SofaDefrost · hugtalbot · Oct 16, 2025 · Aug 26, 2025
diff --git a/examples/component/constraint/CableConstraint/CableSmoothActuation.py b/examples/component/constraint/CableConstraint/CableSmoothActuation.py
@@ -35,7 +35,7 @@ def createScene(rootNode):
     rootNode.addObject('VisualStyle', displayFlags='showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe')
 
     rootNode.addObject('FreeMotionAnimationLoop')
-    rootNode.addObject('GenericConstraintSolver', printLog='0')
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', printLog='0')
 
     ################################################################################################################
     ################################################### Bunny ######################################################

diff --git a/examples/component/constraint/CableConstraint/Finger.py b/examples/component/constraint/CableConstraint/Finger.py
@@ -35,7 +35,7 @@ def createScene(rootNode):
     #  of the actuator's parameters.
     # rootNode.addObject('QPInverseProblemSolver', printLog=False)
     # Otherwise use a GenericConstraintSolver
-    rootNode.addObject('GenericConstraintSolver', tolerance=1e-5, maxIterations=100)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', tolerance=1e-5, maxIterations=100)
 
     rootNode.gravity = [0, -9810, 0]
     rootNode.dt = 0.01

diff --git a/examples/component/constraint/CableConstraint/FingerWithSTLIB.py b/examples/component/constraint/CableConstraint/FingerWithSTLIB.py
@@ -36,7 +36,7 @@ def createScene(rootNode):
 
     rootNode.addObject("FreeMotionAnimationLoop")
     rootNode.addObject('DefaultVisualManagerLoop')
-    rootNode.addObject("GenericConstraintSolver", maxIterations=1000, tolerance=0.001)
+    rootNode.addObject("ProjectedGaussSeidelConstraintSolver", maxIterations=1000, tolerance=0.001)
 
     finger = ElasticMaterialObject(name="finger",
                                    volumeMeshFileName="mesh/finger.vtk",

diff --git a/examples/component/constraint/JointConstraint/JointConstraint.py b/examples/component/constraint/JointConstraint/JointConstraint.py
@@ -28,7 +28,7 @@ def createScene(rootNode):
     rootNode.gravity = [0., -9810., 0.]
     rootNode.addObject('VisualStyle', displayFlags='showBehaviorModels')
     rootNode.addObject('FreeMotionAnimationLoop')
-    rootNode.addObject('GenericConstraintSolver', maxIterations=500, tolerance=1e-4)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=500, tolerance=1e-4)
 
     # Simulation node
     simulation = rootNode.addChild('Simulation')

diff --git a/examples/component/constraint/PositionConstraint/PositionConstraint.py b/examples/component/constraint/PositionConstraint/PositionConstraint.py
@@ -3,7 +3,7 @@ def createScene(rootnode):
     rootnode.addObject('RequiredPlugin', name='SoftRobots')
 
     rootnode.addObject('FreeMotionAnimationLoop')
-    rootnode.addObject('GenericConstraintSolver', maxIterations=1e4, tolerance=1e-5, printLog=True)
+    rootnode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=1e4, tolerance=1e-5, printLog=True)
     rootnode.gravity = [0, -9.81, 0]
     rootnode.addObject('VisualStyle', displayFlags='showForceFields')
 

diff --git a/examples/component/constraint/SurfacePressureConstraint/PressureVsVolumeGrowthControl.py b/examples/component/constraint/SurfacePressureConstraint/PressureVsVolumeGrowthControl.py
@@ -36,7 +36,7 @@ def createScene(rootNode):
 
     rootNode.addObject('FreeMotionAnimationLoop')
     rootNode.addObject('DefaultVisualManagerLoop')
-    rootNode.addObject('GenericConstraintSolver', maxIterations=500, printLog=False, tolerance=0.0000001)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=500, printLog=False, tolerance=0.0000001)
 
     Bunny(rootNode, name='BunnyPressure', controlType='pressure', initialValue=2)
     Bunny(rootNode, translation=[15, 0, 0], controlType='volumeGrowth', name='BunnyVolume', initialValue=40)

diff --git a/examples/component/constraint/SurfacePressureConstraint/Springy.py b/examples/component/constraint/SurfacePressureConstraint/Springy.py
@@ -33,7 +33,7 @@ def createScene(rootNode):
     rootNode.addObject('FreeMotionAnimationLoop')
     rootNode.addObject('DefaultVisualManagerLoop')
 
-    rootNode.addObject('GenericConstraintSolver', maxIterations=1000, tolerance=1e-3)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=1000, tolerance=1e-3)
 
     rootNode.addObject('BackgroundSetting', color=[0, 0.168627, 0.211765, 1])
     rootNode.findData('gravity').value = [0, 0, -981.0]

diff --git a/examples/component/constraint/SurfacePressureConstraint/SurfacePressureConstraint.py b/examples/component/constraint/SurfacePressureConstraint/SurfacePressureConstraint.py
@@ -32,7 +32,7 @@ def createScene(rootNode):
 
     rootNode.addObject('FreeMotionAnimationLoop')
     rootNode.addObject('DefaultVisualManagerLoop')
-    rootNode.addObject('GenericConstraintSolver', maxIterations=100, tolerance=0.0000001)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=100, tolerance=0.0000001)
 
     # bunny
     bunny = rootNode.addChild('bunny')

diff --git a/examples/component/constraint/UnilateralPlaneConstraint/ArticulatedTentacle.py b/examples/component/constraint/UnilateralPlaneConstraint/ArticulatedTentacle.py
@@ -35,7 +35,7 @@ def createScene(rootNode):
     rootNode.addObject('VisualStyle', displayFlags="showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe")
     rootNode.addObject('FreeMotionAnimationLoop')
     rootNode.addObject('DefaultVisualManagerLoop')
-    rootNode.addObject('GenericConstraintSolver', maxIterations=1000, tolerance=1e-3)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=1000, tolerance=1e-3)
 
     rootNode.addObject('CollisionPipeline')
     rootNode.addObject('BruteForceBroadPhase', name="N2")

diff --git a/examples/component/controller/CommunicationController/SimulationDirect_Receiver.py b/examples/component/controller/CommunicationController/SimulationDirect_Receiver.py
@@ -26,7 +26,7 @@ def createScene(rootNode):
 
     rootNode.addObject('FreeMotionAnimationLoop')
     rootNode.addObject('DefaultVisualManagerLoop')
-    rootNode.addObject('GenericConstraintSolver', maxIterations=1000, tolerance=1e-14)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=1000, tolerance=1e-14)
 
     rootNode.gravity.value = [0, 0, -981.0]
     rootNode.dt.value = 0.01

diff --git a/examples/component/controller/CommunicationController/SimulationInverse_Sender.py b/examples/component/controller/CommunicationController/SimulationInverse_Sender.py
@@ -35,7 +35,7 @@ def createScene(rootNode):
         rootNode.addObject('RequiredPlugin', name='SoftRobots.Inverse')
         rootNode.addObject('QPInverseProblemSolver', epsilon=1e-1, maxIterations=1000, tolerance=1e-14)
     else:
-        rootNode.addObject('GenericConstraintSolver', maxIterations=500, tolerance=1e-5)
+        rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=500, tolerance=1e-5)
 
     rootNode.gravity.value = [0, 0, -981.0]
     rootNode.dt.value = 0.01

diff --git a/examples/component/controller/DataVariationLimiter/DataVariationLimiter.py b/examples/component/controller/DataVariationLimiter/DataVariationLimiter.py
@@ -53,7 +53,7 @@ def createScene(rootNode):
         rootNode.addObject('RequiredPlugin', name='SoftRobots.Inverse')
         rootNode.addObject('QPInverseProblemSolver', epsilon=1e-1, maxIterations=1000, tolerance=1e-14)
     else:
-        rootNode.addObject('GenericConstraintSolver', maxIterations=500, tolerance=1e-5)
+        rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=500, tolerance=1e-5)
 
     rootNode.gravity.value = [0, 0, -981.0]
     rootNode.dt.value = 0.01

diff --git a/examples/thematicalDocs/T4-DirectActuation/Actuators/Cable/CableDisplacement.py b/examples/thematicalDocs/T4-DirectActuation/Actuators/Cable/CableDisplacement.py
@@ -15,7 +15,7 @@ def createScene(rootNode):
 
     rootNode.addObject('FreeMotionAnimationLoop')
 
-    rootNode.addObject('GenericConstraintSolver', tolerance=1e-5, maxIterations=100)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', tolerance=1e-5, maxIterations=100)
 
     rootNode.addObject('BackgroundSetting', color=[0, 0.168627, 0.211765, 1])
     rootNode.addObject('OglSceneFrame', style="Arrows", alignment="TopRight")

diff --git a/examples/thematicalDocs/T4-DirectActuation/Actuators/Cable/CableForce.py b/examples/thematicalDocs/T4-DirectActuation/Actuators/Cable/CableForce.py
@@ -15,7 +15,7 @@ def createScene(rootNode):
 
     rootNode.addObject('FreeMotionAnimationLoop')
 
-    rootNode.addObject('GenericConstraintSolver', tolerance=1e-5, maxIterations=100)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', tolerance=1e-5, maxIterations=100)
 
     rootNode.addObject('BackgroundSetting', color=[0, 0.168627, 0.211765, 1])
     rootNode.addObject('OglSceneFrame', style="Arrows", alignment="TopRight")

diff --git a/examples/thematicalDocs/T4-DirectActuation/Actuators/Pneumatic/SurfaceConstraintPressure.py b/examples/thematicalDocs/T4-DirectActuation/Actuators/Pneumatic/SurfaceConstraintPressure.py
@@ -14,7 +14,7 @@ def createScene(rootNode):
                        displayFlags='showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe')
 
     rootNode.addObject('FreeMotionAnimationLoop')
-    rootNode.addObject('GenericConstraintSolver', maxIterations=100, tolerance=0.0000001)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=100, tolerance=0.0000001)
 
     # bunny mechanical model
     bunny = rootNode.addChild('bunny')

diff --git a/examples/thematicalDocs/T4-DirectActuation/Actuators/Pneumatic/SurfaceConstraintVolume.py b/examples/thematicalDocs/T4-DirectActuation/Actuators/Pneumatic/SurfaceConstraintVolume.py
@@ -12,7 +12,7 @@ def createScene(rootNode):
                        displayFlags='showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe')
 
     rootNode.addObject('FreeMotionAnimationLoop')
-    rootNode.addObject('GenericConstraintSolver', maxIterations=100, tolerance=0.0000001)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=100, tolerance=0.0000001)
 
     # bunny mechanical model
     bunny = rootNode.addChild('bunny')

diff --git a/examples/thematicalDocs/T4-DirectActuation/DriveTheRobot/Simulation.py b/examples/thematicalDocs/T4-DirectActuation/DriveTheRobot/Simulation.py
@@ -16,7 +16,7 @@ def createScene(rootNode):
     rootNode.gravity = [0., 0., -9810]
 
     rootNode.addObject('FreeMotionAnimationLoop')
-    rootNode.addObject('GenericConstraintSolver', tolerance=1e-6, maxIterations=50000)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', tolerance=1e-6, maxIterations=50000)
 
     rootNode.addObject('BackgroundSetting', color=[0, 0.168627, 0.211765, 1])
     rootNode.addObject('OglSceneFrame', style="Arrows", alignment="TopRight")

diff --git a/examples/tutorials/CableGripper/details/step3.py b/examples/tutorials/CableGripper/details/step3.py
@@ -54,7 +54,7 @@ def createScene(rootNode):
     MainHeader(rootNode, plugins=["SoftRobots"])
     rootNode.VisualStyle.displayFlags = "showBehavior showCollisionModels"
     rootNode.addObject('FreeMotionAnimationLoop')
-    rootNode.addObject('GenericConstraintSolver', tolerance=1e-5, maxIterations=100)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', tolerance=1e-5, maxIterations=100)
 
     Finger(rootNode)
 

diff --git a/examples/tutorials/CircularRobot/circularrobot.py b/examples/tutorials/CircularRobot/circularrobot.py
@@ -160,7 +160,7 @@ def createScene(rootNode):
         rootNode.addObject('QPInverseProblemSolver', epsilon=2e-0, maxIterations=2500, tolerance=1e-7,
                            responseFriction=0.8)
     else:
-        rootNode.addObject('GenericConstraintSolver', maxIterations=500, tolerance=1e-5)
+        rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=500, tolerance=1e-5)
 
     # Contact detection methods
     rootNode.addObject('CollisionPipeline')

diff --git a/examples/tutorials/DiamondRobot/DiamondRobot.py b/examples/tutorials/DiamondRobot/DiamondRobot.py
@@ -35,7 +35,7 @@ def createScene(rootNode):
 
     # Constraint solver, here we use a Gauss Seidel algorithm
     rootNode.addObject('FreeMotionAnimationLoop')
-    rootNode.addObject('GenericConstraintSolver', maxIterations=500, tolerance=1e-8)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=500, tolerance=1e-8)
 
     # Robot
     robot = rootNode.addChild('Robot')

diff --git a/...ples/tutorials/PneunetGripper/details/step6-pneumaticActuatorAndPythonScriptController.py b/...ples/tutorials/PneunetGripper/details/step6-pneumaticActuatorAndPythonScriptController.py
@@ -25,7 +25,7 @@ def createScene(rootNode):
     rootNode.gravity.value = [-9810, 0, 0]
     rootNode.addObject('AttachBodyButtonSetting', stiffness=10)
     rootNode.addObject('FreeMotionAnimationLoop')
-    rootNode.addObject('GenericConstraintSolver', tolerance=1e-7, maxIterations=1000)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', tolerance=1e-7, maxIterations=1000)
 
     finger = rootNode.addChild('Finger')
     finger.addObject('EulerImplicitSolver', rayleighStiffness=0.1, rayleighMass=0.1)

diff --git a/examples/tutorials/PneunetGripper/details/step7-grabTheCube.py b/examples/tutorials/PneunetGripper/details/step7-grabTheCube.py
@@ -48,7 +48,7 @@ def createScene(rootNode):
                                     'showInteractionForceFields hideWireframe')
     rootNode.gravity.value = [-9810, 0, 0]
     rootNode.addObject('FreeMotionAnimationLoop')
-    rootNode.addObject('GenericConstraintSolver', tolerance=1e-7, maxIterations=1000)
+    rootNode.addObject('ProjectedGaussSeidelConstraintSolver', tolerance=1e-7, maxIterations=1000)
     rootNode.addObject('CollisionPipeline')
     rootNode.addObject('BruteForceBroadPhase')
     rootNode.addObject('BVHNarrowPhase')

diff --git a/examples/tutorials/PneunetGripper/pneunetgripper-tuto.html b/examples/tutorials/PneunetGripper/pneunetgripper-tuto.html
@@ -127,9 +127,9 @@ <h2 id="pneumatic-actuator-and-python-script-controller">Pneumatic Actuator and
 <div class="sourceCode" id="cb10"><pre class="sourceCode python"><code class="sourceCode python"><a class="sourceLine" id="cb10-1" title="1">rootNode.addObject(<span class="st">&#39;PythonScriptController&#39;</span>, filename<span class="op">=</span><span class="st">&quot;controllerGripper.py&quot;</span>, classname<span class="op">=</span><span class="st">&quot;controller&quot;</span>)</a></code></pre></div>
 <p>In this case, the controller allows to interactively inflate the cavity by pressing ctrl + ‘+’ and deflate it by pressing ctrl + ‘-’.</p>
 <h2 id="solving-the-constraints">Solving the constraints</h2>
-<p>To solve the constraints, such as the one define by the pressure actuator, we have to add to the rootNode the component FreeMotionAnimationLoop that will build up the system including constraints. The component GenericConstraintSolver will also be added to solve the constraints problem. Finally, we add the component LinearConstraintCorrection to the finger Node to take into account the correction due to the cavity constraint to the velocity and position:</p>
+<p>To solve the constraints, such as the one define by the pressure actuator, we have to add to the rootNode the component FreeMotionAnimationLoop that will build up the system including constraints. The component ProjectedGaussSeidelConstraintSolver will also be added to solve the constraints problem. Finally, we add the component LinearConstraintCorrection to the finger Node to take into account the correction due to the cavity constraint to the velocity and position:</p>
 <div class="sourceCode" id="cb11"><pre class="sourceCode python"><code class="sourceCode python"><a class="sourceLine" id="cb11-1" title="1">rootNode.addObject(<span class="st">&#39;FreeMotionAnimationLoop&#39;</span>)</a>
-<a class="sourceLine" id="cb11-2" title="2">rootNode.addObject(<span class="st">&#39;GenericConstraintSolver&#39;</span>, maxIterations<span class="op">=</span><span class="dv">10000</span>, tolerance<span class="op">=</span><span class="fl">1e-3</span>)</a></code></pre></div>
+<a class="sourceLine" id="cb11-2" title="2">rootNode.addObject(<span class="st">&#39;ProjectedGaussSeidelConstraintSolver&#39;</span>, maxIterations<span class="op">=</span><span class="dv">10000</span>, tolerance<span class="op">=</span><span class="fl">1e-3</span>)</a></code></pre></div>
 <div class="sourceCode" id="cb12"><pre class="sourceCode python"><code class="sourceCode python"><a class="sourceLine" id="cb12-1" title="1">finger.addObject(<span class="st">&#39;LinearSolverConstraintCorrection&#39;</span>, solverName<span class="op">=</span><span class="st">&#39;directSolver&#39;</span>)</a></code></pre></div>
 <p>With all these components, the scene is now runable and can be used to inflate and deflate the finger.</p>
 <p><a href="images/PneuNets-gripper_OneFingerBendingAll.png">Real images</a></p>
@@ -211,7 +211,7 @@ <h2 id="appendix">Appendix</h2>
 <a class="sourceLine" id="cb18-24" title="24">    rootNode.addObject(<span class="st">&#39;VisualStyle&#39;</span>, displayFlags<span class="op">=</span><span class="st">&#39;showVisualModels hideBehaviorModels hideCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe&#39;</span>)</a>
 <a class="sourceLine" id="cb18-25" title="25">    rootNode.findData(<span class="st">&#39;gravity&#39;</span>).value<span class="op">=</span>[<span class="op">-</span><span class="dv">9810</span>, <span class="dv">0</span>, <span class="dv">0</span>]<span class="op">;</span></a>
 <a class="sourceLine" id="cb18-26" title="26">    rootNode.addObject(<span class="st">&#39;FreeMotionAnimationLoop&#39;</span>)</a>
-<a class="sourceLine" id="cb18-27" title="27">    rootNode.addObject(<span class="st">&#39;GenericConstraintSolver&#39;</span>, tolerance<span class="op">=</span><span class="fl">1e-12</span>, maxIterations<span class="op">=</span><span class="dv">10000</span>)</a>
+<a class="sourceLine" id="cb18-27" title="27">    rootNode.addObject(<span class="st">&#39;ProjectedGaussSeidelConstraintSolver&#39;</span>, tolerance<span class="op">=</span><span class="fl">1e-12</span>, maxIterations<span class="op">=</span><span class="dv">10000</span>)</a>
 <a class="sourceLine" id="cb18-28" title="28">    rootNode.addObject(<span class="st">&#39;CollisionPipeline&#39;</span>)</a>
 <a class="sourceLine" id="cb18-29" title="29">    rootNode.addObject(<span class="st">&#39;BruteForceDetection&#39;</span>)</a>
 <a class="sourceLine" id="cb18-30" title="30">    rootNode.addObject(<span class="st">&#39;CollisionResponse&#39;</span>, response<span class="op">=</span><span class="st">&#39;FrictionContact&#39;</span>, responseParams<span class="op">=</span><span class="st">&#39;mu=0.6&#39;</span>)</a>

diff --git a/examples/tutorials/PneunetGripper/pneunetgripper-tuto.md b/examples/tutorials/PneunetGripper/pneunetgripper-tuto.md
@@ -101,10 +101,10 @@ In this case, the controller allows to interactively inflate the cavity by press
 
 ## Solving the constraints
 
- To solve the constraints, such as the one define by the pressure actuator, we have to add to the rootNode the component FreeMotionAnimationLoop that will build up the system including constraints. The component GenericConstraintSolver will also be added to solve the constraints problem. Finally, we add the component LinearConstraintCorrection to the finger Node to take into account the correction due to the cavity constraint to the velocity and position:
+ To solve the constraints, such as the one define by the pressure actuator, we have to add to the rootNode the component FreeMotionAnimationLoop that will build up the system including constraints. The component ProjectedGaussSeidelConstraintSolver will also be added to solve the constraints problem. Finally, we add the component LinearConstraintCorrection to the finger Node to take into account the correction due to the cavity constraint to the velocity and position:
 ```python
 rootNode.addObject('FreeMotionAnimationLoop')
-rootNode.addObject('GenericConstraintSolver', maxIterations=10000, tolerance=1e-3)
+rootNode.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=10000, tolerance=1e-3)
 ```
 
 ```python
@@ -226,7 +226,7 @@ def createScene(rootNode):
 	rootNode.addObject('VisualStyle', displayFlags='showVisualModels hideBehaviorModels hideCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe')
 	rootNode.findData('gravity').value=[-9810, 0, 0];
 	rootNode.addObject('FreeMotionAnimationLoop')
-	rootNode.addObject('GenericConstraintSolver', tolerance=1e-12, maxIterations=10000)
+	rootNode.addObject('ProjectedGaussSeidelConstraintSolver', tolerance=1e-12, maxIterations=10000)
 	rootNode.addObject('CollisionPipeline')
 	rootNode.addObject('BruteForceDetection')
         rootNode.addObject('CollisionResponse', response='FrictionContactConstraint', responseParams='mu=0.6')

diff --git a/examples/tutorials/SoftArmGripper/header.py b/examples/tutorials/SoftArmGripper/header.py
@@ -36,7 +36,7 @@ def addHeader(node):
         node.addObject('RequiredPlugin', name='SoftRobots.Inverse')
         node.addObject('QPInverseProblemSolver')
     else:
-        node.addObject('GenericConstraintSolver', maxIterations=100, tolerance=0.001)
+        node.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=100, tolerance=0.001)
     node.addObject('CollisionPipeline')
     node.addObject('BruteForceBroadPhase')
     node.addObject('BVHNarrowPhase')

diff --git a/examples/tutorials/SoftFingerDesign/details/actuated_arm.py b/examples/tutorials/SoftFingerDesign/details/actuated_arm.py
@@ -102,7 +102,7 @@ def createScene(rootNode):
     scene.addMainHeader()
     scene.addObject('DefaultVisualManagerLoop')
     scene.addObject('FreeMotionAnimationLoop')
-    scene.addObject('GenericConstraintSolver', maxIterations=50, tolerance=1e-5)
+    scene.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=50, tolerance=1e-5)
     scene.Simulation.addObject('GenericConstraintCorrection')
     scene.dt = 0.01
     scene.gravity = [0., -9810., 0.]

diff --git a/examples/tutorials/SoftFingerDesign/details/actuated_finger.py b/examples/tutorials/SoftFingerDesign/details/actuated_finger.py
@@ -129,7 +129,7 @@ def __init__(self, *args, **kwargs):
         self.numContact = 0
 
         # Computation of the contact force applied on the object to grasp
-        self.node.getRoot().GenericConstraintSolver.computeConstraintForces.value = True
+        self.node.getRoot().ProjectedGaussSeidelConstraintSolver.computeConstraintForces.value = True
 
     def onKeypressedEvent(self, event):
         key = event['key']
@@ -150,7 +150,7 @@ def onAnimateBeginEvent(self, eventType):
             self.actuator.ServoMotor.angleIn = angleInit + angularStep
 
         # Computation of the contact force applied on the object to grasp
-        contactForces = self.node.getRoot().GenericConstraintSolver.constraintForces.value
+        contactForces = self.node.getRoot().ProjectedGaussSeidelConstraintSolver.constraintForces.value
 
         # print the number of nodes in contact and the norm of the largest contact force
         self.numContact = 0
@@ -183,7 +183,7 @@ def createScene(rootNode):
 
     # Set up the pipeline for the collision computation
     scene.addObject('FreeMotionAnimationLoop')
-    scene.addObject('GenericConstraintSolver', maxIterations=50, tolerance=1e-5)
+    scene.addObject('ProjectedGaussSeidelConstraintSolver', maxIterations=50, tolerance=1e-5)
     scene.Simulation.addObject('GenericConstraintCorrection')
     scene.Settings.mouseButton.stiffness = 10