diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
index 6862def2..214754c5 100644
--- a/.github/workflows/macos.yml
+++ b/.github/workflows/macos.yml
@@ -1,22 +1,42 @@
-name: CI
+name: MacOS CI
 
-on: pull_request
+on: [workflow_dispatch, pull_request]
 
 jobs:
   build:
-    name: Building on ${{ matrix.os }}
+    name: Building with SOFA ${{ matrix.sofa_branch }}
     runs-on: ${{ matrix.os }}
     strategy:
+      fail-fast: false
       matrix:
         os: [macos-10.15]
+        sofa_branch: [master, v21.06]
     env:
-      TOKEN: ${{ secrets.SOFA_REPO_READ_TOKEN }}
       SOFA_ROOT: /opt/sofa
+      SOFA_OS: MacOS
 
     steps:
       - name: Checkout source code
         uses: actions/checkout@v2
 
+      - name: Set env vars
+        run: |
+          echo github.event.number = ${{ github.event.number  }}
+          echo github.event.pull_request.number = ${{ github.event.pull_request.number }}
+          echo github.event.issue.number = ${{ github.event.issue.number }}
+          if [ -n "${{ github.event.number }}" ]; then
+            GIT_BRANCH="PR-${{ github.event.number }}"
+          elif [ -n "${{ github.event.pull_request.number }}" ]; then
+            GIT_BRANCH="PR-${{ github.event.pull_request.number }}"
+          elif [ -n "${{ github.event.issue.number }}" ]; then
+            GIT_BRANCH="PR-${{ github.event.issue.number }}"
+          else
+            GIT_BRANCH="${GITHUB_REF#refs/heads/}"
+          fi
+          echo "GIT_BRANCH = $GIT_BRANCH"
+          if [ -z "$GIT_BRANCH" ]; then exit 1; fi
+          echo "GIT_BRANCH=$GIT_BRANCH" >> $GITHUB_ENV
+
       - name: Set up Python 3.7
         uses: actions/setup-python@v2
         with:
@@ -24,76 +44,107 @@ jobs:
 
       - name: Install requirements
         run: |
-          brew install ccache ninja boost eigen pybind11
-          python3 -m pip install numpy
+          brew install eigen boost
+          brew install ccache ninja
+          python3 -m pip install numpy scipy
 
-      - name: Download SOFA nightly build
-        run:  |
-          curl --output sofa.zip -L \
-          https://ci.inria.fr/sofa-ci-dev/job/nightly-generate-binaries/lastSuccessfulBuild/CI_SCOPE=binaries_minimal/artifact/MacOS/*zip*/MacOS.zip
+      - name: pybind11 cache files
+        uses: actions/cache@v2
+        id: pybind11_cache
+        with:
+          path: /tmp/pybind11
+          key: pybind11_${{ env.GIT_BRANCH }}_${{ matrix.os }}_${{ hashFiles('.github/workflows/*.yml') }}
 
-      - name: Install SOFA nightly build
+      - name: Build pybind11
+        if: steps.pybind11_cache.outputs.cache-hit != 'true'
         run: |
-          sudo unzip sofa.zip -d temp
-          sudo unzip temp/MacOS/`ls temp/MacOS/` -d temp
-          sudo rm -rf temp/MacOS
-          sudo mv temp/`ls temp` $SOFA_ROOT
-          rm -rf temp
-
-      - name: Get Time
-        id: time
-        uses: nanzm/get-time-action@v1.0
-        with:
-          timeZone: 8
-          format: 'YYYY-MM-DD-HH-mm-ss'
+          git clone -b v2.4.3 --depth 1 https://github.com/pybind/pybind11.git /tmp/pybind11
+          cd /tmp/pybind11
+          cmake -DCMAKE_BUILD_TYPE=Release -DPYBIND11_TEST=OFF -DPYTHON_EXECUTABLE=$(which python3.7) .
+          make --silent
+
+      - name: Install pybind11
+        run: |
+          cd /tmp/pybind11
+          sudo make --silent install
+
+      - name: Download and install the latest SOFA ${{ matrix.sofa_branch }} binaries
+        shell: bash
+        run: |
+          mkdir -p /tmp/sofa_zip
+          mkdir -p /tmp/sofa_binaries
+          curl --output /tmp/sofa_zip/${SOFA_OS}.zip -L \
+            https://ci.inria.fr/sofa-ci-dev/job/nightly-generate-binaries/CI_BRANCH=${{ matrix.sofa_branch }},CI_SCOPE=minimal/lastSuccessfulBuild/artifact/${SOFA_OS}/*zip*/${SOFA_OS}.zip
+          unzip -qq /tmp/sofa_zip/${SOFA_OS}.zip -d /tmp/sofa_zip
+          unzip -qq /tmp/sofa_zip/${SOFA_OS}/SOFA_*.zip -d /tmp/sofa_binaries
+          sudo mv /tmp/sofa_binaries/SOFA_* ${SOFA_ROOT}
+          sudo ls -la ${SOFA_ROOT}
+          rm -rf /tmp/sofa_*
 
       - name: ccache cache files
         uses: actions/cache@v2
         with:
           path: .ccache
-          key: ${{ matrix.os }}-ccache-${{ steps.time.outputs.time }}
-          restore-keys: |
-            ${{ matrix.os }}-ccache-
+          key: ccache_${{ env.GIT_BRANCH }}_${{ matrix.os }}_${{ hashFiles('.github/workflows/*.yml') }}
 
       - name: Build
         env:
           CCACHE_COMPRESS: true
           CCACHE_COMPRESSLEVEL: 6
           CCACHE_MAXSIZE: "500M"
-        run:
-          export CCACHE_BASEDIR=$GITHUB_WORKSPACE &&
-          export CCACHE_DIR=$GITHUB_WORKSPACE/.ccache &&
-          ccache -z &&
-          cmake
-          -GNinja
-          -DCMAKE_C_COMPILER_LAUNCHER=ccache
-          -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
-          -DCMAKE_PREFIX_PATH=$SOFA_ROOT/lib/cmake
-          -DCMAKE_BUILD_TYPE=Release
-          -DPYTHON_EXECUTABLE=$(which python)
-          .
-          && ninja && ninja install
-          && echo ${CCACHE_BASEDIR}
-          && ccache -s
-
-      - name: Archive production
+        run: |
+          export CCACHE_BASEDIR=$GITHUB_WORKSPACE
+          export CCACHE_DIR=$GITHUB_WORKSPACE/.ccache
+          ccache -z
+          cmake \
+            -GNinja \
+            -DCMAKE_C_COMPILER_LAUNCHER=ccache \
+            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+            -DCMAKE_PREFIX_PATH=$SOFA_ROOT/lib/cmake \
+            -DCMAKE_BUILD_TYPE=Release \
+            -DPYTHON_EXECUTABLE=$(which python3.7) \
+            .
+          ninja install
+          echo ${CCACHE_BASEDIR}
+          ccache -s
+
+      - name: Create artifact
         uses: actions/upload-artifact@v2
         with:
-          name: sp3-${{ matrix.os }}
+          name: SofaPython3_${{ env.GIT_BRANCH }}_SOFA-${{ matrix.sofa_branch }}_${{ env.SOFA_OS }}
           path: install
 
   tests:
-    name: Testing on ${{ matrix.os }}
+    name: Testing with SOFA ${{ matrix.sofa_branch }}
     needs: [build]
     runs-on: ${{ matrix.os }}
     strategy:
+      fail-fast: false
       matrix:
         os: [macos-10.15]
+        sofa_branch: [master, v21.06]
     env:
-      TOKEN: ${{ secrets.SOFA_REPO_READ_TOKEN }}
       SOFA_ROOT: /opt/sofa
+      SOFA_OS: MacOS
 
     steps:
+      - name: Set env vars
+        run: |
+          echo github.event.number = ${{ github.event.number  }}
+          echo github.event.pull_request.number = ${{ github.event.pull_request.number }}
+          echo github.event.issue.number = ${{ github.event.issue.number }}
+          if [ -n "${{ github.event.number }}" ]; then
+            GIT_BRANCH="PR-${{ github.event.number }}"
+          elif [ -n "${{ github.event.pull_request.number }}" ]; then
+            GIT_BRANCH="PR-${{ github.event.pull_request.number }}"
+          elif [ -n "${{ github.event.issue.number }}" ]; then
+            GIT_BRANCH="PR-${{ github.event.issue.number }}"
+          else
+            GIT_BRANCH="${GITHUB_REF#refs/heads/}"
+          fi
+          echo "GIT_BRANCH = $GIT_BRANCH"
+          if [ -z "$GIT_BRANCH" ]; then exit 1; fi
+          echo "GIT_BRANCH=$GIT_BRANCH" >> $GITHUB_ENV
 
       - name: Set up Python 3.7
         uses: actions/setup-python@v2
@@ -103,25 +154,25 @@ jobs:
       - name: Install requirements
         run: |
           brew install boost
-          python3 -m pip install numpy
-
-      - name: Download SOFA nightly build
-        run:  |
-          curl --output sofa.zip -L \
-          https://ci.inria.fr/sofa-ci-dev/job/nightly-generate-binaries/lastSuccessfulBuild/CI_SCOPE=binaries_minimal/artifact/MacOS/*zip*/MacOS.zip
+          python3 -m pip install numpy scipy
 
-      - name: Install SOFA nightly build
+      - name: Download and install the latest SOFA ${{ matrix.sofa_branch }} binaries
+        shell: bash
         run: |
-          sudo unzip sofa.zip -d temp
-          sudo unzip temp/MacOS/`ls temp/MacOS/` -d temp
-          sudo rm -rf temp/MacOS
-          sudo mv temp/`ls temp` $SOFA_ROOT
-          rm -rf temp
+          mkdir -p /tmp/sofa_zip
+          mkdir -p /tmp/sofa_binaries
+          curl --output /tmp/sofa_zip/${SOFA_OS}.zip -L \
+            https://ci.inria.fr/sofa-ci-dev/job/nightly-generate-binaries/CI_BRANCH=${{ matrix.sofa_branch }},CI_SCOPE=minimal/lastSuccessfulBuild/artifact/${SOFA_OS}/*zip*/${SOFA_OS}.zip
+          unzip -qq /tmp/sofa_zip/${SOFA_OS}.zip -d /tmp/sofa_zip
+          unzip -qq /tmp/sofa_zip/${SOFA_OS}/SOFA_*.zip -d /tmp/sofa_binaries
+          sudo mv /tmp/sofa_binaries/SOFA_* ${SOFA_ROOT}
+          sudo ls -la ${SOFA_ROOT}
+          rm -rf /tmp/sofa_*
 
       - name: Install SP3
         uses: actions/download-artifact@v2
         with:
-          name: sp3-${{ matrix.os }}
+          name: SofaPython3_${{ env.GIT_BRANCH }}_SOFA-${{ matrix.sofa_branch }}_${{ env.SOFA_OS }}
           path: SofaPython3
 
       - name: Binding.Sofa.Tests
diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
index 41d5455e..e629a37f 100644
--- a/.github/workflows/ubuntu.yml
+++ b/.github/workflows/ubuntu.yml
@@ -1,22 +1,42 @@
-name: CI
+name: Ubuntu CI
 
-on: pull_request
+on: [workflow_dispatch, pull_request]
 
 jobs:
   build:
-    name: Building on ${{ matrix.os }}
+    name: Building with SOFA ${{ matrix.sofa_branch }}
     runs-on: ${{ matrix.os }}
     strategy:
+      fail-fast: false
       matrix:
         os: [ubuntu-18.04]
+        sofa_branch: [master, v21.06]
     env:
-      TOKEN: ${{ secrets.SOFA_REPO_READ_TOKEN }}
       SOFA_ROOT: /opt/sofa
+      SOFA_OS: Linux
 
     steps:
       - name: Checkout source code
         uses: actions/checkout@v2
 
+      - name: Set env vars
+        run: |
+          echo github.event.number = ${{ github.event.number  }}
+          echo github.event.pull_request.number = ${{ github.event.pull_request.number }}
+          echo github.event.issue.number = ${{ github.event.issue.number }}
+          if [ -n "${{ github.event.number }}" ]; then
+            GIT_BRANCH="PR-${{ github.event.number }}"
+          elif [ -n "${{ github.event.pull_request.number }}" ]; then
+            GIT_BRANCH="PR-${{ github.event.pull_request.number }}"
+          elif [ -n "${{ github.event.issue.number }}" ]; then
+            GIT_BRANCH="PR-${{ github.event.issue.number }}"
+          else
+            GIT_BRANCH="${GITHUB_REF#refs/heads/}"
+          fi
+          echo "GIT_BRANCH = $GIT_BRANCH"
+          if [ -z "$GIT_BRANCH" ]; then exit 1; fi
+          echo "GIT_BRANCH=$GIT_BRANCH" >> $GITHUB_ENV
+
       - name: Set up Python 3.7
         uses: actions/setup-python@v2
         with:
@@ -26,89 +46,105 @@ jobs:
         run: |
           sudo apt install -qq libeigen3-dev libboost-dev libboost-system-dev libboost-filesystem-dev libboost-program-options-dev libboost-thread-dev
           sudo apt install -qq ccache ninja-build
-          python3 -m pip install numpy
+          python3 -m pip install numpy scipy
 
-      - name: Cache pybind11
+      - name: pybind11 cache files
         uses: actions/cache@v2
         id: pybind11_cache
         with:
           path: /tmp/pybind11
-          key: pybind24
+          key: pybind11_${{ env.GIT_BRANCH }}_${{ matrix.os }}_${{ hashFiles('.github/workflows/*.yml') }}
 
       - name: Build pybind11
         if: steps.pybind11_cache.outputs.cache-hit != 'true'
-        run: git clone -b v2.4 --depth 1 https://github.com/pybind/pybind11.git /tmp/pybind11 && cd /tmp/pybind11 && cmake -DPYBIND11_TEST=OFF . && cmake -DPYBIND11_TEST=OFF . && make
+        run: |
+          git clone -b v2.4.3 --depth 1 https://github.com/pybind/pybind11.git /tmp/pybind11
+          cd /tmp/pybind11
+          cmake -DCMAKE_BUILD_TYPE=Release -DPYBIND11_TEST=OFF -DPYTHON_EXECUTABLE=$(which python3.7) .
+          make --silent
 
       - name: Install pybind11
-        run: cd /tmp/pybind11  && sudo make install
-
-      - name: Download SOFA nightly build
-        run:  |
-          curl --output sofa.zip -L \
-          https://ci.inria.fr/sofa-ci-dev/job/nightly-generate-binaries/lastSuccessfulBuild/CI_SCOPE=binaries_minimal/artifact/Linux/*zip*/Linux.zip
-
-      - name: Install SOFA nightly build
-        run:  |
-          sudo unzip sofa.zip -d temp
-          sudo unzip temp/Linux/`ls temp/Linux/` -d temp
-          sudo rm -rf temp/Linux
-          sudo mkdir -p $SOFA_ROOT
-          sudo mv temp/`ls temp`/* $SOFA_ROOT/
-          sudo rm -rf temp
-
-      - name: Get Time
-        id: time
-        uses: nanzm/get-time-action@v1.0
-        with:
-          timeZone: 8
-          format: 'YYYY-MM-DD-HH-mm-ss'
+        run: |
+          cd /tmp/pybind11
+          sudo make --silent install
+
+      - name: Download and install the latest SOFA ${{ matrix.sofa_branch }} binaries
+        shell: bash
+        run: |
+          mkdir -p /tmp/sofa_zip
+          mkdir -p /tmp/sofa_binaries
+          curl --output /tmp/sofa_zip/${SOFA_OS}.zip -L \
+            https://ci.inria.fr/sofa-ci-dev/job/nightly-generate-binaries/CI_BRANCH=${{ matrix.sofa_branch }},CI_SCOPE=minimal/lastSuccessfulBuild/artifact/${SOFA_OS}/*zip*/${SOFA_OS}.zip
+          unzip -qq /tmp/sofa_zip/${SOFA_OS}.zip -d /tmp/sofa_zip
+          unzip -qq /tmp/sofa_zip/${SOFA_OS}/SOFA_*.zip -d /tmp/sofa_binaries
+          sudo mv /tmp/sofa_binaries/SOFA_* ${SOFA_ROOT}
+          sudo ls -la ${SOFA_ROOT}
+          rm -rf /tmp/sofa_*
 
       - name: ccache cache files
         uses: actions/cache@v2
         with:
           path: .ccache
-          key: ${{ matrix.os }}-ccache-${{ steps.time.outputs.time }}
-          restore-keys: |
-            ${{ matrix.os }}-ccache-
+          key: ccache_${{ env.GIT_BRANCH }}_${{ matrix.os }}_${{ hashFiles('.github/workflows/*.yml') }}
 
       - name: Build
         env:
           CCACHE_COMPRESS: true
           CCACHE_COMPRESSLEVEL: 6
           CCACHE_MAXSIZE: "500M"
-        run:
-          export CCACHE_BASEDIR=$GITHUB_WORKSPACE &&
-          export CCACHE_DIR=$GITHUB_WORKSPACE/.ccache &&
-          ccache -z &&
-          cmake
-          -GNinja
-          -DCMAKE_C_COMPILER_LAUNCHER=ccache
-          -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
-          -DCMAKE_PREFIX_PATH=$SOFA_ROOT/lib/cmake
-          -DCMAKE_BUILD_TYPE=Release
-          .
-          && ninja && ninja install
-          && echo ${CCACHE_BASEDIR}
-          && ccache -s
-
-      - name: Archive production
+        run: |
+          export CCACHE_BASEDIR=$GITHUB_WORKSPACE
+          export CCACHE_DIR=$GITHUB_WORKSPACE/.ccache
+          ccache -z
+          cmake \
+            -GNinja \
+            -DCMAKE_C_COMPILER_LAUNCHER=ccache \
+            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+            -DCMAKE_PREFIX_PATH=$SOFA_ROOT/lib/cmake \
+            -DCMAKE_BUILD_TYPE=Release \
+            -DPYTHON_EXECUTABLE=$(which python3.7) \
+            .
+          ninja install
+          echo ${CCACHE_BASEDIR}
+          ccache -s
+
+      - name: Create artifact
         uses: actions/upload-artifact@v2
         with:
-          name: sp3-${{ matrix.os }}
+          name: SofaPython3_${{ env.GIT_BRANCH }}_SOFA-${{ matrix.sofa_branch }}_${{ env.SOFA_OS }}
           path: install
 
   tests:
-    name: Testing on ${{ matrix.os }}
+    name: Testing with SOFA ${{ matrix.sofa_branch }}
     needs: [build]
     runs-on: ${{ matrix.os }}
     strategy:
+      fail-fast: false
       matrix:
         os: [ubuntu-18.04]
+        sofa_branch: [master, v21.06]
     env:
-      TOKEN: ${{ secrets.SOFA_REPO_READ_TOKEN }}
       SOFA_ROOT: /opt/sofa
+      SOFA_OS: Linux
 
     steps:
+      - name: Set env vars
+        run: |
+          echo github.event.number = ${{ github.event.number  }}
+          echo github.event.pull_request.number = ${{ github.event.pull_request.number }}
+          echo github.event.issue.number = ${{ github.event.issue.number }}
+          if [ -n "${{ github.event.number }}" ]; then
+            GIT_BRANCH="PR-${{ github.event.number }}"
+          elif [ -n "${{ github.event.pull_request.number }}" ]; then
+            GIT_BRANCH="PR-${{ github.event.pull_request.number }}"
+          elif [ -n "${{ github.event.issue.number }}" ]; then
+            GIT_BRANCH="PR-${{ github.event.issue.number }}"
+          else
+            GIT_BRANCH="${GITHUB_REF#refs/heads/}"
+          fi
+          echo "GIT_BRANCH = $GIT_BRANCH"
+          if [ -z "$GIT_BRANCH" ]; then exit 1; fi
+          echo "GIT_BRANCH=$GIT_BRANCH" >> $GITHUB_ENV
 
       - name: Set up Python 3.7
         uses: actions/setup-python@v2
@@ -118,25 +154,25 @@ jobs:
       - name: Install requirements
         run: |
           sudo apt install -qq libboost-all-dev
-          python3 -m pip install numpy
-
-      - name: Download SOFA nightly build
-        run:  |
-          curl --output sofa.zip -L \
-          https://ci.inria.fr/sofa-ci-dev/job/nightly-generate-binaries/lastSuccessfulBuild/CI_SCOPE=binaries_minimal/artifact/Linux/*zip*/Linux.zip
+          python3 -m pip install numpy scipy
 
-      - name: Install SOFA nightly build
+      - name: Download and install the latest SOFA ${{ matrix.sofa_branch }} binaries
+        shell: bash
         run: |
-          sudo unzip sofa.zip -d temp
-          sudo unzip temp/Linux/`ls temp/Linux/` -d temp
-          sudo rm -rf temp/Linux
-          sudo mv temp/`ls temp` $SOFA_ROOT
-          sudo rm -rf temp
+          mkdir -p /tmp/sofa_zip
+          mkdir -p /tmp/sofa_binaries
+          curl --output /tmp/sofa_zip/${SOFA_OS}.zip -L \
+            https://ci.inria.fr/sofa-ci-dev/job/nightly-generate-binaries/CI_BRANCH=${{ matrix.sofa_branch }},CI_SCOPE=minimal/lastSuccessfulBuild/artifact/${SOFA_OS}/*zip*/${SOFA_OS}.zip
+          unzip -qq /tmp/sofa_zip/${SOFA_OS}.zip -d /tmp/sofa_zip
+          unzip -qq /tmp/sofa_zip/${SOFA_OS}/SOFA_*.zip -d /tmp/sofa_binaries
+          sudo mv /tmp/sofa_binaries/SOFA_* ${SOFA_ROOT}
+          sudo ls -la ${SOFA_ROOT}
+          rm -rf /tmp/sofa_*
 
       - name: Install SP3
         uses: actions/download-artifact@v2
         with:
-          name: sp3-${{ matrix.os }}
+          name: SofaPython3_${{ env.GIT_BRANCH }}_SOFA-${{ matrix.sofa_branch }}_${{ env.SOFA_OS }}
           path: SofaPython3
 
       - name: Binding.Sofa.Tests
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6067a250..07c31312 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -39,6 +39,10 @@ if (SP3_COMPILED_AS_SOFA_SUBPROJECT)
 else()
     option(SP3_BUILD_TEST "Compile the automatic tests for SofaPython3, along with the gtest library." ON)
 endif()
+if(SP3_BUILD_TEST)
+    # TODO: remove this when SOFA's GTest handles threads correctly
+    find_package(Threads REQUIRED)
+endif()
 
 find_package(SofaExporter QUIET)
 CMAKE_DEPENDENT_OPTION(SP3_WITH_SOFAEXPORTER "Bind the SOFA exporter component." ON "SofaExporter_FOUND" OFF)