diff --git a/examples/advanced/sofa/gui/finger/Finger.py b/examples/advanced/sofa/gui/finger/Finger.py
index 86561c9..82956bd 100644
--- a/examples/advanced/sofa/gui/finger/Finger.py
+++ b/examples/advanced/sofa/gui/finger/Finger.py
@@ -92,7 +92,7 @@ def createScene(rootNode):
                     pullPoint=[0.0, 12.5, 2.5])
     cable.addObject('BarycentricMapping')
 
-    controller = FingerController(rootNode, cable.aCableActuator, finger.tetras)
+    controller = FingerController(cable.aCableActuator, finger.tetras)
     finger.addObject(controller)
 
     ##########################################
diff --git a/examples/advanced/sofa/gui/finger/FingerController.py b/examples/advanced/sofa/gui/finger/FingerController.py
index c589e3c..d73d63b 100644
--- a/examples/advanced/sofa/gui/finger/FingerController.py
+++ b/examples/advanced/sofa/gui/finger/FingerController.py
@@ -1,25 +1,21 @@
+from pathlib import Path
 import numpy as np
 from pySimBlocks.blocks.systems.sofa import SofaPysimBlocksController
 
-import Sofa
-
-from pathlib import Path
 
 BASE_DIR = Path(__file__).resolve().parent
 
 
 
-
 class FingerController(SofaPysimBlocksController):
 
-    def __init__(self, root, actuator, mo, tip_index=121, name="FingerController"):
-        super().__init__(root, name=name)
-        self.project_yaml = str((BASE_DIR / '../sofa_plant/project.yaml').resolve())
+    def __init__(self, actuator, mo, tip_index=121, name="FingerController"):
+        super().__init__(name=name)
+        self.project_yaml = str((BASE_DIR / '../sofa_exchange/project.yaml').resolve())
 
         self.mo = mo
         self.actuator = actuator
         self.tip_index = tip_index
-        self.dt = root.dt.value
         self.verbose = True
 
         # Inputs & outputs dictionaries
diff --git a/examples/advanced/sofa/python/Finger.py b/examples/advanced/sofa/python/Finger.py
index 948dc39..b746211 100644
--- a/examples/advanced/sofa/python/Finger.py
+++ b/examples/advanced/sofa/python/Finger.py
@@ -91,7 +91,7 @@ def createScene(rootNode):
                     pullPoint=[0.0, 12.5, 2.5])
     cable.addObject('BarycentricMapping')
 
-    controller = FingerController(rootNode, cable.aCableActuator, finger.tetras)
+    controller = FingerController(cable.aCableActuator, finger.tetras)
     finger.addObject(controller)
 
     ##########################################
diff --git a/examples/advanced/sofa/python/FingerController.py b/examples/advanced/sofa/python/FingerController.py
index 2f1c75a..84e909d 100644
--- a/examples/advanced/sofa/python/FingerController.py
+++ b/examples/advanced/sofa/python/FingerController.py
@@ -1,18 +1,15 @@
 import numpy as np
 from pySimBlocks.blocks.systems.sofa import SofaPysimBlocksController
 
-import Sofa
-
 
 class FingerController(SofaPysimBlocksController):
 
-    def __init__(self, root, actuator, mo, tip_index=121, name="FingerController"):
-        super().__init__(root, name=name)
+    def __init__(self, actuator, mo, tip_index=121, name="FingerController"):
+        super().__init__(name=name)
 
         self.mo = mo
         self.actuator = actuator
         self.tip_index = tip_index
-        self.dt = root.dt.value
 
         # Inputs & outputs dictionaries
         self.inputs = { "cable": None }