diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 3346e88..9eefcbe 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -26,54 +26,67 @@ jobs:
           packages: g++ cmake subversion doxygen libxml2-dev libssl-dev libsqlite3-dev libboost-all-dev libogre-1.9-dev libsvn-dev libopencv-dev binutils-dev libiberty-dev libcurl4-gnutls-dev libprocps-dev libqwt-qt5-dev libqt5webkit5-dev libqwtmathml-qt5-dev libqt5opengl5-dev libqt5svg5-dev qt*5-dev qttools5-dev-tools git
       - name: Checkout Repository
         uses: actions/checkout@v4
-      - name: Make ccache directory
-        run: mkdir -p ${{ env.CCACHE_DIR }}
-      - name: Cache ccache
-        uses: actions/cache@v4
+      - name: Restore MIRA cache
+        id: restore-mira-cache
+        uses: actions/cache/restore@v4
         with:
-          path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ runner.os }}-${{ github.sha }}-${{ github.run_id }}
-          restore-keys: |
-            ccache-${{ runner.os }}-${{ github.sha }}
-            ccache-${{ runner.os }}
+          path: ${{ env.MIRA_PATH }}
+          key: mira-${{ runner.os }}-${{ github.sha }}
+      # - name: Make ccache directory
+      #   run: mkdir -p ${{ env.CCACHE_DIR }}
+      # - name: Cache ccache
+      #   uses: actions/cache@v4
+      #   with:
+      #     path: ${{ env.CCACHE_DIR }}
+      #     key: ccache-${{ runner.os }}-${{ github.sha }}-${{ github.run_id }}
+      #     restore-keys: |
+      #       ccache-${{ runner.os }}-${{ github.sha }}
+      #       ccache-${{ runner.os }}
       - name: Install MIRA
         run: | 
           curl -o mira-installer-binary.sh https://www.mira-project.org/downloads/mira-installer-binary.sh
           chmod +x mira-installer-binary.sh
-          ./mira-installer-binary.sh -s ubuntu-2204lts-x64 -d ${{ github.workspace }}/mira
-      - name: Setup ROS 2
-        uses: ros-tooling/setup-ros@0.7.5
+          ./mira-installer-binary.sh -s ubuntu-2204lts-x64 -d ${{ env.MIRA_PATH }}
+      - name: Save MIRA cache
+        uses: actions/cache/save@v4
         with:
-          required-ros-distributions: humble
-      - name: Install dependencies
-        uses: ros-tooling/action-ros-ci@0.3.13
-        with:
-          package-name: |
-            scitos2
-            scitos2_behavior_tree
-            scitos2_charging_dock
-            scitos2_common
-            scitos2_core
-            scitos2_mira
-            scitos2_modules
-            scitos2_msgs
-          target-ros2-distro: humble
-          vcs-repo-file-url: ./.github/repos.repos
-          colcon-defaults: |
-            {
-              "build": {
-                "mixin": ["coverage-gcc", "coverage-pytest"]
-              },
-              "test": {
-                "mixin": ["coverage-pytest"]
-              }
-            }
-          skip-tests: false
-      - name: Upload coverage reports to Codecov
-        uses: codecov/codecov-action@v4.4.1
-        with:
-          token: ${{ secrets.CODECOV_TOKEN }}
-          files: ros_ws/lcov/total_coverage.info,ros_ws/coveragepy/.coverage
-          flags: unittests
-          name: codecov-umbrella
-          slug: grupo-avispa/scitos2
+          path: ${{ env.MIRA_PATH }}
+          key: ${{ steps.restore-mira-cache.outputs.cache-primary-key }}
+
+
+      # - name: Setup ROS 2
+      #   uses: ros-tooling/setup-ros@0.7.5
+      #   with:
+      #     required-ros-distributions: humble
+      # - name: Install dependencies
+      #   uses: ros-tooling/action-ros-ci@0.3.13
+      #   with:
+      #     package-name: |
+      #       scitos2
+      #       scitos2_behavior_tree
+      #       scitos2_charging_dock
+      #       scitos2_common
+      #       scitos2_core
+      #       scitos2_mira
+      #       scitos2_modules
+      #       scitos2_msgs
+      #     target-ros2-distro: humble
+      #     vcs-repo-file-url: ./.github/repos.repos
+      #     colcon-defaults: |
+      #       {
+      #         "build": {
+      #           "mixin": ["coverage-gcc", "coverage-pytest"]
+      #         },
+      #         "test": {
+      #           "mixin": ["coverage-pytest"]
+      #         }
+      #       }
+      #     skip-tests: false
+      # - name: Upload coverage reports to Codecov
+      #   uses: codecov/codecov-action@v4.4.1
+      #   with:
+      #     token: ${{ secrets.CODECOV_TOKEN }}
+      #     files: ros_ws/lcov/total_coverage.info,ros_ws/coveragepy/.coverage
+      #     flags: unittests
+      #     name: codecov-umbrella
+      #     slug: grupo-avispa/scitos2