geometry::Triangle<caribou::_3D>>::templateName(
-        const CaribouTopology<caribou::geometry::Triangle<caribou::_3D>> *) -> std::string;
+auto CaribouTopology<caribou::geometry::Triangle<caribou::_3D>>::GetCustomTemplateName() -> std::string;
 
 template <> auto CaribouTopology<caribou::geometry::Triangle<caribou::_3D>>::mesh_is_compatible(
         const sofa::core::topology::BaseMeshTopology * topology) -> bool;
diff --git a/src/SofaCaribou/Topology/FictitiousGrid.h b/src/SofaCaribou/Topology/FictitiousGrid.h
index 8634d864..bb65dcb5 100644
--- a/src/SofaCaribou/Topology/FictitiousGrid.h
+++ b/src/SofaCaribou/Topology/FictitiousGrid.h
@@ -277,8 +277,8 @@ class FictitiousGrid : public virtual BaseObject
         }
     }
 
-    std::string getTemplateName() const override {
-        return templateName(this);
+    static std::string GetCustomTemplateName() {
+        return templateName();
     }
 
     static std::string templateName(const FictitiousGrid<DataTypes>* = nullptr) {
diff --git a/unittest/SofaCaribou/Algebra/test_base_vector_operations.cpp b/unittest/SofaCaribou/Algebra/test_base_vector_operations.cpp
index 242a36c9..95e2fde2 100644
--- a/unittest/SofaCaribou/Algebra/test_base_vector_operations.cpp
+++ b/unittest/SofaCaribou/Algebra/test_base_vector_operations.cpp
@@ -4,8 +4,17 @@
 
 DISABLE_ALL_WARNINGS_BEGIN
 #include <sofa/version.h>
-#include <SofaBaseLinearSolver/FullVector.h>
 #include <SofaCaribou/Algebra/BaseVectorOperations.h>
+
+#if (defined(SOFA_VERSION) && SOFA_VERSION < 211299)
+#include <SofaBaseLinearSolver/FullVector.h>
+using namespace sofa::component::linearsolver;
+#else
+#include <sofa/linearalgebra/FullVector.h>
+using namespace sofa::linearalgebra;
+#endif // (defined(SOFA_VERSION) && SOFA_VERSION < 211299)
+
+
 DISABLE_ALL_WARNINGS_END
 
 #include <Eigen/Dense>
@@ -19,8 +28,8 @@ TEST(Algebra, SofaFullDFullDDotProduct) {
     const Eigen::VectorXd v1 = Eigen::VectorXd::Random(n);
     const Eigen::VectorXd v2 = Eigen::VectorXd::Random(n);
 
-    sofa::component::linearsolver::FullVector<double> sofa_v1 (n);
-    sofa::component::linearsolver::FullVector<double> sofa_v2 (n);
+    FullVector<double> sofa_v1 (n);
+    FullVector<double> sofa_v2 (n);
 
     for (sofa::Index i = 0; i < n; ++i) {
         sofa_v1[i] = v1[static_cast<Eigen::Index>(i)];
@@ -35,8 +44,8 @@ TEST(Algebra, SofaFullDFullFDotProduct) {
     const Eigen::VectorXd v1 = Eigen::VectorXd::Random(n);
     const Eigen::VectorXf v2 = Eigen::VectorXf::Random(n);
 
-    sofa::component::linearsolver::FullVector<double> sofa_v1 (n);
-    sofa::component::linearsolver::FullVector<float> sofa_v2 (n);
+    FullVector<double> sofa_v1 (n);
+    FullVector<float> sofa_v2 (n);
 
     for (sofa::Index i = 0; i < n; ++i) {
         sofa_v1[i] = v1[static_cast<Eigen::Index>(i)];
@@ -51,8 +60,8 @@ TEST(Algebra, SofaFullFFullDDotProduct) {
     const Eigen::VectorXf v1 = Eigen::VectorXf::Random(n);
     const Eigen::VectorXd v2 = Eigen::VectorXd::Random(n);
 
-    sofa::component::linearsolver::FullVector<float> sofa_v1 (n);
-    sofa::component::linearsolver::FullVector<double> sofa_v2 (n);
+    FullVector<float> sofa_v1 (n);
+    FullVector<double> sofa_v2 (n);
 
     for (sofa::Index i = 0; i < n; ++i) {
         sofa_v1[i] = v1[static_cast<Eigen::Index>(i)];
@@ -60,4 +69,4 @@ TEST(Algebra, SofaFullFFullDDotProduct) {
     }
 
     EXPECT_NEAR(SofaCaribou::Algebra::dot(&sofa_v1, &sofa_v2), v1.cast<double>().dot(v2), 1e-10);
-}
\ No newline at end of file
+}
diff --git a/unittest/SofaCaribou/CMakeLists.txt b/unittest/SofaCaribou/CMakeLists.txt
index 8b4480db..2d53df4e 100644
--- a/unittest/SofaCaribou/CMakeLists.txt
+++ b/unittest/SofaCaribou/CMakeLists.txt
@@ -15,7 +15,7 @@ set(SOURCE_FILES
 
 enable_testing()
 
-find_package(SOFA COMPONENTS SofaFramework SofaSimulationGraph SofaBaseMechanics SofaBaseUtils SofaBaseLinearSolver SofaMiscForceField QUIET REQUIRED)
+find_package(SOFA COMPONENTS SofaFramework Sofa.Simulation.Graph SofaBaseMechanics SofaBaseUtils SofaBaseLinearSolver SofaMiscForceField QUIET REQUIRED)
 find_package(Caribou COMPONENTS Topology REQUIRED)
 find_package(Threads REQUIRED)
 
@@ -31,10 +31,15 @@ endif()
 
 target_link_libraries(${PROJECT_NAME} PUBLIC gtest)
 target_link_libraries(${PROJECT_NAME} PUBLIC SofaCaribou)
-target_link_libraries(${PROJECT_NAME} PUBLIC SofaHelper SofaSimulationGraph SofaBaseMechanics SofaBaseUtils SofaSimulationCommon SofaBaseLinearSolver SofaMiscForceField)
+target_link_libraries(${PROJECT_NAME} PUBLIC SofaHelper SofaBaseMechanics SofaBaseUtils SofaBaseLinearSolver SofaMiscForceField)
 target_link_libraries(${PROJECT_NAME} PUBLIC
                       $<$<AND:$<PLATFORM_ID:Linux>,$<VERSION_LESS:$<CXX_COMPILER_VERSION>,8.0>>:stdc++fs>
                       $<$<AND:$<PLATFORM_ID:Darwin>,$<VERSION_LESS:$<CXX_COMPILER_VERSION>,9.0>>:c++fs>)
+if (${SofaFramework_VERSION} VERSION_LESS "22.06.99")
+    target_link_libraries(${PROJECT_NAME} PUBLIC SofaSimulationGraph)
+else()
+    target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Simulation.Graph)
+endif()
 target_compile_definitions(${PROJECT_NAME} PUBLIC
                            $<$<AND:$<PLATFORM_ID:Linux>,$<VERSION_LESS:$<CXX_COMPILER_VERSION>,8.0>>:LEGACY_CXX>
                            $<$<AND:$<PLATFORM_ID:Darwin>,$<VERSION_LESS:$<CXX_COMPILER_VERSION>,9.0>>:LEGACY_CXX>)
diff --git a/unittest/SofaCaribou/main.cpp b/unittest/SofaCaribou/main.cpp
index 7dc9c4e3..7feff4d3 100644
--- a/unittest/SofaCaribou/main.cpp
+++ b/unittest/SofaCaribou/main.cpp
@@ -12,7 +12,11 @@ namespace fs = ::std::filesystem;
 
 DISABLE_ALL_WARNINGS_BEGIN
 #include <sofa/version.h>
+#if (defined(SOFA_VERSION) && SOFA_VERSION >= 220600)
+#include <sofa/simulation/graph/init.h>
+#else
 #include <SofaSimulationGraph/init.h>
+#endif
 #if (defined(SOFA_VERSION) && SOFA_VERSION >= 201200)
 #include <SofaBaseMechanics/initSofaBaseMechanics.h>
 #include <SofaBaseUtils/initSofaBaseUtils.h>