diff --git a/examples/HAvatar_ArticulatedDeviceEmulator.scn b/examples/HAvatar_ArticulatedDeviceEmulator.scn
index 5f5910a..c52ae9a 100644
--- a/examples/HAvatar_ArticulatedDeviceEmulator.scn
+++ b/examples/HAvatar_ArticulatedDeviceEmulator.scn
@@ -7,8 +7,8 @@
     <RequiredPlugin name="SofaHapticAvatar"/>
     
     <BruteForceDetection />
-    <DefaultContactManager />
-    <DefaultPipeline />
+    <CollisionResponse />
+    <CollisionPipeline />
     <MinProximityIntersection alarmDistance="1" contactDistance="0.2"/>
     <VisualStyle displayFlags="showVisualModels showBehaviorModels showCollisionModels" />
     
@@ -38,7 +38,7 @@
                 <ArticulatedSystemMapping input1="@../Articulations" output="@DOFs" />
                 
                 <Node name="Device_base">
-                    <MeshObjLoader filename="./mesh/Haptic_device_base.obj"  name="loader"/>
+                    <MeshOBJLoader filename="./mesh/Haptic_device_base.obj"  name="loader"/>
                     <MechanicalObject template="Vec3d" position="@loader.position" />
                     <MeshTopology src="@loader"/>
 
@@ -51,7 +51,7 @@
                 
                 
                 <Node name="Device_head">
-                    <MeshObjLoader filename="./mesh/Haptic_device_head.obj"  name="loader"/>
+                    <MeshOBJLoader filename="./mesh/Haptic_device_head.obj"  name="loader"/>
                     <MechanicalObject template="Vec3d" position="@loader.position" />
                     <MeshTopology src="@loader"/>
                     <RigidMapping input="@.." output="@." index="1"/>
@@ -62,7 +62,7 @@
                 </Node>
                 
                 <Node name="Device_portal">
-                    <MeshObjLoader filename="./mesh/Haptic_device_portal.obj"  name="loader"/>
+                    <MeshOBJLoader filename="./mesh/Haptic_device_portal.obj"  name="loader"/>
                     <MechanicalObject template="Vec3d" position="@loader.position" />
                     <MeshTopology src="@loader"/>                   
                     <RigidMapping input="@.." output="@." index="2"/>
@@ -73,7 +73,7 @@
                 </Node>
                 
                 <Node name="Grasper_shaft">
-                    <MeshObjLoader filename="./mesh/Haptic_grasper_shaft.obj"  name="loader"/>
+                    <MeshOBJLoader filename="./mesh/Haptic_grasper_shaft.obj"  name="loader"/>
                     <MechanicalObject template="Vec3d" position="@loader.position" />
                     <MeshTopology src="@loader"/>
                     
@@ -90,7 +90,7 @@
                 
                 
                 <Node name="Grasper_jaws_up">
-                    <MeshObjLoader filename="./mesh/Haptic_grasper_jaws_up.obj"  name="loader"/>
+                    <MeshOBJLoader filename="./mesh/Haptic_grasper_jaws_up.obj"  name="loader"/>
                     <MechanicalObject template="Vec3d" position="@loader.position" />
                     <MeshTopology src="@loader"/>
                     
@@ -107,7 +107,7 @@
                 
                 
                 <Node name="Grasper_jaws_down">
-                    <MeshObjLoader filename="./mesh/Haptic_grasper_jaws_down.obj"  name="loader"/>
+                    <MeshOBJLoader filename="./mesh/Haptic_grasper_jaws_down.obj"  name="loader"/>
                     <MechanicalObject template="Vec3d" position="@loader.position" />
                     <MeshTopology src="@loader"/>
                     
diff --git a/examples/HAvatar_ArticulatedGrasper_Bench-01-motion.scn b/examples/HAvatar_ArticulatedGrasper_Bench-01-motion.scn
index 1f93ce2..8e0b939 100644
--- a/examples/HAvatar_ArticulatedGrasper_Bench-01-motion.scn
+++ b/examples/HAvatar_ArticulatedGrasper_Bench-01-motion.scn
@@ -14,10 +14,10 @@
     <RequiredPlugin name='SofaHaptics'/>
     <RequiredPlugin name="SofaHapticAvatar"/>
     
-    <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
+    <CollisionPipeline name="pipeline" depth="6" verbose="0"/>
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
-    <DefaultContactManager name="response" response="FrictionContactConstraint" />
+    <CollisionResponse name="response" response="FrictionContactConstraint" />
     <LocalMinDistance name="proximity" alarmDistance="2" contactDistance="0.5" />
     <FreeMotionAnimationLoop/>
     <LCPConstraintSolver tolerance="0.001" maxIt="10000"/>
diff --git a/examples/HAvatar_ArticulatedGrasper_Bench-02_RigidFloor.scn b/examples/HAvatar_ArticulatedGrasper_Bench-02_RigidFloor.scn
index 6946f75..c0395ef 100644
--- a/examples/HAvatar_ArticulatedGrasper_Bench-02_RigidFloor.scn
+++ b/examples/HAvatar_ArticulatedGrasper_Bench-02_RigidFloor.scn
@@ -15,10 +15,10 @@
     <RequiredPlugin name="SofaHapticAvatar"/>
     <RequiredPlugin name='SofaHaptics'/>
     
-    <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
+    <CollisionPipeline name="pipeline" depth="6" verbose="0"/>
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
-    <DefaultContactManager name="response" response="FrictionContactConstraint" />
+    <CollisionResponse name="response" response="FrictionContactConstraint" />
     <LocalMinDistance name="proximity" alarmDistance="2" contactDistance="0.5" />
     <FreeMotionAnimationLoop/>
     <LCPConstraintSolver tolerance="0.001" maxIt="10000"/>
diff --git a/examples/HAvatar_ArticulatedGrasper_Bench-03_RigidCube.scn b/examples/HAvatar_ArticulatedGrasper_Bench-03_RigidCube.scn
index cf1cd21..961fd97 100644
--- a/examples/HAvatar_ArticulatedGrasper_Bench-03_RigidCube.scn
+++ b/examples/HAvatar_ArticulatedGrasper_Bench-03_RigidCube.scn
@@ -15,10 +15,10 @@
     <RequiredPlugin name="SofaHapticAvatar"/>
     <RequiredPlugin name='SofaHaptics'/>
     
-    <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
+    <CollisionPipeline name="pipeline" depth="6" verbose="0"/>
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
-    <DefaultContactManager name="response" response="FrictionContactConstraint" />
+    <CollisionResponse name="response" response="FrictionContactConstraint" />
     <LocalMinDistance name="proximity" alarmDistance="2" contactDistance="0.5" />
     <FreeMotionAnimationLoop/>
     <LCPConstraintSolver tolerance="0.001" maxIt="10000"/>
diff --git a/examples/HAvatar_ArticulatedGrasper_Bench-04_DeformableCube.scn b/examples/HAvatar_ArticulatedGrasper_Bench-04_DeformableCube.scn
index d365749..278ad88 100644
--- a/examples/HAvatar_ArticulatedGrasper_Bench-04_DeformableCube.scn
+++ b/examples/HAvatar_ArticulatedGrasper_Bench-04_DeformableCube.scn
@@ -19,10 +19,10 @@
     <RequiredPlugin name="SofaHapticAvatar"/>
     <RequiredPlugin name='SofaHaptics'/>
     
-    <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
+    <CollisionPipeline name="pipeline" depth="6" verbose="0"/>
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
-    <DefaultContactManager name="response" response="FrictionContactConstraint" />
+    <CollisionResponse name="response" response="FrictionContactConstraint" />
     <LocalMinDistance name="proximity" alarmDistance="2" contactDistance="0.5" />
     <FreeMotionAnimationLoop/>
     <LCPConstraintSolver tolerance="0.001" maxIt="10000"/>
@@ -40,7 +40,7 @@
         <MechanicalObject src="@../grid_2" name="Volume" />
         
         <BoxROI name="boxRoi1" box="-100 100 -1  100 300 1" drawBoxes="1"/>
-        <FixedConstraint indices="@boxRoi1.indices" />
+        <FixedProjectiveConstraint indices="@boxRoi1.indices" />
         
         <TetrahedronSetTopologyContainer name="Tetra_topo" />
         <TetrahedronSetTopologyModifier name="Modifier" />
diff --git a/examples/HAvatar_ArticulatedGrasper_Bench-05_RigidCactus.scn b/examples/HAvatar_ArticulatedGrasper_Bench-05_RigidCactus.scn
index e52e3e9..b957dfb 100644
--- a/examples/HAvatar_ArticulatedGrasper_Bench-05_RigidCactus.scn
+++ b/examples/HAvatar_ArticulatedGrasper_Bench-05_RigidCactus.scn
@@ -14,10 +14,10 @@
     <RequiredPlugin name="SofaHapticAvatar"/>
     <RequiredPlugin name='SofaHaptics'/>
     
-    <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
+    <CollisionPipeline name="pipeline" depth="6" verbose="0"/>
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
-    <DefaultContactManager name="response" response="FrictionContactConstraint" />
+    <CollisionResponse name="response" response="FrictionContactConstraint" />
     <LocalMinDistance name="proximity" alarmDistance="2" contactDistance="0.5" />
     <FreeMotionAnimationLoop/>
     <LCPConstraintSolver tolerance="0.001" maxIt="10000"/>
@@ -28,7 +28,7 @@
     
     <!-- Add obstacles -->
     <Node name="Cactus">
-        <MeshObjLoader name="loader" filename="./mesh/cactus.obj" translation="0 130 100" rotation="90 0 0" scale3d="1.2 1.2 1.2"/>
+        <MeshOBJLoader name="loader" filename="./mesh/cactus.obj" translation="0 130 100" rotation="90 0 0" scale3d="1.2 1.2 1.2"/>
         <MechanicalObject name="CollisModel" position="@loader.position" />
         <MeshTopology src="@loader"/>
         
diff --git a/examples/HAvatar_ArticulatedGrasper_Bench-06_DeformableCactus.scn b/examples/HAvatar_ArticulatedGrasper_Bench-06_DeformableCactus.scn
index fe1bacf..db691b8 100644
--- a/examples/HAvatar_ArticulatedGrasper_Bench-06_DeformableCactus.scn
+++ b/examples/HAvatar_ArticulatedGrasper_Bench-06_DeformableCactus.scn
@@ -19,10 +19,10 @@
     <RequiredPlugin name="SofaHapticAvatar"/>
     <RequiredPlugin name='SofaHaptics'/>
     
-    <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
+    <CollisionPipeline name="pipeline" depth="6" verbose="0"/>
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
-    <DefaultContactManager name="response" response="FrictionContactConstraint" />
+    <CollisionResponse name="response" response="FrictionContactConstraint" />
     <LocalMinDistance name="proximity" alarmDistance="2" contactDistance="0.5" />
     <FreeMotionAnimationLoop/>
     <LCPConstraintSolver tolerance="0.001" maxIt="10000"/>
@@ -33,7 +33,7 @@
     
     <!-- Add obstacles -->    
     <Node name="Cactus">
-        <MeshObjLoader name="loader" filename="./mesh/cactus.obj" translation="0 130 100" rotation="90 0 0" scale3d="1.2 1.2 1.2"/>
+        <MeshOBJLoader name="loader" filename="./mesh/cactus.obj" translation="0 130 100" rotation="90 0 0" scale3d="1.2 1.2 1.2"/>
         <SparseGridRamificationTopology name="grid" n="10 10 10" src="@./loader" nbVirtualFinerLevels="3" finestConnectivity="0"/>
             
         <Node name="Cactus">
@@ -47,7 +47,7 @@
             <Hexa2TetraTopologicalMapping input="@../grid" output="@Tetra_topo" />
 
             <BoxROI name="boxRoi1" box="-100 100 20  100 200 80" drawBoxes="1"/>
-            <FixedConstraint indices="@boxRoi1.indices" />
+            <FixedProjectiveConstraint indices="@boxRoi1.indices" />
             
             <TetrahedronFEMForceField name="FEM" youngModulus="3500" poissonRatio="0.3" method="large" />
             <UniformMass totalMass="1.0" />
diff --git a/examples/HAvatar_ArticulatedGrasper_Bench-07_Liver.scn b/examples/HAvatar_ArticulatedGrasper_Bench-07_Liver.scn
index d7402c6..8bb6cd8 100644
--- a/examples/HAvatar_ArticulatedGrasper_Bench-07_Liver.scn
+++ b/examples/HAvatar_ArticulatedGrasper_Bench-07_Liver.scn
@@ -19,10 +19,10 @@
     <RequiredPlugin name="SofaHapticAvatar"/>
     <RequiredPlugin name='SofaHaptics'/>
     
-    <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
+    <CollisionPipeline name="pipeline" depth="6" verbose="0"/>
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
-    <DefaultContactManager name="response" response="FrictionContactConstraint" />
+    <CollisionResponse name="response" response="FrictionContactConstraint" />
     <LocalMinDistance name="proximity" alarmDistance="2" contactDistance="0.5" />
     <FreeMotionAnimationLoop/>
     <LCPConstraintSolver tolerance="0.001" maxIt="10000"/>
@@ -43,7 +43,7 @@
         <TetrahedronSetGeometryAlgorithms template="Vec3d" name="GeomAlgo" />
         
         <BoxROI name="boxRoi1" box="0 -25 0  50 25 60" drawBoxes="1"/>
-        <FixedConstraint indices="@boxRoi1.indices" />
+        <FixedProjectiveConstraint indices="@boxRoi1.indices" />
         
         <FastTetrahedralCorotationalForceField name="FEM" youngModulus="2000" poissonRatio="0.3" method="large"/>
         <DiagonalMass massDensity="0.1" />
diff --git a/examples/HAvatar_Dual_ArticulatedGrasper_Bench-01-motion.scn b/examples/HAvatar_Dual_ArticulatedGrasper_Bench-01-motion.scn
index 12596f3..6a706e0 100644
--- a/examples/HAvatar_Dual_ArticulatedGrasper_Bench-01-motion.scn
+++ b/examples/HAvatar_Dual_ArticulatedGrasper_Bench-01-motion.scn
@@ -14,10 +14,10 @@
     <RequiredPlugin name='SofaHaptics'/>
     <RequiredPlugin name="SofaHapticAvatar"/>
     
-    <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
+    <CollisionPipeline name="pipeline" depth="6" verbose="0"/>
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
-    <DefaultContactManager name="response" response="FrictionContact" />
+    <CollisionResponse name="response" response="FrictionContact" />
     <LocalMinDistance name="proximity" alarmDistance="2" contactDistance="0.5" />
     <FreeMotionAnimationLoop/>
     <LCPConstraintSolver tolerance="0.001" maxIt="10000"/>
diff --git a/examples/HAvatar_Dual_ArticulatedGrasper_Bench-02_RigidFloor.scn b/examples/HAvatar_Dual_ArticulatedGrasper_Bench-02_RigidFloor.scn
index 6a1a058..457e95f 100644
--- a/examples/HAvatar_Dual_ArticulatedGrasper_Bench-02_RigidFloor.scn
+++ b/examples/HAvatar_Dual_ArticulatedGrasper_Bench-02_RigidFloor.scn
@@ -19,10 +19,10 @@
     <RequiredPlugin name="SofaHapticAvatar"/>
     <RequiredPlugin name='SofaHaptics'/>
     
-    <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
+    <CollisionPipeline name="pipeline" depth="6" verbose="0"/>
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
-    <DefaultContactManager name="response" response="FrictionContact" />
+    <CollisionResponse name="response" response="FrictionContact" />
     <LocalMinDistance name="proximity" alarmDistance="2" contactDistance="0.5" />
     <FreeMotionAnimationLoop/>
     <LCPConstraintSolver tolerance="0.001" maxIt="10000"/>
diff --git a/examples/HAvatar_Dual_ArticulatedGrasper_Bench-03_RigidCube.scn b/examples/HAvatar_Dual_ArticulatedGrasper_Bench-03_RigidCube.scn
index 98dba8c..669caf6 100644
--- a/examples/HAvatar_Dual_ArticulatedGrasper_Bench-03_RigidCube.scn
+++ b/examples/HAvatar_Dual_ArticulatedGrasper_Bench-03_RigidCube.scn
@@ -19,10 +19,10 @@
     <RequiredPlugin name="SofaHapticAvatar"/>
     <RequiredPlugin name='SofaHaptics'/>
     
-    <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
+    <CollisionPipeline name="pipeline" depth="6" verbose="0"/>
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
-    <DefaultContactManager name="response" response="FrictionContact" />
+    <CollisionResponse name="response" response="FrictionContact" />
     <LocalMinDistance name="proximity" alarmDistance="2" contactDistance="0.5" />
     <FreeMotionAnimationLoop/>
     <LCPConstraintSolver tolerance="0.001" maxIt="10000"/>
diff --git a/examples/HAvatar_Dual_ArticulatedGrasper_Bench-04_DeformableCube.scn b/examples/HAvatar_Dual_ArticulatedGrasper_Bench-04_DeformableCube.scn
index c9a8701..0721b1b 100644
--- a/examples/HAvatar_Dual_ArticulatedGrasper_Bench-04_DeformableCube.scn
+++ b/examples/HAvatar_Dual_ArticulatedGrasper_Bench-04_DeformableCube.scn
@@ -19,10 +19,10 @@
     <RequiredPlugin name="SofaHapticAvatar"/>
     <RequiredPlugin name='SofaHaptics'/>
     
-    <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
+    <CollisionPipeline name="pipeline" depth="6" verbose="0"/>
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
-    <DefaultContactManager name="response" response="FrictionContact" />
+    <CollisionResponse name="response" response="FrictionContact" />
     <LocalMinDistance name="proximity" alarmDistance="2" contactDistance="0.5" />
     <FreeMotionAnimationLoop/>
     <LCPConstraintSolver tolerance="0.001" maxIt="10000"/>
@@ -42,7 +42,7 @@
         <MechanicalObject src="@../grid_2" name="Volume" />
         
         <BoxROI name="boxRoi1" box="-100 -100 -1  100 100 1" drawBoxes="1"/>
-        <FixedConstraint indices="@boxRoi1.indices" />
+        <FixedProjectiveConstraint indices="@boxRoi1.indices" />
         
         <TetrahedronSetTopologyContainer name="Tetra_topo" />
         <TetrahedronSetTopologyModifier name="Modifier" />
diff --git a/examples/HAvatar_Dual_ArticulatedGrasper_Bench-05_DeformableTorus.scn b/examples/HAvatar_Dual_ArticulatedGrasper_Bench-05_DeformableTorus.scn
index e7a6b64..8665eee 100644
--- a/examples/HAvatar_Dual_ArticulatedGrasper_Bench-05_DeformableTorus.scn
+++ b/examples/HAvatar_Dual_ArticulatedGrasper_Bench-05_DeformableTorus.scn
@@ -19,10 +19,10 @@
     <RequiredPlugin name="SofaHapticAvatar"/>
     <RequiredPlugin name='SofaHaptics'/>
     
-    <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
+    <CollisionPipeline name="pipeline" depth="6" verbose="0"/>
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
-    <DefaultContactManager name="response" response="FrictionContact" />
+    <CollisionResponse name="response" response="FrictionContact" />
     <LocalMinDistance name="proximity" alarmDistance="2" contactDistance="0.5" />
     <FreeMotionAnimationLoop/>
     <LCPConstraintSolver tolerance="0.001" maxIt="10000"/>
diff --git a/examples/HAvatar_Emulator.scn b/examples/HAvatar_Emulator.scn
index b8fc27d..aefbf58 100644
--- a/examples/HAvatar_Emulator.scn
+++ b/examples/HAvatar_Emulator.scn
@@ -6,9 +6,9 @@
     <RequiredPlugin name='SofaSparseSolver'/>
 	<VisualStyle displayFlags="showVisualModels showBehaviorModels hideCollisionModels" />
   
-    <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
+    <CollisionPipeline name="pipeline" depth="6" verbose="0"/>
     <BruteForceDetection name="detection" />
-    <DefaultContactManager name="response" response="FrictionContact" />
+    <CollisionResponse name="response" response="FrictionContact" />
     <LocalMinDistance name="proximity" alarmDistance="0.15" contactDistance="0.05" angleCone="0.0" />
     <FreeMotionAnimationLoop/>
     <LCPConstraintSolver tolerance="0.001" maxIt="1000"/>
@@ -50,7 +50,7 @@
             <ArticulatedSystemMapping input1="@../Articulations" output="@DOFs" />
             
             <Node name="CollisionModel" tags="toolCollision">
-                <MeshObjLoader filename="./mesh/grasper_shaft_collision_light.obj"  name="loader"/>
+                <MeshOBJLoader filename="./mesh/grasper_shaft_collision_light.obj"  name="loader"/>
                 <MeshTopology src="@loader" name="InstrumentCollisionModel" />
                 <MechanicalObject src="@loader" name="instrumentCollisionState"  dy="0" rz="0" dz="0" tags="toolPosition"/> 
                 <SphereCollisionModel name="instrumentPoint" radius="2" contactStiffness="10" group="0"/> 
@@ -60,13 +60,13 @@
             </Node>
             
             <Node name="Shaft_visu" >
-                <MeshObjLoader name="meshLoader_1" filename="./mesh/grasper_shaft.obj" handleSeams="1" />
+                <MeshOBJLoader name="meshLoader_1" filename="./mesh/grasper_shaft.obj" handleSeams="1" />
                 <OglModel name="InstrumentVisualModel" src="@meshLoader_1"/>
                 <RigidMapping name="MM->VM mapping" input="@.." output="@InstrumentVisualModel" index="3"/>
             </Node>
             
             <Node name="JawUp_collision" tags="toolCollision">
-                <MeshObjLoader filename="./mesh/grasper_jaws_up_collision_light.obj"  name="loader"/>
+                <MeshOBJLoader filename="./mesh/grasper_jaws_up_collision_light.obj"  name="loader"/>
                 <MeshTopology src="@loader" name="InstrumentCollisionModel" />
                 <MechanicalObject src="@loader" name="instrumentCollisionState"  ry="0" rz="0" dy="0" /> 
                 <SphereCollisionModel name="instrumentPoint" radius="1" group="0" contactStiffness="100000"/> 
@@ -75,13 +75,13 @@
             </Node>
             
             <Node name="JawUp_visu" >
-                <MeshObjLoader name="meshLoader_1" filename="./mesh/grasper_jaws_up.obj" handleSeams="1" />
+                <MeshOBJLoader name="meshLoader_1" filename="./mesh/grasper_jaws_up.obj" handleSeams="1" />
                 <OglModel name="InstrumentVisualModel" src="@meshLoader_1"/>
                 <RigidMapping name="MM->VM mapping" input="@.." output="@InstrumentVisualModel" index="4"/>
             </Node>
 
             <Node name="JawDown_collision" tags="toolCollision">
-                <MeshObjLoader filename="./mesh/grasper_jaws_down_collision_light.obj"  name="loader"/>
+                <MeshOBJLoader filename="./mesh/grasper_jaws_down_collision_light.obj"  name="loader"/>
                 <MeshTopology src="@loader" name="InstrumentCollisionModel" />
                 <MechanicalObject src="@loader" name="instrumentCollisionState"  ry="0" rz="0" dy="0" /> 
                 <SphereCollisionModel name="instrumentPoint" radius="1" group="0" contactStiffness="100000"/> 
@@ -90,7 +90,7 @@
             </Node>     
             
             <Node name="JawDown_visu" >
-                <MeshObjLoader name="meshLoader_1" filename="./mesh/grasper_jaws_down.obj" handleSeams="1" />
+                <MeshOBJLoader name="meshLoader_1" filename="./mesh/grasper_jaws_down.obj" handleSeams="1" />
                 <OglModel name="InstrumentVisualModel" src="@meshLoader_1"/>
                 <RigidMapping name="MM->VM mapping" input="@.." output="@InstrumentVisualModel" index="5"/>
             </Node>