diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 0b50e81..fedf6c6 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -10,7 +10,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, macos-11, windows-2019]
+        os: [ubuntu-22.04, macos-12, windows-2022]
         sofa_branch: [master]
 
     steps:
@@ -33,7 +33,7 @@ jobs:
             
       - name: Setup SOFA and environment
         id: sofa
-        uses: sofa-framework/sofa-setup-action@v4
+        uses: sofa-framework/sofa-setup-action@v5
         with:
           sofa_root: ${{ github.workspace }}/sofa
           sofa_version: ${{ matrix.sofa_branch }}
@@ -106,7 +106,7 @@ jobs:
 
   deploy:
     name: Deploy artifacts
-    if: always() && startsWith(github.ref, 'refs/heads/') # we are on a branch (not a PR)
+    if: always() && startsWith(github.ref, 'refs/heads/main') # we are on a branch (not a PR)
     needs: [build-and-test]
     runs-on: ubuntu-latest
     continue-on-error: true
diff --git a/README.md b/README.md
index f2f623b..4b8ec1a 100644
--- a/README.md
+++ b/README.md
@@ -2,7 +2,7 @@
 
 [![Documentation](https://img.shields.io/badge/info-on_website-green.svg)](https://infinytech3d.com/)
 [![Support](https://img.shields.io/badge/support-on_GitHub_Discussions-blue.svg)](https://github.com/sofa-framework/sofa/discussions)
-[![Gitter](https://img.shields.io/badge/chat-on_Gitter-ff69b4.svg)](https://app.gitter.im/#/room/#sofa-framework:gitter.im)
+[![Discord](https://img.shields.io/badge/chat-on_Discord-darkred.svg)](https://discord.gg/G63t3a8Ra6)
 
 ## Description
 This repository gather all open code from InfinyTech3D that could be of any use for the https://www.sofa-framework.org/
diff --git a/src/InfinyToolkit/BruteForceFeedback.h b/src/InfinyToolkit/BruteForceFeedback.h
index bfb6942..be0277a 100644
--- a/src/InfinyToolkit/BruteForceFeedback.h
+++ b/src/InfinyToolkit/BruteForceFeedback.h
@@ -25,6 +25,7 @@
 
 #include <InfinyToolkit/config.h>
 #include <sofa/component/haptics/ForceFeedback.h>
+#include <sofa/defaulttype/SolidTypes.h>
 #include <sofa/defaulttype/VecTypes.h>
 #include <InfinyToolkit/CarvingTools/AdvancedCarvingManager.h>
 
diff --git a/src/InfinyToolkit/MeshTools/NearestTexcoordsMap.cpp b/src/InfinyToolkit/MeshTools/NearestTexcoordsMap.cpp
index eaae9d6..a2b403a 100644
--- a/src/InfinyToolkit/MeshTools/NearestTexcoordsMap.cpp
+++ b/src/InfinyToolkit/MeshTools/NearestTexcoordsMap.cpp
@@ -88,10 +88,10 @@ void NearestTexcoordsMap::doUpdate()
 
 void NearestTexcoordsMap::computeNearestPointMapping()
 {
-    sofa::helper::WriteOnlyAccessor<Data< type::vector<sofa::type::Vector2> > > outTexcoords = d_outputTexCoords;
+    sofa::helper::WriteOnlyAccessor<Data< type::vector<sofa::type::Vec2> > > outTexcoords = d_outputTexCoords;
     sofa::helper::ReadAccessor< Data< type::vector< Vec3 > > > fullPositions = d_inputPositions;
     sofa::helper::ReadAccessor< Data< type::vector< Vec3 > > > mapPositions = d_mapPositions;
-    sofa::helper::ReadAccessor< Data< type::vector<sofa::type::Vector2> > > mapTexcoords = d_mapTexCoords;
+    sofa::helper::ReadAccessor< Data< type::vector<sofa::type::Vec2> > > mapTexcoords = d_mapTexCoords;
 
     outTexcoords.resize(fullPositions.size());
     m_mapPositionIds.resize(fullPositions.size());
@@ -116,7 +116,7 @@ void NearestTexcoordsMap::computeNearestPointMapping()
         }
         else
         {
-            outTexcoords[i2] = sofa::type::Vector2(0.0, 0.0);
+            outTexcoords[i2] = sofa::type::Vec2(0.0, 0.0);
             m_mapPositionIds[i2] = 0;
         }
     }
@@ -125,10 +125,10 @@ void NearestTexcoordsMap::computeNearestPointMapping()
 
 void NearestTexcoordsMap::computeTriangulationMapping()
 {
-    sofa::helper::WriteOnlyAccessor<Data< type::vector<sofa::type::Vector2> > > outTexcoords = d_outputTexCoords;
+    sofa::helper::WriteOnlyAccessor<Data< type::vector<sofa::type::Vec2> > > outTexcoords = d_outputTexCoords;
     sofa::helper::ReadAccessor< Data< type::vector< Vec3 > > > fullPositions = d_inputPositions;
     sofa::helper::ReadAccessor< Data< type::vector< Vec3 > > > mapPositions = d_mapPositions;
-    sofa::helper::ReadAccessor< Data< type::vector<sofa::type::Vector2> > > mapTexcoords = d_mapTexCoords;
+    sofa::helper::ReadAccessor< Data< type::vector<sofa::type::Vec2> > > mapTexcoords = d_mapTexCoords;
 
     outTexcoords.resize(fullPositions.size());
     m_mapPositionIds.resize(fullPositions.size() * 3);