diff --git a/scenes/NeedleInsertion.py b/scenes/NeedleInsertion.py
index 82dd58ef..048216f6 100644
--- a/scenes/NeedleInsertion.py
+++ b/scenes/NeedleInsertion.py
@@ -60,7 +60,7 @@ def createScene(root):
     root.addObject("ConstraintAttachButtonSetting")
     root.addObject("VisualStyle", displayFlags="showVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields showWireframe showInteractionForceFields" )
     root.addObject("FreeMotionAnimationLoop")
-    root.addObject("GenericConstraintSolver", tolerance=1e-5, maxIt=5000)
+    root.addObject("ProjectedGaussSeidelConstraintSolver", tolerance=1e-5, maxIt=5000)
     root.addObject("CollisionLoop")
 
     needleBaseMaster = root.addChild("NeedleBaseMaster")
diff --git a/scenes/NeedleInsertionCycles.py b/scenes/NeedleInsertionCycles.py
index 1e3656dc..e245e1f5 100644
--- a/scenes/NeedleInsertionCycles.py
+++ b/scenes/NeedleInsertionCycles.py
@@ -60,7 +60,7 @@ def createScene(root):
     root.addObject("ConstraintAttachButtonSetting")
     root.addObject("VisualStyle", displayFlags="showVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields showWireframe showInteractionForceFields" )
     root.addObject("FreeMotionAnimationLoop")
-    root.addObject("GenericConstraintSolver", tolerance=0.00001, maxIt=5000, printLog=False, computeConstraintForces=True)
+    root.addObject("ProjectedGaussSeidelConstraintSolver", tolerance=0.00001, maxIt=5000, printLog=False, computeConstraintForces=True)
     root.addObject("CollisionLoop")
 
     needleBaseMaster = root.addChild("NeedleBaseMaster")
diff --git a/scenes/NeedleInsertionHaptics.py b/scenes/NeedleInsertionHaptics.py
index f3ea9a72..7da87449 100644
--- a/scenes/NeedleInsertionHaptics.py
+++ b/scenes/NeedleInsertionHaptics.py
@@ -65,7 +65,7 @@ def createScene(root):
     root.addObject("ConstraintAttachButtonSetting")
     root.addObject("VisualStyle", displayFlags="showVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields showWireframe showInteractionForceFields" )
     root.addObject("FreeMotionAnimationLoop")
-    root.addObject("GenericConstraintSolver", tolerance=0.00001, maxIt=5000, regularizationTerm=0.001)
+    root.addObject("ProjectedGaussSeidelConstraintSolver", tolerance=0.00001, maxIt=5000)#, regularizationTerm=0.001)
     root.addObject("CollisionLoop")
 
     toolController = root.addChild("ToolController")
@@ -157,11 +157,11 @@ def createScene(root):
     FFCollision = FF.addChild("Collision")
     FFCollision.addObject("EdgeSetTopologyContainer", name="Container", src="@../../Needle/bodyCollision/Container_body")
     FFCollision.addObject("MechanicalObject", name="mstate_coli", constraint="@../../Needle/bodyCollision/mstate_body.constraint")
-    FFCollision.addObject("RigidMapping")
+    FFCollision.addObject("RigidMapping", globalToLocalCoords=True)
     FFTip = FF.addChild("Tip")
     FFTip.addObject("PointSetTopologyContainer", name="Container", src="@../../Needle/tipCollision/Container_tip")
     FFTip.addObject("MechanicalObject", name="mstate_coli", constraint="@../../Needle/tipCollision/mstate_tip.constraint")
-    FFTip.addObject("RigidMapping")
+    FFTip.addObject("RigidMapping", globalToLocalCoords=True)
 
     volume = root.addChild("Volume")
     volume.addObject("EulerImplicitSolver")