diff --git a/BeamAdapter_test/BeamInterpolation_test.cpp b/BeamAdapter_test/BeamInterpolation_test.cpp
index bb0b2ccd4..01025c9e5 100644
--- a/BeamAdapter_test/BeamInterpolation_test.cpp
+++ b/BeamAdapter_test/BeamInterpolation_test.cpp
@@ -66,7 +66,7 @@ struct BeamInterpolationTest : public  sofa::testing::BaseSimulationTest,
 {
     void doSetUp() override
     {
-        sofa::simpleapi::importPlugin(Sofa.Component.ODESolver.Backward);
+        sofa::simpleapi::importPlugin(Sofa.Component.IntegrationSchemes.Backward);
         sofa::simpleapi::importPlugin(Sofa.Component.LinearSolver.Iterative);
         sofa::simpleapi::importPlugin(Sofa.Component.StateContainer);
         sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Constant);
@@ -78,7 +78,7 @@ struct BeamInterpolationTest : public  sofa::testing::BaseSimulationTest,
         string scene =
             "<?xml version='1.0'?>"
             "<Node 	name='Root' gravity='0 -9.81 0' dt='0.01'>"
-            "    <RequiredPlugin name='Sofa.Component.ODESolver.Backward' />"
+            "    <RequiredPlugin name='Sofa.Component.IntegrationSchemes.Backward' />"
             "    <RequiredPlugin name='Sofa.Component.LinearSolver.Direct' />"
             "    <RequiredPlugin name='Sofa.Component.Constraint.Projective' />"
             "    <RequiredPlugin name='Sofa.Component.StateContainer' />"
@@ -88,7 +88,7 @@ struct BeamInterpolationTest : public  sofa::testing::BaseSimulationTest,
             "    <DefaultAnimationLoop />"
             "    <DefaultVisualManagerLoop />"
             "    <Node name='BeamModel'/>"
-            "        <EulerImplicitSolver rayleighStiffness='0.0' rayleighMass='0.0' />"
+            "        <EulerImplicitIntegrationScheme rayleighStiffness='0.0' rayleighMass='0.0' />"
             "        <BTDLinearSolver />"
             "        <RegularGridTopology name='MeshLines' nx='200' ny='1' nz='1' xmax='100' xmin='0' ymin='0' ymax='0' zmax='0' zmin='0'/>"
             "        <MechanicalObject template='Rigid3d' name='DOFs' />"
@@ -142,7 +142,7 @@ struct BeamInterpolationTest : public  sofa::testing::BaseSimulationTest,
         string scene =
                 "<?xml version='1.0'?>"
                 "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'>"
-                "   		    <EulerImplicitSolver rayleighStiffness='0.08' rayleighMass='0.08' printLog='false' />"
+                "   		    <EulerImplicitIntegrationScheme rayleighStiffness='0.08' rayleighMass='0.08' printLog='false' />"
                 "               <CGLinearSolver iterations='100' threshold='1e-10' tolerance='1e-15' />"
                 "               $line1"
                 "               <BeamInterpolation template='Rigid3d' name='Interpol' radius='0.1'/>"
diff --git a/BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp b/BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp
index 7e6e06e34..79a7ea82d 100644
--- a/BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp
+++ b/BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp
@@ -48,13 +48,13 @@ struct AdaptiveBeamForceFieldAndMassTest : public sofa::testing::BaseSimulationT
         string scene =
                 "<?xml version='1.0'?>"
                 "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'>"
-                "               <RequiredPlugin name='Sofa.Component.ODESolver.Backward' />"
+                "               <RequiredPlugin name='Sofa.Component.IntegrationSchemes.Backward' />"
                 "               <RequiredPlugin name='Sofa.Component.LinearSolver.Iterative' />"
                 "               <RequiredPlugin name='Sofa.Component.StateContainer' />"
                 "               <RequiredPlugin name='Sofa.Component.Constraint.Projective' />"
                 "               <RequiredPlugin name='Sofa.Component.Topology.Container.Constant' />"
                 "               <RequiredPlugin name='BeamAdapter' />"
-                "   			<EulerImplicitSolver rayleighStiffness='0.08' rayleighMass='0.08' printLog='false' />"
+                "   			<EulerImplicitIntegrationScheme rayleighStiffness='0.08' rayleighMass='0.08' printLog='false' />"
                 "               <CGLinearSolver iterations='100' threshold='1e-10' tolerance='1e-15' />"
                 "               <MeshTopology name='meshSuture' edges='0 1' />"
                 "               <MechanicalObject template='Rigid3d' name='DOFs' showIndices='0' position='0 0 0 0 0 0 1   1 0 0 0 0 0 1'/>"
@@ -87,7 +87,7 @@ struct AdaptiveBeamForceFieldAndMassTest : public sofa::testing::BaseSimulationT
         string scene =
             "<?xml version='1.0'?>"
             "<Node 	name='Root' gravity='0 -9.81 0' dt='0.01'>"
-            "    <RequiredPlugin name='Sofa.Component.ODESolver.Backward' />"
+            "    <RequiredPlugin name='Sofa.Component.IntegrationSchemes.Backward' />"
             "    <RequiredPlugin name='Sofa.Component.LinearSolver.Direct' />"
             "    <RequiredPlugin name='Sofa.Component.Constraint.Projective' />"
             "    <RequiredPlugin name='Sofa.Component.StateContainer' />"
@@ -97,7 +97,7 @@ struct AdaptiveBeamForceFieldAndMassTest : public sofa::testing::BaseSimulationT
             "    <DefaultAnimationLoop />"
             "    <DefaultVisualManagerLoop />"
             "    <Node name='BeamModel'/>"
-            "        <EulerImplicitSolver rayleighStiffness='0.0' rayleighMass='0.0' />"
+            "        <EulerImplicitIntegrationScheme rayleighStiffness='0.0' rayleighMass='0.0' />"
             "        <BTDLinearSolver />"
             "        <RegularGridTopology name='MeshLines' nx='200' ny='1' nz='1' xmax='100' xmin='0' ymin='0' ymax='0' zmax='0' zmin='0'/>"
             "        <MechanicalObject template='Rigid3d' name='DOFs' />"
diff --git a/BeamAdapter_test/component/mapping/BeamLengthMappingTest.cpp b/BeamAdapter_test/component/mapping/BeamLengthMappingTest.cpp
index d16be01f4..d0dca5a0b 100644
--- a/BeamAdapter_test/component/mapping/BeamLengthMappingTest.cpp
+++ b/BeamAdapter_test/component/mapping/BeamLengthMappingTest.cpp
@@ -118,7 +118,7 @@ struct BeamLengthMappingTest : public sofa::mapping_test::Mapping_test<_BeamLeng
         const int Nout=2; // WARNING this number has to be changed to test with more than one beam !!
         const int Nin=3;
 
-        sofa::simpleapi::importPlugin("Sofa.Component.ODESolver.Backward");
+        sofa::simpleapi::importPlugin("Sofa.Component.IntegrationSchemes.Backward");
         sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Iterative");
 
         string scene =
@@ -191,9 +191,9 @@ struct BeamLengthMappingTest : public sofa::mapping_test::Mapping_test<_BeamLeng
         string scene =
                 "<?xml version='1.0'?>"
                 "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'>"
-                "    <RequiredPlugin name=\"Sofa.Component.ODESolver.Backward\"/>"
+                "    <RequiredPlugin name=\"Sofa.Component.IntegrationSchemes.Backward\"/>"
                 "    <RequiredPlugin name=\"Sofa.Component.LinearSolver.Iterative\"/>"
-                "    <EulerImplicitSolver rayleighStiffness='0.08' rayleighMass='0.08' printLog='false' />"
+                "    <EulerImplicitIntegrationScheme rayleighStiffness='0.08' rayleighMass='0.08' printLog='false' />"
                 "    <CGLinearSolver iterations='100' threshold='1e-10' tolerance='1e-15' />"
                 "    <Mesh name='meshSuture' edges='0 1' />"
                 "    <MechanicalObject template='Rigid3' name='DOFs' showIndices='0' position='0 0 0 0 0 0 1   1 0 0 0 0 0 1'/>"
diff --git a/examples/3instruments.scn b/examples/3instruments.scn
index bf363e1da..6f653dae6 100644
--- a/examples/3instruments.scn
+++ b/examples/3instruments.scn
@@ -5,7 +5,7 @@
     <RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
     <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
     <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
-    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+    <RequiredPlugin pluginName="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
     <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
     <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [EdgeSetGeometryAlgorithms EdgeSetTopologyContainer EdgeSetTopologyModifier QuadSetGeometryAlgorithms QuadSetTopologyContainer QuadSetTopologyModifier] -->
@@ -57,7 +57,7 @@
 	
 
 	<Node name='InstrumentCombined'>
-		<EulerImplicitSolver rayleighStiffness='0.2' rayleighMass='0.1' printLog='false' />
+		<EulerImplicitIntegrationScheme rayleighStiffness='0.2' rayleighMass='0.1' printLog='false' />
 		<BTDLinearSolver subpartSolve='0' verification='0' verbose='0'/>
 		<RegularGridTopology name='meshLinesCombined'
             nx='181' ny='1' nz='1'
diff --git a/examples/3instruments_collis.scn b/examples/3instruments_collis.scn
index d4449f2e4..d4e5080ef 100644
--- a/examples/3instruments_collis.scn
+++ b/examples/3instruments_collis.scn
@@ -13,7 +13,7 @@
 	    <RequiredPlugin pluginName="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
 	    <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
 	    <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
-	    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+	    <RequiredPlugin pluginName="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
 	    <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
 	    <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
 	    <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
@@ -73,7 +73,7 @@
 	
 
 	<Node name="InstrumentCombined">
-		<EulerImplicitSolver rayleighStiffness="0.2" rayleighMass="0.1" printLog="false" />
+		<EulerImplicitIntegrationScheme rayleighStiffness="0.2" rayleighMass="0.1" printLog="false" />
 		<BTDLinearSolver subpartSolve="0" verification="0" verbose="0"/>
 		<RegularGridTopology name="meshLinesCombined"
             nx="181" ny="1" nz="1"
diff --git a/examples/AdaptiveBeamController.scn b/examples/AdaptiveBeamController.scn
index 057035a26..bcd7fadef 100644
--- a/examples/AdaptiveBeamController.scn
+++ b/examples/AdaptiveBeamController.scn
@@ -2,7 +2,7 @@
 <Node name="root" gravity="0 -9.81 0" dt="0.01" bbox="0 0 0 10 10 10">
 	<RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
 	<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [EigenSparseLU] -->
-	<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+	<RequiredPlugin pluginName="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
 	<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
 	<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
 	<RequiredPlugin pluginName="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
@@ -12,7 +12,7 @@
 	<DefaultAnimationLoop />
     
 	<Node name="AdaptiveBeam1">
-		<EulerImplicitSolver rayleighStiffness="0" rayleighMass="0" printLog="false" />
+		<EulerImplicitIntegrationScheme rayleighStiffness="0" rayleighMass="0" printLog="false" />
 		<EigenSparseLU template="CompressedRowSparseMatrixMat3x3d"/>
 		<MechanicalObject template="Rigid3d" name="DOFs" position="0 0 0 0 0 0 1  0.5 0 0 0 0 0 1  1 0 0 0 0 0 1  1.5 0 0 0 0 0 1  2 0 0 0 0 0 1  2.5 0 0 0 0 0 1  3 0 0 0 0 0 1"/> 
 		<MeshTopology name="lines" lines="0 1 1 2 2 3 3 4 4 5 5 6" /> 
@@ -30,7 +30,7 @@
 	</Node>
 
 	<Node name="AdaptiveBeam2">
-		<EulerImplicitSolver rayleighStiffness="0" rayleighMass="0" printLog="false" />
+		<EulerImplicitIntegrationScheme rayleighStiffness="0" rayleighMass="0" printLog="false" />
 		<EigenSparseLU template="CompressedRowSparseMatrixMat3x3d"/>
 		<MeshTopology name="lines" lines="0 1 1 2 2 3" /> 
 		<MechanicalObject template="Rigid3d" name="DOFs" position="0 0 2 0 0 0 1  1 0 2 0 0 0 1  2 0 2 0 0 0 1  3 0 2 0 0 0 1"/> 
diff --git a/examples/AdaptiveBeamMapping.scn b/examples/AdaptiveBeamMapping.scn
index 78f978353..689bf6d56 100644
--- a/examples/AdaptiveBeamMapping.scn
+++ b/examples/AdaptiveBeamMapping.scn
@@ -3,7 +3,7 @@
  	<RequiredPlugin pluginName="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
  	<RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
  	<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
- 	<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+ 	<RequiredPlugin pluginName="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
  	<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
  	<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [CubeTopology MeshTopology] -->
  	<RequiredPlugin pluginName="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
@@ -15,7 +15,7 @@
 	<DefaultVisualManagerLoop />
 
 	<Node name="AdaptiveBeam2">
-		<EulerImplicitSolver rayleighStiffness="0" rayleighMass="0" printLog="false" />
+		<EulerImplicitIntegrationScheme rayleighStiffness="0" rayleighMass="0" printLog="false" />
 		<BTDLinearSolver verbose="0"/>
 		<MechanicalObject template="Rigid3d" name="DOFs" position="0 0 2 0 0 0 1  1 0 2 0 0 0 1  2 0 2 0 0 0 1  3 0 2 0 0 0 1"/> 
 		<MeshTopology name="lines" lines="0 1 1 2 2 3" /> 
diff --git a/examples/SingleBeam.scn b/examples/SingleBeam.scn
index d8a41b798..2b398da03 100644
--- a/examples/SingleBeam.scn
+++ b/examples/SingleBeam.scn
@@ -3,7 +3,7 @@
  	<RequiredPlugin pluginName="BeamAdapter"/> <!-- Needed to use components [WireBeamInterpolation WireRestShape] -->
 	<RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
  	<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
- 	<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+ 	<RequiredPlugin pluginName="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
  	<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
  	<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
  	<RequiredPlugin pluginName="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
@@ -13,7 +13,7 @@
 	<DefaultVisualManagerLoop />
 	
 	<Node name="BeamModel">
-		<EulerImplicitSolver rayleighStiffness="0" rayleighMass="0" printLog="false" />
+		<EulerImplicitIntegrationScheme rayleighStiffness="0" rayleighMass="0" printLog="false" />
 		<BTDLinearSolver verbose="0"/>
 		<MechanicalObject template="Rigid3d" name="DOFs" position="0 0 0 0 0 0 1  2 0 0 0 0 0 1  4 0 0 0 0 0 1  6 0 0 0 0 0 1"/> 
 		<MeshTopology name="lines" lines="0 1 1 2 2 3" /> 
diff --git a/examples/SingleBeamDeployment.scn b/examples/SingleBeamDeployment.scn
index 8df2f615c..bf521270a 100644
--- a/examples/SingleBeamDeployment.scn
+++ b/examples/SingleBeamDeployment.scn
@@ -3,7 +3,7 @@
     <RequiredPlugin pluginName="BeamAdapter"/> <!-- Needed to use components [WireBeamInterpolation WireRestShape] -->
     <RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
     <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
-    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+    <RequiredPlugin pluginName="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
     <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
     <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [EdgeSetGeometryAlgorithms EdgeSetTopologyContainer EdgeSetTopologyModifier] -->
@@ -26,7 +26,7 @@
     </Node>  
     
     <Node name="BeamModel">
-        <EulerImplicitSolver rayleighStiffness="0.2" rayleighMass="0.1" printLog="false" />
+        <EulerImplicitIntegrationScheme rayleighStiffness="0.2" rayleighMass="0.1" printLog="false" />
         <BTDLinearSolver verbose="0"/>
         <RegularGridTopology name="MeshLines" nx="36" ny="1" nz="1"
                                     xmax="0.0" xmin="0.0" ymin="0" ymax="0" zmax="0" zmin="0"
diff --git a/examples/SingleBeamDeploymentCollision.scn b/examples/SingleBeamDeploymentCollision.scn
index 536adb89c..8cf2c4864 100644
--- a/examples/SingleBeamDeploymentCollision.scn
+++ b/examples/SingleBeamDeploymentCollision.scn
@@ -11,7 +11,7 @@
     <RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
     <RequiredPlugin pluginName="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshSTLLoader] -->
     <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
-    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+    <RequiredPlugin pluginName="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
     <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
     <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
@@ -44,7 +44,7 @@
     </Node>  
     
     <Node name="BeamModel">
-        <EulerImplicitSolver rayleighStiffness="0.2" rayleighMass="0.1" printLog="false" />
+        <EulerImplicitIntegrationScheme rayleighStiffness="0.2" rayleighMass="0.1" printLog="false" />
         <BTDLinearSolver verbose="0"/>
         <RegularGridTopology name="MeshLines" nx="61" ny="1" nz="1"
                                     xmax="0.0" xmin="0.0" ymin="0" ymax="0" zmax="0" zmin="0"
diff --git a/examples/Tool_from_loader.scn b/examples/Tool_from_loader.scn
index f86e6b59e..e8c090903 100644
--- a/examples/Tool_from_loader.scn
+++ b/examples/Tool_from_loader.scn
@@ -9,7 +9,7 @@
         <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->  
         <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
         <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->  
-        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+        <RequiredPlugin pluginName="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
         <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->  
         <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->  
         <RequiredPlugin pluginName="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->  
@@ -37,7 +37,7 @@
     </Node>
 
     <Node name="Instrument">
-        <EulerImplicitSolver rayleighStiffness="0.2" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme rayleighStiffness="0.2" rayleighMass="0.1" />
         <BTDLinearSolver />
         <RegularGridTopology name="MeshLines" nx="331" ny="1" nz="1"
             xmax="0.0" xmin="0.0" ymin="0" ymax="0" zmax="0" zmin="0"
diff --git a/examples/python3/Cochlear-Implant-Insertion/Scene_Cochlea.py b/examples/python3/Cochlear-Implant-Insertion/Scene_Cochlea.py
index 7ed8b9497..362c3e824 100644
--- a/examples/python3/Cochlear-Implant-Insertion/Scene_Cochlea.py
+++ b/examples/python3/Cochlear-Implant-Insertion/Scene_Cochlea.py
@@ -8,7 +8,7 @@
 def createScene(rootNode):
         rootNode.addObject('RequiredPlugin',name='BeamAdapter', pluginName='BeamAdapter ')
         rootNode.addObject('RequiredPlugin',name='SofaPython3', pluginName='SofaPython3')
-        rootNode.addObject('RequiredPlugin',name='SOFA Modules', pluginName='Sofa.Component.AnimationLoop Sofa.Component.Collision.Detection.Algorithm Sofa.Component.Collision.Detection.Intersection Sofa.Component.Collision.Geometry Sofa.Component.Collision.Response.Contact Sofa.Component.Constraint.Lagrangian.Correction Sofa.Component.Constraint.Lagrangian.Solver Sofa.Component.Constraint.Projective Sofa.Component.IO.Mesh Sofa.Component.LinearSolver.Direct Sofa.Component.ODESolver.Backward Sofa.Component.SolidMechanics.Spring Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Dynamic Sofa.Component.Topology.Container.Grid Sofa.Component.Mapping.Linear Sofa.Component.Topology.Mapping Sofa.Component.StateContainer Sofa.Component.Visual Sofa.GL.Component.Rendering3D')
+        rootNode.addObject('RequiredPlugin',name='SOFA Modules', pluginName='Sofa.Component.AnimationLoop Sofa.Component.Collision.Detection.Algorithm Sofa.Component.Collision.Detection.Intersection Sofa.Component.Collision.Geometry Sofa.Component.Collision.Response.Contact Sofa.Component.Constraint.Lagrangian.Correction Sofa.Component.Constraint.Lagrangian.Solver Sofa.Component.Constraint.Projective Sofa.Component.IO.Mesh Sofa.Component.LinearSolver.Direct Sofa.Component.IntegrationSchemes.Backward Sofa.Component.SolidMechanics.Spring Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Dynamic Sofa.Component.Topology.Container.Grid Sofa.Component.Mapping.Linear Sofa.Component.Topology.Mapping Sofa.Component.StateContainer Sofa.Component.Visual Sofa.GL.Component.Rendering3D')
         rootNode.findData('dt').value=0.01
         rootNode.findData('gravity').value=[0,0,0]
         rootNode.addObject('VisualStyle', displayFlags='showVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields showInteractionForceFields hideWireframe')
@@ -50,7 +50,7 @@ def createScene(rootNode):
         RefStartingPos.addObject('MechanicalObject', name="ReferencePos", template="Rigid3d", position="-3 1.5 0.3  1 0 0 0")
 
         InstrumentCombined = rootNode.addChild('InstrumentCombined')
-        InstrumentCombined.addObject('EulerImplicitSolver', rayleighStiffness="0.01", rayleighMass="0.03", printLog=False )
+        InstrumentCombined.addObject('EulerImplicitIntegrationScheme', rayleighStiffness="0.01", rayleighMass="0.03", printLog=False )
         InstrumentCombined.addObject('BTDLinearSolver')
         InstrumentCombined.addObject('RegularGridTopology', name="meshLinesCombined", nx="100", ny="1", nz="1")
 
diff --git a/examples/python3/SingleBeam.py b/examples/python3/SingleBeam.py
index 0db37ee23..d76d897af 100644
--- a/examples/python3/SingleBeam.py
+++ b/examples/python3/SingleBeam.py
@@ -4,14 +4,14 @@
 def createScene(rootNode):
 
     # rootNode
-    rootNode.addObject('RequiredPlugin', pluginName='BeamAdapter Sofa.Component.Constraint.Projective Sofa.Component.LinearSolver.Direct Sofa.Component.ODESolver.Backward Sofa.Component.StateContainer Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Grid Sofa.Component.Visual')
+    rootNode.addObject('RequiredPlugin', pluginName='BeamAdapter Sofa.Component.Constraint.Projective Sofa.Component.LinearSolver.Direct Sofa.Component.IntegrationSchemes.Backward Sofa.Component.StateContainer Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Grid Sofa.Component.Visual')
     rootNode.addObject('VisualStyle', displayFlags='showBehaviorModels showCollisionModels hideBoundingCollisionModels showForceFields')
     rootNode.addObject('DefaultAnimationLoop')
     rootNode.addObject('DefaultVisualManagerLoop')
 
     # rootNode/BeamModel
     BeamModel = rootNode.addChild('BeamModel', bbox="-3 -6 -3 3 3 3")
-    BeamModel.addObject('EulerImplicitSolver', rayleighStiffness='0', rayleighMass='0', printLog='false')
+    BeamModel.addObject('EulerImplicitIntegrationScheme', rayleighStiffness='0', rayleighMass='0', printLog='false')
     BeamModel.addObject('BTDLinearSolver', verbose='0')
     BeamModel.addObject('RegularGridTopology', name='MeshLines', n=[200, 1, 1], min=[0, 0, 0], max=[100, 0, 0])
     BeamModel.addObject('MechanicalObject', template='Rigid3d', name='DOFs', position='@MeshLines.positions')
diff --git a/examples/python3/SingleBeamDeployment.py b/examples/python3/SingleBeamDeployment.py
index 225258504..dd7912bf7 100644
--- a/examples/python3/SingleBeamDeployment.py
+++ b/examples/python3/SingleBeamDeployment.py
@@ -3,7 +3,7 @@
 
 def createScene(rootNode):
 
-    rootNode.addObject('RequiredPlugin', pluginName='BeamAdapter Sofa.Component.Constraint.Projective Sofa.Component.LinearSolver.Direct Sofa.Component.ODESolver.Backward Sofa.Component.StateContainer Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Grid Sofa.Component.Visual Sofa.Component.SolidMechanics.Spring Sofa.Component.Topology.Container.Dynamic')
+    rootNode.addObject('RequiredPlugin', pluginName='BeamAdapter Sofa.Component.Constraint.Projective Sofa.Component.LinearSolver.Direct Sofa.Component.IntegrationSchemes.Backward Sofa.Component.StateContainer Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Grid Sofa.Component.Visual Sofa.Component.SolidMechanics.Spring Sofa.Component.Topology.Container.Dynamic')
     rootNode.addObject('VisualStyle', displayFlags='showVisualModels showBehaviorModels showCollisionModels hideMappings showForceFields')
 
     rootNode.addObject('DefaultAnimationLoop')
@@ -31,7 +31,7 @@ def createScene(rootNode):
 
 
     BeamMechanics = rootNode.addChild('BeamModel', bbox="0 0 0 10 10 10")
-    BeamMechanics.addObject('EulerImplicitSolver', rayleighStiffness=0.2, printLog=False, rayleighMass=0.1)
+    BeamMechanics.addObject('EulerImplicitIntegrationScheme', rayleighStiffness=0.2, printLog=False, rayleighMass=0.1)
     BeamMechanics.addObject('BTDLinearSolver', verification=False, subpartSolve=False, verbose=False)
     BeamMechanics.addObject('RegularGridTopology', name='MeshLines', drawEdges=True, 
                                     nx=61, ny=1, nz=1,
diff --git a/examples/python3/SingleBeamDeploymentCollision.py b/examples/python3/SingleBeamDeploymentCollision.py
index 5559855df..9acb923cc 100644
--- a/examples/python3/SingleBeamDeploymentCollision.py
+++ b/examples/python3/SingleBeamDeploymentCollision.py
@@ -3,7 +3,7 @@
 
 def createScene(rootNode):
 
-    rootNode.addObject('RequiredPlugin', name="plug1", pluginName='BeamAdapter Sofa.Component.Constraint.Projective Sofa.Component.LinearSolver.Direct Sofa.Component.ODESolver.Backward Sofa.Component.StateContainer Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Grid Sofa.Component.Visual Sofa.Component.SolidMechanics.Spring Sofa.Component.Topology.Container.Dynamic')
+    rootNode.addObject('RequiredPlugin', name="plug1", pluginName='BeamAdapter Sofa.Component.Constraint.Projective Sofa.Component.LinearSolver.Direct Sofa.Component.IntegrationSchemes.Backward Sofa.Component.StateContainer Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Grid Sofa.Component.Visual Sofa.Component.SolidMechanics.Spring Sofa.Component.Topology.Container.Dynamic')
     rootNode.addObject('RequiredPlugin', name="plug2", pluginName='Sofa.Component.AnimationLoop Sofa.Component.Collision.Detection.Algorithm Sofa.Component.Collision.Detection.Intersection Sofa.Component.Collision.Geometry Sofa.Component.Collision.Response.Contact Sofa.Component.Constraint.Lagrangian.Correction Sofa.Component.Constraint.Lagrangian.Solver Sofa.Component.IO.Mesh')
     rootNode.addObject('VisualStyle', displayFlags='hideVisualModels hideBehaviorModels showCollisionModels hideMappings showInteractionForceFields')
 
@@ -39,7 +39,7 @@ def createScene(rootNode):
 
 
     BeamMechanics = rootNode.addChild('BeamModel')
-    BeamMechanics.addObject('EulerImplicitSolver', rayleighStiffness=0.2, rayleighMass=0.1)
+    BeamMechanics.addObject('EulerImplicitIntegrationScheme', rayleighStiffness=0.2, rayleighMass=0.1)
     BeamMechanics.addObject('BTDLinearSolver', verification=False, subpartSolve=False, verbose=False)
     BeamMechanics.addObject('RegularGridTopology', name='MeshLines', 
                                     nx=61, ny=1, nz=1,
diff --git a/examples/python3/beamadapter/parts/instrument.py b/examples/python3/beamadapter/parts/instrument.py
index aa2249a6b..7c2922ee7 100644
--- a/examples/python3/beamadapter/parts/instrument.py
+++ b/examples/python3/beamadapter/parts/instrument.py
@@ -31,7 +31,7 @@ def combineInstruments(node, xtip=[1, 0, 0], instruments=['guide'],
                               rotationInstrument=[0, 0, 0], speed=0, controlledInstrument=0):
 
     InstrumentCombined = node.addChild('InstrumentCombined')
-    InstrumentCombined.addObject('EulerImplicitSolver', rayleighStiffness=0.2, 
+    InstrumentCombined.addObject('EulerImplicitIntegrationScheme', rayleighStiffness=0.2, 
                                     printLog=False, rayleighMass=0.1)
     InstrumentCombined.addObject('BTDLinearSolver', verification=False, 
                                     subpartSolve=False, verbose=False)
@@ -68,7 +68,7 @@ def createInstrumentsCombined(node, xtip=[1, 0, 0], instruments=['guide'],
     #                           rotationInstrument, speed, controlledInstrument)
 
     InstrumentCombined = node.addChild('InstrumentCombined')
-    InstrumentCombined.addObject('EulerImplicitSolver', rayleighStiffness=0.2, 
+    InstrumentCombined.addObject('EulerImplicitIntegrationScheme', rayleighStiffness=0.2, 
                                     printLog=False, rayleighMass=0.1)
     InstrumentCombined.addObject('BTDLinearSolver', verification=False, 
                                     subpartSolve=False, verbose=False)
diff --git a/examples/python3/component/BeamProjectionDifferenceMultiMapping.py b/examples/python3/component/BeamProjectionDifferenceMultiMapping.py
index 3930a8e51..e8b4fb4ed 100644
--- a/examples/python3/component/BeamProjectionDifferenceMultiMapping.py
+++ b/examples/python3/component/BeamProjectionDifferenceMultiMapping.py
@@ -7,7 +7,7 @@ def createScene(rootnode):
     settings.addObject('RequiredPlugin', pluginName='Sofa.Component.Constraint.Projective')  # Needed to use components [FixedConstraint]
     settings.addObject('RequiredPlugin', pluginName='Sofa.Component.LinearSolver.Direct')  # Needed to use components [SparseLDLSolver]
     settings.addObject('RequiredPlugin', pluginName='Sofa.Component.Mass')  # Needed to use components [UniformMass]  
-    settings.addObject('RequiredPlugin', pluginName='Sofa.Component.ODESolver.Backward')  # Needed to use components [EulerImplicitSolver]
+    settings.addObject('RequiredPlugin', pluginName='Sofa.Component.IntegrationSchemes.Backward')  # Needed to use components [EulerImplicitIntegrationScheme]
     settings.addObject('RequiredPlugin', pluginName='Sofa.Component.SolidMechanics.Spring')  # Needed to use components [RestShapeSpringsForceField]
     settings.addObject('RequiredPlugin', pluginName='Sofa.Component.StateContainer')  # Needed to use components [MechanicalObject]
     settings.addObject('RequiredPlugin', pluginName='Sofa.Component.Topology.Container.Dynamic')  # Needed to use components [EdgeSetTopologyContainer,PointSetTopologyContainer]
@@ -23,7 +23,7 @@ def createScene(rootnode):
     rootnode.addObject('BlockGaussSeidelConstraintSolver', maxIterations=1000, tolerance=1e-3)
 
     simulation = rootnode.addChild('Simulation')
-    simulation.addObject('EulerImplicitSolver')
+    simulation.addObject('EulerImplicitIntegrationScheme')
     simulation.addObject('SparseLDLSolver', template='CompressedRowSparseMatrixMat3x3d')
     simulation.addObject('GenericConstraintCorrection')