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Apply changes from SOFA PR #6117 #86

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7237e27
Fix scenes with new integration schemes names
bakpaul Jun 11, 2026
ae3139a
Fix tests
bakpaul Jun 11, 2026
d3850f8
Fix requiredPlugins
bakpaul Jun 11, 2026
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6 changes: 3 additions & 3 deletions ...python3/component/constraint/BarycentricCenterEffector/BarycentricCenterEffector_Rigid.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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]
Expand All @@ -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)]])
Expand All @@ -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')

Expand Down
4 changes: 2 additions & 2 deletions examples/sofapython3/component/constraint/CableActuator/CableActuator.py
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Expand Up @@ -13,15 +13,15 @@ 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)
goal.addObject('UncoupledConstraintCorrection')

# 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')
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4 changes: 2 additions & 2 deletions examples/sofapython3/component/constraint/CableActuator/Finger.py
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Expand Up @@ -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')
Expand Down Expand Up @@ -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])
Expand Down
2 changes: 1 addition & 1 deletion examples/sofapython3/component/constraint/CableEffector/PneuNets.py
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Expand Up @@ -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')
Expand Down
2 changes: 1 addition & 1 deletion examples/sofapython3/component/constraint/CableEquality/CableEquality.py
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Expand Up @@ -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')
Expand Down
8 changes: 4 additions & 4 deletions examples/sofapython3/component/constraint/ForcePointActuator/Tissues.py
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Expand Up @@ -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',
Expand Down Expand Up @@ -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])
Expand All @@ -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')
Expand All @@ -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')
Expand Down
4 changes: 2 additions & 2 deletions examples/sofapython3/component/constraint/ForceSurfaceActuator/ForceSurfaceActuator.py
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Expand Up @@ -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]])
Expand All @@ -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)
Expand Down
6 changes: 3 additions & 3 deletions examples/sofapython3/component/constraint/JointActuator/JointActuator.py
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Expand Up @@ -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]
Expand All @@ -38,15 +38,15 @@ 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)
goal.addObject('UncoupledConstraintCorrection')

# 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')
Expand Down
6 changes: 3 additions & 3 deletions examples/sofapython3/component/constraint/SlidingActuator/actuatedBeam.py
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Expand Up @@ -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',
Expand All @@ -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])
Expand All @@ -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]],
Expand Down
6 changes: 3 additions & 3 deletions examples/sofapython3/component/constraint/SlidingActuator/actuatedRigidCube.py
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Expand Up @@ -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]
Expand All @@ -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])
Expand All @@ -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])
Expand Down
4 changes: 2 additions & 2 deletions examples/sofapython3/component/constraint/SurfacePressureActuator/PneuNets.py
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Expand Up @@ -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)
Expand All @@ -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')
Expand Down
4 changes: 2 additions & 2 deletions examples/sofapython3/component/constraint/SurfacePressureActuator/SurfacePressureActuator.py
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Expand Up @@ -15,15 +15,15 @@ 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)
goal.addObject('UncoupledConstraintCorrection')

# 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')
Expand Down
4 changes: 2 additions & 2 deletions ...fapython3/component/constraint/SurfacePressureActuator/SurfacePressureAndCableActuator.py
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Expand Up @@ -15,15 +15,15 @@ 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)
goal.addObject('UncoupledConstraintCorrection')

# 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')
Expand Down
2 changes: 1 addition & 1 deletion examples/sofapython3/component/constraint/SurfacePressureEquality/SurfacePressureEquality.py
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Expand Up @@ -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')
Expand Down
2 changes: 1 addition & 1 deletion examples/sofapython3/component/constraint/VolumeEffector/VolumeEffector.py
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Expand Up @@ -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')
Expand Down
4 changes: 2 additions & 2 deletions examples/sofapython3/component/constraint/YoungModulusActuator/YoungModulusActuator.py
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Expand Up @@ -16,15 +16,15 @@ 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)
goal.addObject('UncoupledConstraintCorrection')

# 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')
Expand Down
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