diff --git a/examples/HAvatar_ArticulatedGrasper_Bench-01-motion.scn b/examples/HAvatar_ArticulatedGrasper_Bench-01-motion.scn
index 55848e4..1f93ce2 100644
--- a/examples/HAvatar_ArticulatedGrasper_Bench-01-motion.scn
+++ b/examples/HAvatar_ArticulatedGrasper_Bench-01-motion.scn
@@ -17,7 +17,7 @@
     <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
-    <DefaultContactManager name="response" response="FrictionContact" />
+    <DefaultContactManager 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 1b0c51b..6946f75 100644
--- a/examples/HAvatar_ArticulatedGrasper_Bench-02_RigidFloor.scn
+++ b/examples/HAvatar_ArticulatedGrasper_Bench-02_RigidFloor.scn
@@ -18,7 +18,7 @@
     <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
-    <DefaultContactManager name="response" response="FrictionContact" />
+    <DefaultContactManager 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 -->
-    <RegularGridTopology name="grid_1" n="6 2 6" min="-100 -20 -100" max="100 0 100" />
+    <RegularGridTopology name="grid_1" n="6 6 2" min="-100 -50 20" max="100 150 40" />
     <Node name="Cube">
         <MechanicalObject src="@../grid_1" name="Volume" />
         
@@ -50,7 +50,7 @@
             
             <Node name="VisuSurface">
                 <OglModel name="Visual" color="1.000 1.000 1.000 1.0" />
-                <BarycentricMapping input="@.." output="@Visual" />
+                <IdentityMapping input="@.." output="@Visual" />
             </Node>
         </Node>
     </Node>
diff --git a/examples/HAvatar_ArticulatedGrasper_Bench-03_RigidCube.scn b/examples/HAvatar_ArticulatedGrasper_Bench-03_RigidCube.scn
index 2c6fbf5..cf1cd21 100644
--- a/examples/HAvatar_ArticulatedGrasper_Bench-03_RigidCube.scn
+++ b/examples/HAvatar_ArticulatedGrasper_Bench-03_RigidCube.scn
@@ -18,7 +18,7 @@
     <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
-    <DefaultContactManager name="response" response="FrictionContact" />
+    <DefaultContactManager name="response" response="FrictionContactConstraint" />
     <LocalMinDistance name="proximity" alarmDistance="2" contactDistance="0.5" />
     <FreeMotionAnimationLoop/>
     <LCPConstraintSolver tolerance="0.001" maxIt="10000"/>
@@ -28,8 +28,8 @@
     
     
     <!-- Add obstacles -->
-    <RegularGridTopology name="grid_1" n="6 2 6" min="-100 -20 -100" max="100 0 100" />
-    <Node name="Cube1">
+    <RegularGridTopology name="grid_1" n="6 6 2" min="-100 0 0" max="100 200 20" />
+    <Node name="Cube">
         <MechanicalObject src="@../grid_1" name="Volume" />
         
         <TetrahedronSetTopologyContainer name="Tetra_topo" />
@@ -50,12 +50,12 @@
             
             <Node name="VisuSurface">
                 <OglModel name="Visual" color="1.000 1.000 1.000 1.0" />
-                <BarycentricMapping input="@.." output="@Visual" />
+                <IdentityMapping input="@.." output="@Visual" />
             </Node>
         </Node>
     </Node>
     
-    <RegularGridTopology name="grid_2" n="4 4 4" min="50 0 0" max="150 100 100" />
+    <RegularGridTopology name="grid_2" n="4 4 4" min="-50 100 20" max="50 200 120" />
     <Node name="Cube2">
         <MechanicalObject src="@../grid_2" name="Volume" />
         
@@ -77,7 +77,7 @@
             
             <Node name="VisuSurface">
                 <OglModel name="Visual" color="1.000 1.000 1.000 1.0" />
-                <BarycentricMapping input="@.." output="@Visual" />
+                <IdentityMapping input="@.." output="@Visual" />
             </Node>
         </Node>
     </Node>
diff --git a/examples/HAvatar_ArticulatedGrasper_Bench-04_DeformableCube.scn b/examples/HAvatar_ArticulatedGrasper_Bench-04_DeformableCube.scn
index 5608bc4..d365749 100644
--- a/examples/HAvatar_ArticulatedGrasper_Bench-04_DeformableCube.scn
+++ b/examples/HAvatar_ArticulatedGrasper_Bench-04_DeformableCube.scn
@@ -22,7 +22,7 @@
     <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
-    <DefaultContactManager name="response" response="FrictionContact" />
+    <DefaultContactManager name="response" response="FrictionContactConstraint" />
     <LocalMinDistance name="proximity" alarmDistance="2" contactDistance="0.5" />
     <FreeMotionAnimationLoop/>
     <LCPConstraintSolver tolerance="0.001" maxIt="10000"/>
@@ -32,7 +32,7 @@
     
     
     <!-- Add obstacles -->
-    <RegularGridTopology name="grid_2" n="7 7 7" min="-60 140 0" max="60 260 120" />
+    <RegularGridTopology name="grid_2" n="7 7 7" min="-60 120 0" max="60 240 120" />
     <Node name="Cube2">
         <EulerImplicitSolver rayleighMass="0.01" rayleighStiffness="0.1" /> 
 		<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
diff --git a/examples/HAvatar_ArticulatedGrasper_Bench-05_RigidCactus.scn b/examples/HAvatar_ArticulatedGrasper_Bench-05_RigidCactus.scn
index 8dd3cac..e52e3e9 100644
--- a/examples/HAvatar_ArticulatedGrasper_Bench-05_RigidCactus.scn
+++ b/examples/HAvatar_ArticulatedGrasper_Bench-05_RigidCactus.scn
@@ -17,7 +17,7 @@
     <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
-    <DefaultContactManager name="response" response="FrictionContact" />
+    <DefaultContactManager 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="100 8 1"/>
+        <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 52e6bfe..fe1bacf 100644
--- a/examples/HAvatar_ArticulatedGrasper_Bench-06_DeformableCactus.scn
+++ b/examples/HAvatar_ArticulatedGrasper_Bench-06_DeformableCactus.scn
@@ -22,7 +22,7 @@
     <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
-    <DefaultContactManager name="response" response="FrictionContact" />
+    <DefaultContactManager 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="100 80 1" scale3d="1 1 1"/>
+        <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">
@@ -46,10 +46,10 @@
             <TetrahedronSetGeometryAlgorithms name="Tetra_GeomAlgo" template="Vec3d" />
             <Hexa2TetraTopologicalMapping input="@../grid" output="@Tetra_topo" />
 
-            <BoxROI name="boxRoi1" box="-1 -1 -101  201 50 101" drawBoxes="1"/>
+            <BoxROI name="boxRoi1" box="-100 100 20  100 200 80" drawBoxes="1"/>
             <FixedConstraint indices="@boxRoi1.indices" />
             
-            <TetrahedronFEMForceField name="FEM" youngModulus="4500" poissonRatio="0.3" method="large" />
+            <TetrahedronFEMForceField name="FEM" youngModulus="3500" poissonRatio="0.3" method="large" />
             <UniformMass totalMass="1.0" />
             <LinearSolverConstraintCorrection />
             
diff --git a/examples/HAvatar_ArticulatedGrasper_Bench-07_Liver.scn b/examples/HAvatar_ArticulatedGrasper_Bench-07_Liver.scn
index 16de1c9..d7402c6 100644
--- a/examples/HAvatar_ArticulatedGrasper_Bench-07_Liver.scn
+++ b/examples/HAvatar_ArticulatedGrasper_Bench-07_Liver.scn
@@ -22,7 +22,7 @@
     <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
-    <DefaultContactManager name="response" response="FrictionContact" />
+    <DefaultContactManager name="response" response="FrictionContactConstraint" />
     <LocalMinDistance name="proximity" alarmDistance="2" contactDistance="0.5" />
     <FreeMotionAnimationLoop/>
     <LCPConstraintSolver tolerance="0.001" maxIt="10000"/>
@@ -33,20 +33,20 @@
     
     <!-- Add obstacles -->  
     <Node name="Liver">
-        <EulerImplicitSolver rayleighMass="0.01" rayleighStiffness="0.1" /> 
+        <EulerImplicitSolver rayleighStiffness="0.01" rayleighMass="0.0" /> 
 		<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
 
-        <MeshGmshLoader filename="./mesh/liver2.msh" name="meshLoader" scale3d="100 100 100" rotation="-90 -90 -70" translation="200 50 50"/>
+        <MeshGmshLoader filename="./mesh/liver2.msh" name="meshLoader" scale3d="100 100 100" rotation="-80 30 180" translation="-30 0 50"/>
         <MechanicalObject name="dofs" src="@meshLoader" />
 		<TetrahedronSetTopologyContainer name="TetraContainer" src="@meshLoader" />
         <TetrahedronSetTopologyModifier name="Modifier" />
         <TetrahedronSetGeometryAlgorithms template="Vec3d" name="GeomAlgo" />
         
-        <BoxROI name="boxRoi1" box="80 0 -40  150 50 40" drawBoxes="1"/>
+        <BoxROI name="boxRoi1" box="0 -25 0  50 25 60" drawBoxes="1"/>
         <FixedConstraint indices="@boxRoi1.indices" />
         
         <FastTetrahedralCorotationalForceField name="FEM" youngModulus="2000" poissonRatio="0.3" method="large"/>
-        <DiagonalMass massDensity="0.001" />
+        <DiagonalMass massDensity="0.1" />
         <LinearSolverConstraintCorrection />
         
         <Node name="Surface">