diff --git a/docker/eigenpy/Dockerfile b/docker/eigenpy/Dockerfile
index ad1f7fbadedeb59c1cb1c52b3d65d93635995614..2260a327766b0544541f5137a2edf909fce92fa7 100644
--- a/docker/eigenpy/Dockerfile
+++ b/docker/eigenpy/Dockerfile
@@ -1,4 +1,4 @@
-FROM ubuntu:focal
+FROM ubuntu:noble
 
 ENV CTEST_OUTPUT_ON_FAILURE=true
 
@@ -10,14 +10,18 @@ RUN apt-get update -y \
     libboost-all-dev \
     libeigen3-dev \
     python3-numpy \
+    python3-scipy \
     python-is-python3 \
  && rm -rf /var/lib/apt/lists/*
 
-ARG EIGENPY=2.6.4
+ARG EIGENPY=3.10.1
 
 ADD https://github.com/stack-of-tasks/eigenpy/releases/download/v${EIGENPY}/eigenpy-${EIGENPY}.tar.gz /
 RUN tar xf /eigenpy-${EIGENPY}.tar.gz
 
-WORKDIR /eigenpy-${EIGENPY}/build
 
-RUN cmake ..
+RUN cmake -B build -S /eigenpy-${EIGENPY} -DPYTHON_STANDARD_LAYOUT=ON -DPYTHON_DEB_LAYOUT=ON
+RUN cmake --build build -j16
+RUN cmake --build build -t test
+RUN cmake --build build -t install
+RUN python -c "import eigenpy"