diff --git a/examples/sofapython3/component/constraint/BarycentricCenterEffector/BarycentricCenterEffector_Rigid.py b/examples/sofapython3/component/constraint/BarycentricCenterEffector/BarycentricCenterEffector_Rigid.py
index e7e09c4..cc8865e 100644
--- a/examples/sofapython3/component/constraint/BarycentricCenterEffector/BarycentricCenterEffector_Rigid.py
+++ b/examples/sofapython3/component/constraint/BarycentricCenterEffector/BarycentricCenterEffector_Rigid.py
@@ -13,7 +13,7 @@ def createScene(rootNode):
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct')  # Needed to use components [SparseLDLSolver]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Iterative')  # Needed to use components [CGLinearSolver]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mapping.NonLinear')  # Needed to use components [RigidMapping]
-    rootNode.addObject('RequiredPlugin', name='Sofa.Component.ODESolver.Backward')  # Needed to use components [EulerImplicitSolver]
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.IntegrationSchemes.Backward')  # Needed to use components [EulerImplicitIntegrationScheme]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.StateContainer')  # Needed to use components [MechanicalObject]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Topology.Container.Constant')  # Needed to use components [MeshTopology]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Visual')  # Needed to use components [VisualStyle]
@@ -28,7 +28,7 @@ def createScene(rootNode):
     ##########################################
     goal = rootNode.addChild('goal')
     goal.addObject('VisualStyle', displayFlags="showCollisionModels")
-    goal.addObject('EulerImplicitSolver', firstOrder=True)
+    goal.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
     goal.addObject('CGLinearSolver', iterations=100, tolerance=1e-5, threshold=1e-5)
     goal.addObject('MechanicalObject', name='goalMO', template="Rigid3", showObject=True,
                    showObjectScale=3, position=[[10, 0, 0, 0, 0, -sin(pi/16), cos(pi/16)]])
@@ -38,7 +38,7 @@ def createScene(rootNode):
     # solver
     ##########################################
     solverNode = rootNode.addChild('Solver')
-    solverNode.addObject('EulerImplicitSolver', firstOrder=False, rayleighStiffness=1)
+    solverNode.addObject('EulerImplicitIntegrationScheme', firstOrder=False, rayleighStiffness=1)
     solverNode.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixd")
     solverNode.addObject('GenericConstraintCorrection')
 
diff --git a/examples/sofapython3/component/constraint/CableActuator/CableActuator.py b/examples/sofapython3/component/constraint/CableActuator/CableActuator.py
index 0f6b00d..da3737b 100644
--- a/examples/sofapython3/component/constraint/CableActuator/CableActuator.py
+++ b/examples/sofapython3/component/constraint/CableActuator/CableActuator.py
@@ -13,7 +13,7 @@ def createScene(rootNode):
 
     # goal
     goal = rootNode.addChild('goal')
-    goal.addObject('EulerImplicitSolver', firstOrder=True)
+    goal.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
     goal.addObject('CGLinearSolver', iterations=100, tolerance=1e-5, threshold=1e-5)
     goal.addObject('MechanicalObject', name='goalMO', position=[-5.72055, 1.13543, 3.10608])
     goal.addObject('SphereCollisionModel', radius=0.25, group=3)
@@ -21,7 +21,7 @@ def createScene(rootNode):
 
     # bunny
     bunny = rootNode.addChild('bunny')
-    bunny.addObject('EulerImplicitSolver')
+    bunny.addObject('EulerImplicitIntegrationScheme')
     bunny.addObject('SparseLDLSolver')
     bunny.addObject('MeshVTKLoader', name='loader', filename=path + 'Hollow_Stanford_Bunny.vtu')
     bunny.addObject('MeshTopology', src='@loader', name='container')
diff --git a/examples/sofapython3/component/constraint/CableActuator/Finger.py b/examples/sofapython3/component/constraint/CableActuator/Finger.py
index 869a342..4b981be 100644
--- a/examples/sofapython3/component/constraint/CableActuator/Finger.py
+++ b/examples/sofapython3/component/constraint/CableActuator/Finger.py
@@ -21,7 +21,7 @@ def createScene(rootNode):
     # FEM Model                              #
     ##########################################
     finger = rootNode.addChild('finger')
-    finger.addObject('EulerImplicitSolver', firstOrder=True, rayleighMass=0.1, rayleighStiffness=0.1)
+    finger.addObject('EulerImplicitIntegrationScheme', firstOrder=True, rayleighMass=0.1, rayleighStiffness=0.1)
     finger.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixMat3x3d")
     finger.addObject('MeshVTKLoader', name='loader', filename=path + 'finger.vtk')
     finger.addObject('MeshTopology', src='@loader', name='container')
@@ -78,7 +78,7 @@ def createScene(rootNode):
     # Effector goal for interactive control  #
     ##########################################
     goal = rootNode.addChild('goal')
-    goal.addObject('EulerImplicitSolver', firstOrder=True)
+    goal.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
     goal.addObject('CGLinearSolver', iterations=100, tolerance=1e-5, threshold=1e-5)
     goal.addObject('MechanicalObject', name='goalMO',
                    position=[-120, 7, 7])
diff --git a/examples/sofapython3/component/constraint/CableEffector/PneuNets.py b/examples/sofapython3/component/constraint/CableEffector/PneuNets.py
index 591b3cf..da4bab8 100644
--- a/examples/sofapython3/component/constraint/CableEffector/PneuNets.py
+++ b/examples/sofapython3/component/constraint/CableEffector/PneuNets.py
@@ -17,7 +17,7 @@ def createScene(rootNode):
     # FEM Model                              #
     ##########################################
     model = rootNode.addChild('model')
-    model.addObject('EulerImplicitSolver', rayleighStiffness=0.1, rayleighMass=0.1)
+    model.addObject('EulerImplicitIntegrationScheme', rayleighStiffness=0.1, rayleighMass=0.1)
     model.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixMat3x3d")
     model.addObject('MeshVTKLoader', name='loader', filename=path + 'PneuNets.vtk')
     model.addObject('MeshTopology', src='@loader', name='container')
diff --git a/examples/sofapython3/component/constraint/CableEquality/CableEquality.py b/examples/sofapython3/component/constraint/CableEquality/CableEquality.py
index 6c1c322..fd09cac 100644
--- a/examples/sofapython3/component/constraint/CableEquality/CableEquality.py
+++ b/examples/sofapython3/component/constraint/CableEquality/CableEquality.py
@@ -24,7 +24,7 @@ def createScene(rootNode):
     # Mechanical Model                       #
     ##########################################
     model = rootNode.addChild('model')
-    model.addObject('EulerImplicitSolver')
+    model.addObject('EulerImplicitIntegrationScheme')
     model.addObject('SparseLDLSolver', template='CompressedRowSparseMatrixMat3x3d')
     model.addObject('MeshVTKLoader', name='loader', filename=VolumetricMeshPath)
     model.addObject('MeshTopology', src='@loader', name='container')
diff --git a/examples/sofapython3/component/constraint/ForcePointActuator/Tissues.py b/examples/sofapython3/component/constraint/ForcePointActuator/Tissues.py
index c6763c3..0027b5c 100644
--- a/examples/sofapython3/component/constraint/ForcePointActuator/Tissues.py
+++ b/examples/sofapython3/component/constraint/ForcePointActuator/Tissues.py
@@ -30,7 +30,7 @@ def createScene(rootNode):
                    name='Sofa.Component.Mapping.Linear')  # Needed to use components [BarycentricMapping]  
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mass')  # Needed to use components [UniformMass]  
     rootNode.addObject('RequiredPlugin',
-                   name='Sofa.Component.ODESolver.Backward')  # Needed to use components [EulerImplicitSolver]  
+                   name='Sofa.Component.IntegrationSchemes.Backward')  # Needed to use components [EulerImplicitIntegrationScheme]  
     rootNode.addObject('RequiredPlugin',
                    name='Sofa.Component.SolidMechanics.FEM.Elastic')  # Needed to use components [TetrahedronFEMForceField]  
     rootNode.addObject('RequiredPlugin',
@@ -60,7 +60,7 @@ def createScene(rootNode):
     ##########################################
     goal = rootNode.addChild('goal')
     goal.addObject('VisualStyle', displayFlags='showCollisionModels')
-    goal.addObject('EulerImplicitSolver', firstOrder=True)
+    goal.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
     goal.addObject('CGLinearSolver', iterations=100, tolerance=1e-5, threshold=1e-5)
     goal.addObject('MechanicalObject', name='goalMO', showObject=True, showObjectScale=10, drawMode=1,
                    showColor=[255, 255, 255, 255], position=[40, 30, 30])
@@ -71,7 +71,7 @@ def createScene(rootNode):
     # FEM Model                              #
     ##########################################
     model = rootNode.addChild('model')
-    model.addObject('EulerImplicitSolver')
+    model.addObject('EulerImplicitIntegrationScheme')
     model.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixMat3x3d")
     model.addObject('MeshVTKLoader', name='loader', filename=path + 'sphere.vtk')
     model.addObject('MeshTopology', src='@loader', name='container')
@@ -86,7 +86,7 @@ def createScene(rootNode):
     # FEM Model                              #
     ##########################################
     skin = rootNode.addChild('skin')
-    skin.addObject('EulerImplicitSolver')
+    skin.addObject('EulerImplicitIntegrationScheme')
     skin.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixMat3x3d")
     skin.addObject('MeshVTKLoader', name='loader', filename=path + 'skin.vtk')
     skin.addObject('MeshTopology', src='@loader', name='container')
diff --git a/examples/sofapython3/component/constraint/ForceSurfaceActuator/ForceSurfaceActuator.py b/examples/sofapython3/component/constraint/ForceSurfaceActuator/ForceSurfaceActuator.py
index 6bc7813..51edff2 100644
--- a/examples/sofapython3/component/constraint/ForceSurfaceActuator/ForceSurfaceActuator.py
+++ b/examples/sofapython3/component/constraint/ForceSurfaceActuator/ForceSurfaceActuator.py
@@ -27,7 +27,7 @@ def createScene(rootNode):
     # Effector goal for interactive control  #
     ##########################################
     goal = rootNode.addChild('goal')
-    goal.addObject('EulerImplicitSolver', firstOrder=True)
+    goal.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
     goal.addObject('CGLinearSolver', iterations=100, tolerance=0.0001, threshold=0.0001)
     goal.addObject('MechanicalObject', name='dofs', showObject=True, showObjectScale=2, drawMode=1,
                    position=[[50, 5, 130], [50, 5, 70], [50, 5, 15]])
@@ -44,7 +44,7 @@ def createScene(rootNode):
     # FEM Model                              #
     ##########################################
     model = rootNode.addChild('model')
-    model.addObject('EulerImplicitSolver')
+    model.addObject('EulerImplicitIntegrationScheme')
     model.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixMat3x3d")
     model.addObject('MeshVTKLoader', name='loader', filename=mecaMeshFile, scale3d=[1.5, 1.5, 1.5],
                     translation=translation)
diff --git a/examples/sofapython3/component/constraint/JointActuator/JointActuator.py b/examples/sofapython3/component/constraint/JointActuator/JointActuator.py
index d21e81c..ff83265 100644
--- a/examples/sofapython3/component/constraint/JointActuator/JointActuator.py
+++ b/examples/sofapython3/component/constraint/JointActuator/JointActuator.py
@@ -17,7 +17,7 @@ def createScene(rootNode):
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.AnimationLoop')  # Needed to use components [FreeMotionAnimationLoop]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Correction')  # Needed to use components [UncoupledConstraintCorrection]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Iterative')  # Needed to use components [CGLinearSolver]
-    rootNode.addObject('RequiredPlugin', name='Sofa.Component.ODESolver.Backward')  # Needed to use components [EulerImplicitSolver]
+    rootNode.addObject('RequiredPlugin', name='Sofa.Component.IntegrationSchemes.Backward')  # Needed to use components [EulerImplicitIntegrationScheme]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Setting')  # Needed to use components [BackgroundSetting]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.StateContainer')  # Needed to use components [MechanicalObject]
     rootNode.addObject('RequiredPlugin', name='Sofa.Component.Visual')  # Needed to use components [VisualStyle]
@@ -38,7 +38,7 @@ def createScene(rootNode):
 
     # Target position of the end effector
     goal = rootNode.addChild('Goal')
-    goal.addObject('EulerImplicitSolver', firstOrder=True)
+    goal.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
     goal.addObject('CGLinearSolver', iterations=25, tolerance=1e-5, threshold=1e-5)
     goal.addObject('MechanicalObject', name='dofs', position=[5, 5, 0],
                    showObject=True, showObjectScale=0.5, drawMode=2)
@@ -46,7 +46,7 @@ def createScene(rootNode):
 
     # Simulation node
     simulation = rootNode.addChild('Simulation')
-    simulation.addObject('EulerImplicitSolver')
+    simulation.addObject('EulerImplicitIntegrationScheme')
     simulation.addObject('CGLinearSolver', iterations=25, tolerance=1e-5, threshold=1e-5)
 
     object = simulation.addChild('Object')
diff --git a/examples/sofapython3/component/constraint/SlidingActuator/actuatedBeam.py b/examples/sofapython3/component/constraint/SlidingActuator/actuatedBeam.py
index 857c878..ceadacf 100644
--- a/examples/sofapython3/component/constraint/SlidingActuator/actuatedBeam.py
+++ b/examples/sofapython3/component/constraint/SlidingActuator/actuatedBeam.py
@@ -23,7 +23,7 @@ def createScene(rootNode):
     rootNode.addObject('RequiredPlugin',
                    name='Sofa.Component.Mapping.NonLinear')  # Needed to use components [RigidMapping]
     rootNode.addObject('RequiredPlugin',
-                   name='Sofa.Component.ODESolver.Backward')  # Needed to use components [EulerImplicitSolver]
+                   name='Sofa.Component.IntegrationSchemes.Backward')  # Needed to use components [EulerImplicitIntegrationScheme]
     rootNode.addObject('RequiredPlugin',
                    name='Sofa.Component.SolidMechanics.Spring')  # Needed to use components [RestShapeSpringsForceField]
     rootNode.addObject('RequiredPlugin',
@@ -41,7 +41,7 @@ def createScene(rootNode):
     # Goal for end effector                 #
     #########################################
     goal = rootNode.addChild('goal')
-    goal.addObject('EulerImplicitSolver', firstOrder=True)
+    goal.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
     goal.addObject('CGLinearSolver', iterations=100, tolerance=1e-5, threshold=1e-4)
     goal.addObject('MechanicalObject', name='dofs', template='Rigid3', showObject=True, drawMode=2, showObjectScale=1,
                    position=[30.0, 0.0, 0.0, 0, 0, 0, 1])
@@ -52,7 +52,7 @@ def createScene(rootNode):
     # Beam Model                             #
     ##########################################
     model = rootNode.addChild('model')
-    model.addObject('EulerImplicitSolver', rayleighStiffness=0.1, rayleighMass=0.1)
+    model.addObject('EulerImplicitIntegrationScheme', rayleighStiffness=0.1, rayleighMass=0.1)
     model.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixMat3x3d")
     model.addObject('GenericConstraintCorrection')
     model.addObject('MeshTopology', position=[[0, 0, 0], [5, 0, 0], [10, 0, 0], [15, 0, 0], [20, 0, 0]],
diff --git a/examples/sofapython3/component/constraint/SlidingActuator/actuatedRigidCube.py b/examples/sofapython3/component/constraint/SlidingActuator/actuatedRigidCube.py
index 33276fe..e86ec57 100644
--- a/examples/sofapython3/component/constraint/SlidingActuator/actuatedRigidCube.py
+++ b/examples/sofapython3/component/constraint/SlidingActuator/actuatedRigidCube.py
@@ -17,7 +17,7 @@ def createScene(rootnode):
                    name='Sofa.Component.Mapping.NonLinear')  # Needed to use components [RigidMapping]  
     rootnode.addObject('RequiredPlugin', name='Sofa.Component.Mass')  # Needed to use components [UniformMass]  
     rootnode.addObject('RequiredPlugin',
-                   name='Sofa.Component.ODESolver.Backward')  # Needed to use components [EulerImplicitSolver]  
+                   name='Sofa.Component.IntegrationSchemes.Backward')  # Needed to use components [EulerImplicitIntegrationScheme]  
     rootnode.addObject('RequiredPlugin',
                    name='Sofa.Component.StateContainer')  # Needed to use components [MechanicalObject]  
     rootnode.addObject('RequiredPlugin', name='Sofa.GL.Component.Rendering3D')  # Needed to use components [OglModel] 
@@ -29,7 +29,7 @@ def createScene(rootnode):
     rootnode.addObject('QPInverseProblemSolver')
 
     cube = rootnode.addChild('Cube')
-    cube.addObject('EulerImplicitSolver')
+    cube.addObject('EulerImplicitIntegrationScheme')
     cube.addObject('SparseLDLSolver')
     cube.addObject('GenericConstraintCorrection')
     cube.addObject('MechanicalObject', template='Rigid3', position=[-10, 0, 0, 0, 0, 0, 1])
@@ -52,7 +52,7 @@ def createScene(rootnode):
 
     # Set a target for the effector that can be moved interactively
     target = rootnode.addChild('Target')
-    target.addObject('EulerImplicitSolver', firstOrder=True)
+    target.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
     target.addObject('CGLinearSolver', tolerance=1e-5, iterations=20, threshold=1e-5)
     target.addObject('MechanicalObject', position=[30, 0, 0], showObject=True, drawMode=2, showObjectScale=3)
     target.addObject('PartialFixedProjectiveConstraint', fixedDirections=[0, 1, 1])
diff --git a/examples/sofapython3/component/constraint/SurfacePressureActuator/PneuNets.py b/examples/sofapython3/component/constraint/SurfacePressureActuator/PneuNets.py
index e2746cb..5c57121 100644
--- a/examples/sofapython3/component/constraint/SurfacePressureActuator/PneuNets.py
+++ b/examples/sofapython3/component/constraint/SurfacePressureActuator/PneuNets.py
@@ -17,7 +17,7 @@ def createScene(rootNode):
     # Goal                                   #
     ##########################################
     goal = rootNode.addChild('goal')
-    goal.addObject('EulerImplicitSolver', firstOrder=True)
+    goal.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
     goal.addObject('CGLinearSolver', iterations=100, tolerance=1e-5, threshold=1e-5)
     goal.addObject('MechanicalObject', name='goalMO', position=[[-230, 15, 0]])
     goal.addObject('SphereCollisionModel', radius=5, group=3)
@@ -27,7 +27,7 @@ def createScene(rootNode):
     # FEM Model                              #
     ##########################################
     model = rootNode.addChild('model')
-    model.addObject('EulerImplicitSolver', rayleighStiffness=0.2, rayleighMass=0.2)
+    model.addObject('EulerImplicitIntegrationScheme', rayleighStiffness=0.2, rayleighMass=0.2)
     model.addObject('SparseLDLSolver')
 
     model.addObject('MeshVTKLoader', name='loader', filename=path + 'PneuNets.vtk')
diff --git a/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureActuator.py b/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureActuator.py
index bbcde64..2ab1569 100644
--- a/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureActuator.py
+++ b/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureActuator.py
@@ -15,7 +15,7 @@ def createScene(rootNode):
 
     # goal
     goal = rootNode.addChild('goal')
-    goal.addObject('EulerImplicitSolver', firstOrder=True)
+    goal.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
     goal.addObject('CGLinearSolver', iterations=100, tolerance=1e-5, threshold=1e-5)
     goal.addObject('MechanicalObject', name='goalMO', position=[-5.72055, 1.13543, 3.10608])
     goal.addObject('SphereCollisionModel', radius=0.25, group=3)
@@ -23,7 +23,7 @@ def createScene(rootNode):
 
     # bunny
     bunny = rootNode.addChild('bunny')
-    bunny.addObject('EulerImplicitSolver')
+    bunny.addObject('EulerImplicitIntegrationScheme')
     bunny.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixMat3x3d")
     bunny.addObject('MeshVTKLoader', name='loader', filename=path + 'Hollow_Stanford_Bunny.vtu')
     bunny.addObject('MeshTopology', src=bunny.loader.linkpath, name='container')
diff --git a/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureAndCableActuator.py b/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureAndCableActuator.py
index 9dab45b..7f9c691 100644
--- a/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureAndCableActuator.py
+++ b/examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureAndCableActuator.py
@@ -15,7 +15,7 @@ def createScene(rootNode):
 
     # goal
     goal = rootNode.addChild('goal')
-    goal.addObject('EulerImplicitSolver', firstOrder=True)
+    goal.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
     goal.addObject('CGLinearSolver', iterations=100, tolerance=1e-05, threshold=1e-05)
     goal.addObject('MechanicalObject', name='goalMO', position=[-5.72055, 1.13543, 3.10608])
     goal.addObject('SphereCollisionModel', radius=0.25, group=3)
@@ -23,7 +23,7 @@ def createScene(rootNode):
 
     # bunny
     bunny = rootNode.addChild('bunny')
-    bunny.addObject('EulerImplicitSolver')
+    bunny.addObject('EulerImplicitIntegrationScheme')
     bunny.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixMat3x3d")
     bunny.addObject('MeshVTKLoader', name='loader', filename=path + 'Hollow_Stanford_Bunny.vtu')
     bunny.addObject('MeshTopology', src=bunny.loader.linkpath, name='container')
diff --git a/examples/sofapython3/component/constraint/SurfacePressureEquality/SurfacePressureEquality.py b/examples/sofapython3/component/constraint/SurfacePressureEquality/SurfacePressureEquality.py
index db9eba8..c2bcc0f 100644
--- a/examples/sofapython3/component/constraint/SurfacePressureEquality/SurfacePressureEquality.py
+++ b/examples/sofapython3/component/constraint/SurfacePressureEquality/SurfacePressureEquality.py
@@ -30,7 +30,7 @@ def createScene(rootNode):
     # Mechanical Model                       #
     ##########################################
     model = rootNode.addChild('model')
-    model.addObject('EulerImplicitSolver')
+    model.addObject('EulerImplicitIntegrationScheme')
     model.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixd")
     model.addObject('MeshVTKLoader', name='loader', filename=VolumetricMeshPath, scale3d=[1, 1, 1])
     model.addObject('MeshTopology', src='@loader', name='container')
diff --git a/examples/sofapython3/component/constraint/VolumeEffector/VolumeEffector.py b/examples/sofapython3/component/constraint/VolumeEffector/VolumeEffector.py
index b579481..9742d29 100644
--- a/examples/sofapython3/component/constraint/VolumeEffector/VolumeEffector.py
+++ b/examples/sofapython3/component/constraint/VolumeEffector/VolumeEffector.py
@@ -15,7 +15,7 @@ def createScene(rootNode):
 
     # bunny
     bunny = rootNode.addChild('bunny')
-    bunny.addObject('EulerImplicitSolver')
+    bunny.addObject('EulerImplicitIntegrationScheme')
     bunny.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixd")
     bunny.addObject('MeshVTKLoader', name='loader', filename=path + 'Hollow_Stanford_Bunny.vtu')
     bunny.addObject('MeshTopology', src='@loader', name='container')
diff --git a/examples/sofapython3/component/constraint/YoungModulusActuator/YoungModulusActuator.py b/examples/sofapython3/component/constraint/YoungModulusActuator/YoungModulusActuator.py
index 7dc9b80..b92e83e 100644
--- a/examples/sofapython3/component/constraint/YoungModulusActuator/YoungModulusActuator.py
+++ b/examples/sofapython3/component/constraint/YoungModulusActuator/YoungModulusActuator.py
@@ -16,7 +16,7 @@ def createScene(rootNode):
 
     # goal
     goal = rootNode.addChild('goal')
-    goal.addObject('EulerImplicitSolver', firstOrder=True)
+    goal.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
     goal.addObject('CGLinearSolver', iterations=100, tolerance=1e-5, threshold=1e-5)
     goal.addObject('MechanicalObject', name='goalMO', position=[[-2.87, 1.6, -3.46], [0.10, 2.19, -1.25]])
     goal.addObject('SphereCollisionModel', radius=0.25, group=3)
@@ -24,7 +24,7 @@ def createScene(rootNode):
 
     # bunny
     bunny = rootNode.addChild('bunny')
-    bunny.addObject('EulerImplicitSolver', rayleighStiffness=0.1, rayleighMass=0.1)
+    bunny.addObject('EulerImplicitIntegrationScheme', rayleighStiffness=0.1, rayleighMass=0.1)
     bunny.addObject('SparseLDLSolver', template='CompressedRowSparseMatrixMat3x3d')
     bunny.addObject('MeshVTKLoader', name='loader', filename=path + 'bunny.vtu', translation=[0.1, 0, 1])
     bunny.addObject('TetrahedronSetTopologyContainer', src='@loader', name='container')
diff --git a/examples/sofapython3/robots/Diamond.py b/examples/sofapython3/robots/Diamond.py
index 4606089..9f6ca63 100644
--- a/examples/sofapython3/robots/Diamond.py
+++ b/examples/sofapython3/robots/Diamond.py
@@ -13,7 +13,7 @@ def createScene(rootNode):
     settings.addObject('RequiredPlugin', name='Sofa.Component.IO.Mesh')  # Needed to use components [MeshVTKLoader]  
     settings.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct')  # Needed to use components [SparseLDLSolver]
     settings.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Iterative')  # Needed to use components [CGLinearSolver,ShewchukPCGLinearSolver]
-    settings.addObject('RequiredPlugin', name='Sofa.Component.ODESolver.Backward')  # Needed to use components [EulerImplicitSolver]
+    settings.addObject('RequiredPlugin', name='Sofa.Component.IntegrationSchemes.Backward')  # Needed to use components [EulerImplicitIntegrationScheme]
     settings.addObject('RequiredPlugin', name='Sofa.Component.StateContainer')  # Needed to use components [MechanicalObject]
     settings.addObject('RequiredPlugin', name='Sofa.Component.Visual')  # Needed to use components [VisualStyle]  
     settings.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Projective')  # Needed to use components [FixedProjectiveConstraint]
@@ -38,7 +38,7 @@ def createScene(rootNode):
 
     #goal
     goal = rootNode.addChild('goal')
-    goal.addObject('EulerImplicitSolver', firstOrder=True)
+    goal.addObject('EulerImplicitIntegrationScheme', firstOrder=True)
     goal.addObject('CGLinearSolver', iterations=100,threshold=1e-5, tolerance=1e-5)
     goal.addObject('MechanicalObject', name='goalMO', position=[[0, 0, 125]])
     goal.addObject('SphereCollisionModel', radius=5, group=1)
@@ -46,7 +46,7 @@ def createScene(rootNode):
 
     #robot
     robot = rootNode.addChild('robot')
-    robot.addObject('EulerImplicitSolver')
+    robot.addObject('EulerImplicitIntegrationScheme')
     robot.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixd")
     robot.addObject('GenericConstraintCorrection')
     robot.addObject('MeshVTKLoader', name="loader", filename="mesh/diamond.vtk")
diff --git a/examples/xml/component/constraint/PositionEffector/PositionEffector_Rigid.scn b/examples/xml/component/constraint/PositionEffector/PositionEffector_Rigid.scn
index 5e1747f..3ba4978 100644
--- a/examples/xml/component/constraint/PositionEffector/PositionEffector_Rigid.scn
+++ b/examples/xml/component/constraint/PositionEffector/PositionEffector_Rigid.scn
@@ -11,7 +11,7 @@
     <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->  
     <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->  
     <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BeamLinearMapping] -->  
-    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+    <RequiredPlugin name="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
     <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
     <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
     <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [CubeTopology,MeshTopology] -->  
@@ -30,7 +30,7 @@
 
     <Node name="beam">
 
-        <EulerImplicitSolver rayleighStiffness="0" printLog="false" />
+        <EulerImplicitIntegrationScheme rayleighStiffness="0" printLog="false" />
         <BTDLinearSolver template="BTDMatrix6d" printLog="false" verbose="false" />
 
         <MechanicalObject template="Rigid3" name="DOFs"
diff --git a/tests/component/constraint/scenes/SurfacePressureConstraint.scn b/tests/component/constraint/scenes/SurfacePressureConstraint.scn
index 890b09f..caf34cb 100644
--- a/tests/component/constraint/scenes/SurfacePressureConstraint.scn
+++ b/tests/component/constraint/scenes/SurfacePressureConstraint.scn
@@ -14,7 +14,7 @@
 
 
         <Node name='bunny'>
-                <EulerImplicitSolver firstOrder="0"/>
+                <EulerImplicitIntegrationScheme firstOrder="0"/>
                 <SparseLDLSolver />
                 <MeshVTKLoader name="loader" filename="mesh/Hollow_Stanford_Bunny.vtu"/>
                 <TetrahedronSetTopologyContainer src="@loader"/>
diff --git a/tests/component/solver/scenes/CubeOnFloor.pyscn b/tests/component/solver/scenes/CubeOnFloor.pyscn
index f7439bf..4c2a7f5 100644
--- a/tests/component/solver/scenes/CubeOnFloor.pyscn
+++ b/tests/component/solver/scenes/CubeOnFloor.pyscn
@@ -32,7 +32,7 @@ def createScene(rootNode):
                 # FEM Model                              #
                 ##########################################
                 model = rootNode.addChild('model')
-                model.addObject('EulerImplicitSolver')
+                model.addObject('EulerImplicitIntegrationScheme')
                 model.addObject('SparseLDLSolver')
                 model.addObject('RegularGridTopology', name='loader', n=[6, 6, 6], min=[-10, -10, -10], max=[10, 10, 10])
                 model.addObject('MechanicalObject', name='tetras', template='Vec3', showIndices=False, showIndicesScale=4e-5)
diff --git a/tests/component/solver/scenes/Finger.scn b/tests/component/solver/scenes/Finger.scn
index e4a20f4..a6049e5 100644
--- a/tests/component/solver/scenes/Finger.scn
+++ b/tests/component/solver/scenes/Finger.scn
@@ -12,7 +12,7 @@
                 <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
                 <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
                 <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
-                <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+                <RequiredPlugin name="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
                 <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
                 <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
                 <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
@@ -28,7 +28,7 @@
                 <QPInverseProblemSolver name="QPInverseProblemSolver"/>
 
                 <Node name='goal'>
-                        <EulerImplicitSolver firstOrder='1'/>
+                        <EulerImplicitIntegrationScheme firstOrder='1'/>
                         <CGLinearSolver iterations='100' threshold="1e-5" tolerance="1e-5"/>
                         <MechanicalObject name='goalMO' position='-110  7.5 7.5'/>
                         <SphereCollisionModel radius='5' group='1'/>
@@ -36,7 +36,7 @@
                 </Node>
 
                 <Node name='finger'>
-                        <EulerImplicitSolver firstOrder="1"/>
+                        <EulerImplicitIntegrationScheme firstOrder="1"/>
                         <SparseLDLSolver />
                         <MeshVTKLoader name="loader" filename="mesh/finger.vtk"/>
                         <TetrahedronSetTopologyContainer position="@loader.position" tetras="@loader.tetras"/>