diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.cpp b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.cpp
index 30a0efcfdcd..fddcc8fde5c 100644
--- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.cpp
@@ -264,7 +264,10 @@ void GenericConstraintCorrection::applyPredictiveConstraintForce(const Constrain
 
 void GenericConstraintCorrection::resetContactForce(){}
 
-int GenericConstraintCorrectionClass = RegisterObject("")
-    .add< GenericConstraintCorrection >();
+void registerGenericConstraintCorrection(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Generic Constraint Correction.")
+        .add< GenericConstraintCorrection >());
+}
 
 } //namespace sofa::component::constraint::lagrangian::correction
diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.cpp b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.cpp
index 86e7a2b64d9..55c270756bd 100644
--- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.cpp
@@ -27,20 +27,21 @@
 
 namespace sofa::component::constraint::lagrangian::correction
 {
+
 using namespace sofa::defaulttype;
 
-int LinearSolverContactCorrectionClass = core::RegisterObject("")
+void registerLinearSolverConstraintCorrection(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Constraint Correction for Linear Solvers.")
         .add< LinearSolverConstraintCorrection<Vec3Types> >()
         .add< LinearSolverConstraintCorrection<Vec2Types> >()
         .add< LinearSolverConstraintCorrection<Vec1Types> >()
-        .add< LinearSolverConstraintCorrection<Rigid3Types> >()
+        .add< LinearSolverConstraintCorrection<Rigid3Types> >());
+}
 
-        ;
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API LinearSolverConstraintCorrection<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API LinearSolverConstraintCorrection<Vec2Types>;
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API LinearSolverConstraintCorrection<Vec1Types>;
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API LinearSolverConstraintCorrection<Rigid3Types>;
 
-
-
 } //namespace sofa::component::constraint::lagrangian::correction
diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.cpp b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.cpp
index f276fe52a75..9a69337d036 100644
--- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.cpp
@@ -121,17 +121,15 @@ SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API void PrecomputedConstraintCo
 {
 }
 
-
-
-
 using namespace sofa::defaulttype;
 
-int PrecomputedConstraintCorrectionClass = core::RegisterObject("Component computing constraint forces within a simulated body using the compliance method.")
+void registerPrecomputedConstraintCorrection(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Component precomputing constraint forces within a simulated body using the compliance method.")
         .add< PrecomputedConstraintCorrection<Vec3Types> >()
         .add< PrecomputedConstraintCorrection<Vec1Types> >()
-        .add< PrecomputedConstraintCorrection<Rigid3Types> >()
-
-        ;
+        .add< PrecomputedConstraintCorrection<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API PrecomputedConstraintCorrection<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API PrecomputedConstraintCorrection<Vec1Types>;
diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.cpp b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.cpp
index bfa4e4ec3e1..541d30d660b 100644
--- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.cpp
@@ -155,13 +155,14 @@ SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API void UncoupledConstraintCorr
     }
 }
 
-
-int UncoupledConstraintCorrectionClass = core::RegisterObject("Component computing constraint forces within a simulated body using the compliance method.")
+void registerUncoupledConstraintCorrection(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Component computing constraint forces within a simulated body using the compliance method.")
         .add< UncoupledConstraintCorrection< Vec1Types > >()
         .add< UncoupledConstraintCorrection< Vec2Types > >()
         .add< UncoupledConstraintCorrection< Vec3Types > >()
-        .add< UncoupledConstraintCorrection< Rigid3Types > >()
-    ;
+        .add< UncoupledConstraintCorrection< Rigid3Types > >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API UncoupledConstraintCorrection< Vec1Types >;
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API UncoupledConstraintCorrection< Vec2Types >;
diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/init.cpp b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/init.cpp
index 814cfc507c7..a0173c9e2b2 100644
--- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/init.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/init.cpp
@@ -21,13 +21,21 @@
 ******************************************************************************/
 #include <sofa/component/constraint/lagrangian/correction/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::constraint::lagrangian::correction
 {
 
+extern void registerGenericConstraintCorrection(sofa::core::ObjectFactory* factory);
+extern void registerLinearSolverConstraintCorrection(sofa::core::ObjectFactory* factory);
+extern void registerPrecomputedConstraintCorrection(sofa::core::ObjectFactory* factory);
+extern void registerUncoupledConstraintCorrection(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +53,22 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerGenericConstraintCorrection(factory);
+    registerLinearSolverConstraintCorrection(factory);
+    registerPrecomputedConstraintCorrection(factory);
+    registerUncoupledConstraintCorrection(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.cpp
index 9d9c5a28167..e6932abfdae 100644
--- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.cpp
@@ -317,12 +317,12 @@ void BilateralLagrangianConstraint<defaulttype::Rigid3Types>::addContact(Deriv n
                                                                         id, localid) ;
 }
 
-
-
-int BilateralLagrangianConstraintClass = core::RegisterObject("BilateralLagrangianConstraint defining an holonomic equality constraint (attachment)")
+void registerBilateralLagrangianConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("BilateralLagrangianConstraint defining an holonomic equality constraint (attachment).")
         .add< BilateralLagrangianConstraint<Vec3Types> >()
-        .add< BilateralLagrangianConstraint<Rigid3Types> >()
-        ;
+        .add< BilateralLagrangianConstraint<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BilateralLagrangianConstraint<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BilateralLagrangianConstraint<Rigid3Types>;
diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/FixedLagrangianConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/FixedLagrangianConstraint.cpp
index dd1c908d3cd..34c719a02dd 100644
--- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/FixedLagrangianConstraint.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/FixedLagrangianConstraint.cpp
@@ -237,14 +237,15 @@ void FixedLagrangianConstraint<Rigid3Types>::doGetSingleConstraintResolution(std
     offset += 3;
 }
 
-
-
-int FixedLagrangianConstraintClass = core::RegisterObject("Lagrangian-based fixation of DOFs of the model")
+void registerFixedLagrangianConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Lagrangian-based fixation of DOFs of the model.")
         .add< FixedLagrangianConstraint<Vec6Types> >()
         .add< FixedLagrangianConstraint<Vec3Types> >()
         .add< FixedLagrangianConstraint<Vec2Types> >()
         .add< FixedLagrangianConstraint<Vec1Types> >()
-        .add< FixedLagrangianConstraint<Rigid3Types> >();
+        .add< FixedLagrangianConstraint<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API FixedLagrangianConstraint<Vec6Types>;
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API FixedLagrangianConstraint<Vec3Types>;
diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.cpp
index 86f42c1935b..d004c21de25 100644
--- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.cpp
@@ -30,12 +30,13 @@ namespace sofa::component::constraint::lagrangian::model
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-int SlidingLagrangianConstraintClass = core::RegisterObject("TODO-SlidingLagrangianConstraint")
-        .add< SlidingLagrangianConstraint<Vec3Types> >(true);
+void registerSlidingLagrangianConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Lagrangian-based partial fixation of DOFs of the model, along an axis.")
+        .add< SlidingLagrangianConstraint<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API SlidingLagrangianConstraint<Vec3Types>;
 
-
 } //namespace sofa::component::constraint::lagrangian::model
diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.cpp
index 431a80e8428..097d012e46f 100644
--- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.cpp
@@ -29,14 +29,13 @@ namespace sofa::component::constraint::lagrangian::model
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-int StopperLagrangianConstraintClass = core::RegisterObject("TODO-StopperLagrangianConstraint")
-        .add< StopperLagrangianConstraint<Vec1Types> >()
-
-        ;
+void registerStopperLagrangianConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Lagrangian-based constraint forcing a 1D DoF to be  inside a given range.")
+        .add< StopperLagrangianConstraint<Vec1Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API StopperLagrangianConstraint<Vec1Types>;
 
-
 } //namespace sofa::component::constraint::lagrangian::model
diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.cpp
index eb993968042..1c9265e65ef 100644
--- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.cpp
@@ -28,9 +28,11 @@
 namespace sofa::component::constraint::lagrangian::model
 {
 
-int UniformLagrangianConstraintClass = sofa::core::RegisterObject("A constraint equation applied on all dofs.")
-.add< UniformLagrangianConstraint<sofa::defaulttype::Vec1Types> >()
-;
+void registerUniformLagrangianConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("A constraint equation applied on all dofs.")
+        .add< UniformLagrangianConstraint<sofa::defaulttype::Vec1Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API UniformLagrangianConstraint<sofa::defaulttype::Vec1Types>;
 
diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.cpp
index 911955ed2e5..ab1fa1724c8 100644
--- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.cpp
@@ -28,14 +28,12 @@ namespace sofa::component::constraint::lagrangian::model
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
-
-//TODO(dmarchal) What does this TODO mean ?
-int UnilateralLagrangianConstraintClass = core::RegisterObject("TODO-UnilateralLagrangianConstraint")
-        .add< UnilateralLagrangianConstraint<Vec3Types> >()
-
-        ;
 
+void registerUnilateralLagrangianConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Lagrangian-based inequality constraint")
+        .add< UnilateralLagrangianConstraint<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API UnilateralLagrangianConstraint<Vec3Types>;
 
diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/init.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/init.cpp
index 4e24afdcaad..de09f9f65d9 100644
--- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/init.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/init.cpp
@@ -21,13 +21,23 @@
 ******************************************************************************/
 #include <sofa/component/constraint/lagrangian/model/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::constraint::lagrangian::model
 {
 
+extern void registerBilateralLagrangianConstraint(sofa::core::ObjectFactory* factory);
+extern void registerFixedLagrangianConstraint(sofa::core::ObjectFactory* factory);
+extern void registerSlidingLagrangianConstraint(sofa::core::ObjectFactory* factory);
+extern void registerStopperLagrangianConstraint(sofa::core::ObjectFactory* factory);
+extern void registerUniformLagrangianConstraint(sofa::core::ObjectFactory* factory);
+extern void registerUnilateralLagrangianConstraint(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +55,24 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerBilateralLagrangianConstraint(factory);
+    registerFixedLagrangianConstraint(factory);
+    registerSlidingLagrangianConstraint(factory);
+    registerStopperLagrangianConstraint(factory);
+    registerUniformLagrangianConstraint(factory);
+    registerUnilateralLagrangianConstraint(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp
index 7a60a110c4e..81506a5b8f3 100644
--- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp
@@ -617,8 +617,10 @@ sofa::core::MultiVecDerivId GenericConstraintSolver::getDx() const
     return m_dxId;
 }
 
-
-int GenericConstraintSolverClass = core::RegisterObject("A Generic Constraint Solver using the Linear Complementarity Problem formulation to solve Constraint based components")
-        .add< GenericConstraintSolver >();
+void registerGenericConstraintSolver(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("A Generic Constraint Solver using the Linear Complementarity Problem formulation to solve Constraint based components")
+        .add< GenericConstraintSolver >());
+}
 
 } //namespace sofa::component::constraint::lagrangian::solver
diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp
index 88176a20a26..c5ce582ddc6 100644
--- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp
@@ -1331,7 +1331,10 @@ void LCPConstraintSolver::draw(const core::visual::VisualParams* vparams)
 
 }
 
-int LCPConstraintSolverClass = core::RegisterObject("A Constraint Solver using the Linear Complementarity Problem formulation to solve BaseConstraint based components")
-        .add< LCPConstraintSolver >();
+void registerLCPConstraintSolver(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("A Constraint Solver using the Linear Complementarity Problem formulation to solve BaseConstraint based components.")
+        .add< LCPConstraintSolver >());
+}
 
 } //namespace sofa::component::constraint::lagrangian::solver
diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/init.cpp b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/init.cpp
index 49035665928..d814d090dd3 100644
--- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/init.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/init.cpp
@@ -21,14 +21,19 @@
 ******************************************************************************/
 #include <sofa/component/constraint/lagrangian/solver/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
 
 namespace sofa::component::constraint::lagrangian::solver
 {
 
+extern void registerGenericConstraintSolver(sofa::core::ObjectFactory* factory);
+extern void registerLCPConstraintSolver(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -46,11 +51,20 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerGenericConstraintSolver(factory);
+    registerLCPConstraintSolver(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Constraint/Lagrangian/src/sofa/component/constraint/lagrangian/init.cpp b/Sofa/Component/Constraint/Lagrangian/src/sofa/component/constraint/lagrangian/init.cpp
index db4109f59f4..b0f8cbd6009 100644
--- a/Sofa/Component/Constraint/Lagrangian/src/sofa/component/constraint/lagrangian/init.cpp
+++ b/Sofa/Component/Constraint/Lagrangian/src/sofa/component/constraint/lagrangian/init.cpp
@@ -21,10 +21,13 @@
 ******************************************************************************/
 #include <sofa/component/constraint/lagrangian/init.h>
 
-#include <sofa/component/constraint/lagrangian/model/init.h>
 #include <sofa/component/constraint/lagrangian/correction/init.h>
+#include <sofa/component/constraint/lagrangian/model/init.h>
 #include <sofa/component/constraint/lagrangian/solver/init.h>
 
+#include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::constraint::lagrangian
 {
 
@@ -32,6 +35,7 @@ extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -49,15 +53,26 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjectsFromPlugin("Sofa.Component.Constraint.Lagrangian.Correction");
+    factory->registerObjectsFromPlugin("Sofa.Component.Constraint.Lagrangian.Model");
+    factory->registerObjectsFromPlugin("Sofa.Component.Constraint.Lagrangian.Solver");
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
         // force dependencies at compile-time
-        sofa::component::constraint::lagrangian::model::init();
         sofa::component::constraint::lagrangian::correction::init();
+        sofa::component::constraint::lagrangian::model::init();
         sofa::component::constraint::lagrangian::solver::init();
+
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.cpp
index a34416970dc..92545757a7d 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.cpp
@@ -31,10 +31,12 @@
 namespace sofa::component::constraint::projective
 {
 
-int AffineMovementProjectiveConstraintRegister = core::RegisterObject("Constraint the movement by a rigid transform.")
+void registerAffineMovementProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Constraint the movement by a rigid transform.")
         .add< AffineMovementProjectiveConstraint<defaulttype::Vec3Types> >()
-        .add< AffineMovementProjectiveConstraint<defaulttype::Rigid3Types> >()
-        ;
+        .add< AffineMovementProjectiveConstraint<defaulttype::Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AffineMovementProjectiveConstraint<defaulttype::Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AffineMovementProjectiveConstraint<defaulttype::Rigid3Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.cpp
index 2c2683c9d1c..6fa5cd004f7 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.cpp
@@ -28,15 +28,16 @@ namespace sofa::component::constraint::projective
 
 using namespace sofa::type;
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-int AttachProjectiveConstraintClass = core::RegisterObject("Attach given pair of particles, projecting the positions of the second particles to the first ones")
+void registerAttachProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Attach given pair of particles, projecting the positions of the second particles to the first ones.")
         .add< AttachProjectiveConstraint<Vec3Types> >()
         .add< AttachProjectiveConstraint<Vec2Types> >()
         .add< AttachProjectiveConstraint<Vec1Types> >()
         .add< AttachProjectiveConstraint<Rigid3Types> >()
-        .add< AttachProjectiveConstraint<Rigid2Types> >()
-        ;
+        .add< AttachProjectiveConstraint<Rigid2Types> >());
+}
 
 template <> SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API
 void AttachProjectiveConstraint<Rigid3Types>::calcRestRotations()
@@ -67,6 +68,4 @@ template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachProjectiveConstrai
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachProjectiveConstraint<Rigid3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachProjectiveConstraint<Rigid2Types>;
 
-
-
 } // namespace sofa::component::constraint::projective
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.cpp
index 2d0a68442dd..7b080f6ea8e 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.cpp
@@ -29,16 +29,15 @@ namespace sofa::component::constraint::projective
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-
-int DirectionProjectiveConstraintClass = core::RegisterObject("Attach given particles to their initial positions")
+void registerDirectionProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Attach given particles to their initial positions.")
         .add< DirectionProjectiveConstraint<Vec3Types> >()
-        .add< DirectionProjectiveConstraint<Vec2Types> >()
-        ;
+        .add< DirectionProjectiveConstraint<Vec2Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API DirectionProjectiveConstraint<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API DirectionProjectiveConstraint<Vec2Types>;
 
-
 } // namespace sofa::component::constraint::projective
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.cpp
index ab9c9e49cc6..14fd1b6c8e6 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.cpp
@@ -29,15 +29,14 @@ namespace sofa::component::constraint::projective
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-
-int FixedPlaneProjectiveConstraintClass = core::RegisterObject("Project particles on a given plane")
+void registerFixedPlaneProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Project particles on a given plane.")
         .add< FixedPlaneProjectiveConstraint<Rigid3Types> >()
         .add< FixedPlaneProjectiveConstraint<Vec3Types> >()
-        .add< FixedPlaneProjectiveConstraint<Vec6Types> >()
-
-        ;
+        .add< FixedPlaneProjectiveConstraint<Vec6Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedPlaneProjectiveConstraint<defaulttype::Rigid3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedPlaneProjectiveConstraint<defaulttype::Vec3Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.cpp
index 86f1a9bca7d..1854302ef87 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.cpp
@@ -31,15 +31,16 @@ namespace sofa::component::constraint::projective
 using namespace sofa::defaulttype;
 using namespace sofa::helper;
 
-
-int FixedProjectiveConstraintClass = core::RegisterObject("Attach given particles to their initial positions")
+void registerFixedProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Attach given particles to their initial positions.")
         .add< FixedProjectiveConstraint<Vec3Types> >()
         .add< FixedProjectiveConstraint<Vec2Types> >()
         .add< FixedProjectiveConstraint<Vec1Types> >()
         .add< FixedProjectiveConstraint<Vec6Types> >()
         .add< FixedProjectiveConstraint<Rigid3Types> >()
-        .add< FixedProjectiveConstraint<Rigid2Types> >()
-        ;
+        .add< FixedProjectiveConstraint<Rigid2Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint<Vec2Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.cpp
index d812af0e473..d0fd218cd2b 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.cpp
@@ -30,11 +30,11 @@ namespace sofa::component::constraint::projective
 
 using namespace sofa::defaulttype;
 
-
-int FixedRotationProjectiveConstraintClass = core::RegisterObject("Prevents rotation around x or/and y or/and z axis")
-        .add< FixedRotationProjectiveConstraint<Rigid3Types> >()
-
-        ;
+void registerFixedRotationProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Prevents rotation around x or/and y or/and z axis.")
+        .add< FixedRotationProjectiveConstraint<Rigid3Types> >());
+}
 
 template class FixedRotationProjectiveConstraint<Rigid3Types>;
 
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.cpp
index e65ea931ed2..a443ae956d4 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.cpp
@@ -29,17 +29,17 @@ namespace sofa::component::constraint::projective
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-int FixedTranslationProjectiveConstraintClass = core::RegisterObject("Attach given rigids to their initial positions but they still can have rotations")
+void registerFixedTranslationProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Attach given rigids to their initial positions but they still can have rotations.")
         .add< FixedTranslationProjectiveConstraint<Rigid3Types> >()
         .add< FixedTranslationProjectiveConstraint<Rigid2Types> >()
-        .add< FixedTranslationProjectiveConstraint<Vec6Types> >()
-    ;
+        .add< FixedTranslationProjectiveConstraint<Vec6Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedTranslationProjectiveConstraint<Rigid3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedTranslationProjectiveConstraint<Rigid2Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedTranslationProjectiveConstraint<Vec6Types>;
 
-
 } // namespace sofa::component::constraint::projective
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.cpp
index aa10b586bf7..31c43fcdc3f 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.cpp
@@ -28,12 +28,14 @@
 namespace sofa::component::constraint::projective
 {
 
-int HermiteSplineProjectiveConstraintClass = core::RegisterObject("Apply a hermite cubic spline trajectory to given points")
+void registerHermiteSplineProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Apply a hermite cubic spline trajectory to given points.")
         .add< HermiteSplineProjectiveConstraint<defaulttype::Vec3Types> >()
-        .add< HermiteSplineProjectiveConstraint<defaulttype::Rigid3Types> >()
-        ;
+        .add< HermiteSplineProjectiveConstraint<defaulttype::Rigid3Types> >());
+}
 
-template <>
+template <> SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API
 void HermiteSplineProjectiveConstraint<defaulttype::Rigid3Types>::init()
 {
     this->core::behavior::ProjectiveConstraintSet<defaulttype::Rigid3Types>::init();
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.cpp
index e22a8f51b56..b36ebda8f53 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.cpp
@@ -27,13 +27,13 @@ namespace sofa::component::constraint::projective
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-
-int LineProjectiveConstraintClass = core::RegisterObject("Attach given particles to their initial positions")
+void registerLineProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Attach given particles to their initial positions.")
         .add< LineProjectiveConstraint<Vec3Types> >()
-        .add< LineProjectiveConstraint<Vec2Types> >()
-        ;
+        .add< LineProjectiveConstraint<Vec2Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LineProjectiveConstraint<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LineProjectiveConstraint<Vec2Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.cpp
index e3f98526572..15318052280 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.cpp
@@ -40,16 +40,15 @@ void LinearMovementProjectiveConstraint<defaulttype::Rigid3Types>::init()
     finished = false;
 }
 
-
-//declaration of the class, for the factory
-int LinearMovementProjectiveConstraintClass = core::RegisterObject("translate given particles")
+void registerLinearMovementProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Impose a motion to given DOFs (translation and rotation).")
         .add< LinearMovementProjectiveConstraint<defaulttype::Vec3Types> >()
         .add< LinearMovementProjectiveConstraint<defaulttype::Vec2Types> >()
         .add< LinearMovementProjectiveConstraint<defaulttype::Vec1Types> >()
         .add< LinearMovementProjectiveConstraint<defaulttype::Vec6Types> >()
-        .add< LinearMovementProjectiveConstraint<defaulttype::Rigid3Types> >()
-    ;
-
+        .add< LinearMovementProjectiveConstraint<defaulttype::Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementProjectiveConstraint<defaulttype::Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementProjectiveConstraint<defaulttype::Vec2Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.cpp
index 5c8c0ef4a29..ceca8557230 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.cpp
@@ -29,16 +29,16 @@ namespace sofa::component::constraint::projective
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-//declaration of the class, for the factory
-int LinearVelocityProjectiveConstraintClass = core::RegisterObject("apply velocity to given particles")
+void registerLinearVelocityProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Impose a velocity to given DOFs (translation and rotation).")
         .add< LinearVelocityProjectiveConstraint<Vec3Types> >()
         .add< LinearVelocityProjectiveConstraint<Vec2Types> >()
         .add< LinearVelocityProjectiveConstraint<Vec1Types> >()
         .add< LinearVelocityProjectiveConstraint<Vec6Types> >()
-        .add< LinearVelocityProjectiveConstraint<Rigid3Types> >()
-        ;
+        .add< LinearVelocityProjectiveConstraint<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityProjectiveConstraint<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityProjectiveConstraint<Vec2Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.cpp
index 967fb6e369d..39643c5d9e5 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.cpp
@@ -29,12 +29,13 @@ namespace sofa::component::constraint::projective
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-int OscillatorProjectiveConstraintClass = core::RegisterObject("Apply a sinusoidal trajectory to given points")
+void registerOscillatorProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Apply a sinusoidal trajectory to given points.")
         .add< OscillatorProjectiveConstraint<Vec3Types> >()
-        .add< OscillatorProjectiveConstraint<Rigid3Types> >()
-    ;
+        .add< OscillatorProjectiveConstraint<Rigid3Types> >());
+}
 
 template class OscillatorProjectiveConstraint<Rigid3Types>;
 template class OscillatorProjectiveConstraint<Vec3Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.cpp
index 47503a2d77f..1e3b78c67be 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.cpp
@@ -28,10 +28,12 @@
 namespace sofa::component::constraint::projective
 {
 
-int ParabolicProjectiveConstraintClass = core::RegisterObject("Apply a parabolic trajectory to given points")
+void registerParabolicProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Apply a parabolic trajectory to given points.")
         .add< ParabolicProjectiveConstraint<defaulttype::Vec3Types> >()
-        .add< ParabolicProjectiveConstraint<defaulttype::Rigid3Types> >()
-    ;
+        .add< ParabolicProjectiveConstraint<defaulttype::Rigid3Types> >());
+}
 
 template class ParabolicProjectiveConstraint<defaulttype::Rigid3Types>;
 template class ParabolicProjectiveConstraint<defaulttype::Vec3Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.cpp
index a28195e0254..8d2b1ff8d8e 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.cpp
@@ -28,17 +28,17 @@ namespace sofa::component::constraint::projective
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-
-int PartialFixedProjectiveConstraintClass = core::RegisterObject("Attach given particles to their initial positions")
+void registerPartialFixedProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Attach given particles to their initial positions, in some directions only.")
         .add< PartialFixedProjectiveConstraint<Vec3Types> >()
         .add< PartialFixedProjectiveConstraint<Vec2Types> >()
         .add< PartialFixedProjectiveConstraint<Vec1Types> >()
         .add< PartialFixedProjectiveConstraint<Vec6Types> >()
         .add< PartialFixedProjectiveConstraint<Rigid3Types> >()
-        .add< PartialFixedProjectiveConstraint<Rigid2Types> >()
-        ;
+        .add< PartialFixedProjectiveConstraint<Rigid2Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedProjectiveConstraint<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedProjectiveConstraint<Vec2Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.cpp
index fed36af54b7..493333c1080 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.cpp
@@ -28,14 +28,15 @@
 namespace sofa::component::constraint::projective
 {
 
-//declaration of the class, for the factory
-int PartialLinearMovementProjectiveConstraintClass = core::RegisterObject("translate given particles")
+void registerPartialLinearMovementProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Impose a motion to given DOFs (translation and rotation) in some directions only.")
         .add< PartialLinearMovementProjectiveConstraint<defaulttype::Vec3Types> >()
         .add< PartialLinearMovementProjectiveConstraint<defaulttype::Vec2Types> >()
         .add< PartialLinearMovementProjectiveConstraint<defaulttype::Vec1Types> >()
         .add< PartialLinearMovementProjectiveConstraint<defaulttype::Vec6Types> >()
-        .add< PartialLinearMovementProjectiveConstraint<defaulttype::Rigid3Types> >()
-        ;
+        .add< PartialLinearMovementProjectiveConstraint<defaulttype::Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementProjectiveConstraint<defaulttype::Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementProjectiveConstraint<defaulttype::Vec2Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.cpp
index 3b17d682ecd..461d47e8676 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.cpp
@@ -28,11 +28,12 @@
 namespace sofa::component::constraint::projective
 {
 
-//declaration of the class, for the factory
-int PatchTestMovementProjectiveConstraintClass = core::RegisterObject("bilinear constraint")
+void registerPatchTestMovementProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Impose a motion to all the boundary points of a mesh.")
         .add< PatchTestMovementProjectiveConstraint<defaulttype::Vec3Types> >()
-        .add< PatchTestMovementProjectiveConstraint<defaulttype::Rigid3Types> >()
-        ;
+        .add< PatchTestMovementProjectiveConstraint<defaulttype::Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PatchTestMovementProjectiveConstraint<defaulttype::Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PatchTestMovementProjectiveConstraint<defaulttype::Rigid3Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.cpp
index dc33393e99f..7db51a5b85e 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.cpp
@@ -27,13 +27,13 @@ namespace sofa::component::constraint::projective
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-
-int PlaneProjectiveConstraintClass = core::RegisterObject("Attach given particles to their initial positions")
+void registerPlaneProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Project particles to an affine plane.")
         .add< PlaneProjectiveConstraint<Vec3Types> >()
-        .add< PlaneProjectiveConstraint<Vec2Types> >()
-        ;
+        .add< PlaneProjectiveConstraint<Vec2Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PlaneProjectiveConstraint<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PlaneProjectiveConstraint<Vec2Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.cpp
index cac90a54160..4d998b2ab03 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.cpp
@@ -29,15 +29,15 @@ namespace sofa::component::constraint::projective
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-
-int PointProjectiveConstraintClass = core::RegisterObject("Project particles to a point")
+void registerPointProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Project particles to a point")
         .add< PointProjectiveConstraint<Vec3Types> >()
         .add< PointProjectiveConstraint<Vec2Types> >()
         .add< PointProjectiveConstraint<Vec1Types> >()
-        .add< PointProjectiveConstraint<Vec6Types> >()
-        ;
+        .add< PointProjectiveConstraint<Vec6Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PointProjectiveConstraint<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PointProjectiveConstraint<Vec2Types>;
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.cpp
index 20d3cf9f3cd..21327d56cb8 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.cpp
@@ -32,26 +32,23 @@ namespace sofa::component::constraint::projective
 
 using namespace sofa::type;
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-
-int PositionBasedDynamicsProjectiveConstraintClass = core::RegisterObject("Position-based dynamics")
+void registerPositionBasedDynamicsProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Position-based dynamics")
 
         .add< PositionBasedDynamicsProjectiveConstraint<Vec3Types> >(true)
         .add< PositionBasedDynamicsProjectiveConstraint<Vec2Types> >()
         .add< PositionBasedDynamicsProjectiveConstraint<Vec1Types> >()
         .add< PositionBasedDynamicsProjectiveConstraint<Vec6Types> >()
-        .add< PositionBasedDynamicsProjectiveConstraint<Rigid3Types> >()
-        ;
+        .add< PositionBasedDynamicsProjectiveConstraint<Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint<Vec3Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint<Vec2Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint<Vec1Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint<Vec6Types>;
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint<Rigid3Types>;
-//template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint<Rigid2Types>;
-
-
 
 // specialization for rigids
 
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.cpp
index 7116610d74d..8c59b58b0ea 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.cpp
@@ -27,10 +27,11 @@
 namespace sofa::component::constraint::projective
 {
 
-//declaration of the class, for the factory
-int SkeletalMotionProjectiveConstraintClass = core::RegisterObject("animate a skeleton")
-        .add< SkeletalMotionProjectiveConstraint<defaulttype::Rigid3Types> >()
-        ;
+void registerSkeletalMotionProjectiveConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Animate a skeleton.")
+        .add< SkeletalMotionProjectiveConstraint<defaulttype::Rigid3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API SkeletalMotionProjectiveConstraint<defaulttype::Rigid3Types>;
 
diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/init.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/init.cpp
index b774107ac0f..466a4dee5ee 100644
--- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/init.cpp
+++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/init.cpp
@@ -21,13 +21,37 @@
 ******************************************************************************/
 #include <sofa/component/constraint/projective/init.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::constraint::projective
 {
 
+extern void registerAffineMovementProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerAttachProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerDirectionProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerFixedPlaneProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerFixedProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerFixedRotationProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerFixedTranslationProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerHermiteSplineProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerLinearMovementProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerLinearVelocityProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerLineProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerOscillatorProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerParabolicProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerPartialFixedProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerPartialLinearMovementProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerPatchTestMovementProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerPlaneProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerPointProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerPositionBasedDynamicsProjectiveConstraint(sofa::core::ObjectFactory* factory);
+extern void registerSkeletalMotionProjectiveConstraint(sofa::core::ObjectFactory* factory);
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -45,11 +69,38 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    registerAffineMovementProjectiveConstraint(factory);
+    registerAttachProjectiveConstraint(factory);
+    registerDirectionProjectiveConstraint(factory);
+    registerFixedPlaneProjectiveConstraint(factory);
+    registerFixedProjectiveConstraint(factory);
+    registerFixedRotationProjectiveConstraint(factory);
+    registerFixedTranslationProjectiveConstraint(factory);
+    registerHermiteSplineProjectiveConstraint(factory);
+    registerLinearMovementProjectiveConstraint(factory);
+    registerLinearVelocityProjectiveConstraint(factory);
+    registerLineProjectiveConstraint(factory);
+    registerOscillatorProjectiveConstraint(factory);
+    registerParabolicProjectiveConstraint(factory);
+    registerPartialFixedProjectiveConstraint(factory);
+    registerPartialLinearMovementProjectiveConstraint(factory);
+    registerPatchTestMovementProjectiveConstraint(factory);
+    registerPlaneProjectiveConstraint(factory);
+    registerPointProjectiveConstraint(factory);
+    registerPositionBasedDynamicsProjectiveConstraint(factory);
+    registerSkeletalMotionProjectiveConstraint(factory);
+}
+
 void init()
 {
     static bool first = true;
     if (first)
     {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/Constraint/src/sofa/component/constraint/init.cpp b/Sofa/Component/Constraint/src/sofa/component/constraint/init.cpp
index 3e5bad0fd96..73d6424d02b 100644
--- a/Sofa/Component/Constraint/src/sofa/component/constraint/init.cpp
+++ b/Sofa/Component/Constraint/src/sofa/component/constraint/init.cpp
@@ -24,6 +24,9 @@
 #include <sofa/component/constraint/lagrangian/init.h>
 #include <sofa/component/constraint/projective/init.h>
 
+#include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
 namespace sofa::component::constraint
 {
 
@@ -31,6 +34,7 @@ extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion();
+    SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory);
 }
 
 void initExternalModule()
@@ -48,6 +52,12 @@ const char* getModuleVersion()
     return MODULE_VERSION;
 }
 
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjectsFromPlugin("Sofa.Component.Constraint.Lagrangian");
+    factory->registerObjectsFromPlugin("Sofa.Component.Constraint.Projective");
+}
+
 void init()
 {
     static bool first = true;
@@ -57,6 +67,9 @@ void init()
         sofa::component::constraint::lagrangian::init();
         sofa::component::constraint::projective::init();
 
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+
         first = false;
     }
 }
diff --git a/Sofa/Component/src/sofa/component/init.cpp b/Sofa/Component/src/sofa/component/init.cpp
index 9f34dcdd8a3..6a19d4af83d 100644
--- a/Sofa/Component/src/sofa/component/init.cpp
+++ b/Sofa/Component/src/sofa/component/init.cpp
@@ -91,6 +91,7 @@ void registerObjects(sofa::core::ObjectFactory* factory)
     factory->registerObjectsFromPlugin("Sofa.Component.Engine");
     factory->registerObjectsFromPlugin("Sofa.Component.Collision");
     factory->registerObjectsFromPlugin("Sofa.Component.SolidMechanics");
+    factory->registerObjectsFromPlugin("Sofa.Component.Constraint");
 }
 
 void init()