diff --git a/.github/workflows/CI_build_and_test.yml b/.github/workflows/CI_build_and_test.yml
index cb94bac76a7..9e886fa1262 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 and CI
+      - name: Clone SOFA, CI and Regression
         id: clone
         shell: bash
         run: |
@@ -169,6 +169,33 @@ 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 $WORKSPACE/build
@@ -285,11 +312,13 @@ jobs:
               DOCKER_SRC_DIR="/workspace/$(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"
@@ -319,17 +348,24 @@ jobs:
               docker run --rm \
                   --user 1000:1000 --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 "cd /workspace; . ${DOCKER_CI_DIR}/scripts/tests/setup-test-env.sh \"${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."
 
-              bash ${CI_DIR}/scripts/test.sh "${BUILD_DIR}" "${SRC_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}" "UNIT"
+              . ${CI_DIR}/scripts/tests/setup-test-env.sh "${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
 
-          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
+          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
@@ -343,15 +379,21 @@ jobs:
               docker run --rm \
                   --user 1000:1000 --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 "cd /workspace; . ${DOCKER_CI_DIR}/scripts/tests/setup-test-env.sh \"${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."
 
-              bash ${CI_DIR}/scripts/test.sh "${BUILD_DIR}" "${SRC_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}" "SCENE"
+              . ${CI_DIR}/scripts/tests/setup-test-env.sh "${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
 
-          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
+          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
@@ -367,15 +409,21 @@ jobs:
               docker run --rm \
                   --user 1000:1000 --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"; cd /workspace;. ${DOCKER_CI_DIR}/scripts/tests/setup-test-env.sh \"${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"  --jobs \${VM_MAX_PARALLEL_TESTS} "
           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"
+              . ${CI_DIR}/scripts/tests/setup-test-env.sh "${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}
           fi
 
-          if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" == *"regression-tests_"* ]]; then
-            exit 1
+          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
           fi
 
 
@@ -432,10 +480,12 @@ jobs:
           fi
 
           if [[ "${{ inputs.generate-binaries }}" == "false" ]]; then
-            if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" != "" ]]; then
+            if [[  "${{ steps.unit-tests-step.outcome }}" == "failure" || "${{ steps.scene-tests-step.outcome }}" == "failure" || "${{ steps.regression-tests-step.outcome }}" == "failure" ]] &&
+               [[ -f "${{ env.SOFA_BUILD_DIR }}/tests_results/unit/summary.txt" ]] &&
+               [[ "${{ inputs.with-all-tests }}" == "false" ||  "${{ inputs.with-all-tests }}" == "true" && ( -f "${{ env.SOFA_BUILD_DIR }}/tests_results/scene/summary.txt" && -f "${{ env.SOFA_BUILD_DIR }}/tests_results/regression/summary.txt" )  ]]; then
               echo "❌ Tests have resulted in : "
               echo ""
-              python3 ${{ env.CI_DIR }}/scripts/generate-tests-table.py "${{ env.BUILD_DIR }}/tests_results/"
+              python3 ${{ env.CI_DIR }}/scripts/tests/generate-tests-table.py "${{ env.SOFA_BUILD_DIR }}/tests_results/"
               echo ""
               echo "#----------------------------------------#"
               echo "#---------------Quick Logs---------------#"
@@ -444,12 +494,12 @@ jobs:
                 do
                   for errorType in 'errors' 'crashes' 'failures';
                   do
-                    if [ -f "${{ env.BUILD_DIR }}/tests_results/${testType}-tests_${errorType}" ]; then
+                    if [ -f "${{ env.SOFA_BUILD_DIR }}/tests_results/${testType}/${testType}_${errorType}.txt" ]; then
                       capitalized="$(echo "${testType:0:1}" | tr '[:lower:]' '[:upper:]')${testType:1}"
                       echo ""
                       echo -e "${bold}${capitalized} ${errorType}:${normal}"
                       echo ""
-                      cat "${{ env.BUILD_DIR }}/tests_results/${testType}-tests_${errorType}"
+                      cat "${{ env.SOFA_BUILD_DIR }}/tests_results/${testType}/${testType}_${errorType}.txt"
                       echo ""
                       echo "#----------------------------------------#"
                     fi
@@ -458,13 +508,13 @@ jobs:
               echo -e "${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" || "${{ steps.regression-tests-step.outcome }}" == "failure" ]]; then
-              echo "❌ Something whent wrong during one of the tests steps"
+              echo "❌ Something went wrong during one of the tests steps"
               echo -e "${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 "✅ Tests were successful : "
               echo ""
-              python3 ${{ env.CI_DIR }}/scripts/generate-tests-table.py "${{ env.BUILD_DIR }}/tests_results/"
+              python3 ${{ env.CI_DIR }}/scripts/tests/generate-tests-table.py "${{ env.SOFA_BUILD_DIR }}/tests_results/"
               echo ""
             fi
           fi
diff --git a/.github/workflows/CI_macos_linux_windows_pixi.yml b/.github/workflows/CI_macos_linux_windows_pixi.yml
index 334185561cf..17790c480c7 100644
--- a/.github/workflows/CI_macos_linux_windows_pixi.yml
+++ b/.github/workflows/CI_macos_linux_windows_pixi.yml
@@ -379,7 +379,6 @@ jobs:
             --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 }
diff --git a/.github/workflows/CI_trigger_build_and_tests.yml b/.github/workflows/CI_trigger_build_and_tests.yml
index 16c977241a7..f7d76e94585 100644
--- a/.github/workflows/CI_trigger_build_and_tests.yml
+++ b/.github/workflows/CI_trigger_build_and_tests.yml
@@ -224,8 +224,8 @@ jobs:
   # Trigger the build and sharing all parameters from filter_build > outputs
   build-on:
     needs: filter_build
-    if: ${{ github.repository_owner == 'sofa-framework' && needs.filter_build.outputs.SH_BUILDER_OS != '[]' }}
-    uses: sofa-framework/sofa/.github/workflows/CI_build_and_test.yml@master
+    if: ${{ github.repository_owner == 'sofa-framework' }}
+    uses: bakpaul/sofa/.github/workflows/CI_build_and_test.yml@26_09_use_python_based_ci_script_on_unix_ci
     with:
       sofa-branch-name: ${{ needs.filter_build.outputs.SOFA_BRANCH_NAME }}
       sofa-commit-sha: ${{ needs.filter_build.outputs.SOFA_COMMIT_SHA }}