diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/integrationscheme/AccelerationBasedImplicitIntegrationScheme.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/integrationscheme/AccelerationBasedImplicitIntegrationScheme.cpp
index a3cb39311ae..9488cb2c10b 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/integrationscheme/AccelerationBasedImplicitIntegrationScheme.cpp
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/integrationscheme/AccelerationBasedImplicitIntegrationScheme.cpp
@@ -27,6 +27,7 @@
 #include <sofa/helper/AdvancedTimer.h>
 #include <sofa/helper/ScopedAdvancedTimer.h>
 #include <sofa/simulation/mechanicalvisitor/MechanicalGetNonDiagonalMassesCountVisitor.h>
+#include <sofa/simulation/mechanicalvisitor/MechanicalVOpVisitor.h>
 
 using sofa::simulation::mechanicalvisitor::MechanicalGetNonDiagonalMassesCountVisitor;
 
@@ -46,8 +47,13 @@ void AccelerationBasedImplicitIntegrationScheme::doSetupIntegrationStep(const co
 
     // This is only there for lagrangian based simulation, to make sure we start using the real pose
     // instead of the free pos (same for velocity)
-    m_vop->v_eq(m_vResult, core::vec_id::write_access::velocity);
-    m_vop->v_eq(m_xResult, core::vec_id::write_access::position);
+    simulation::mechanicalvisitor::MechanicalVOpVisitor copyPoseInFreePose(params, m_xResult, core::vec_id::write_access::position);
+    simulation::mechanicalvisitor::MechanicalVOpVisitor copyVelInFreeVel(params, m_vResult, core::vec_id::write_access::velocity);
+    copyVelInFreeVel.setMapped(true);
+    copyPoseInFreePose.setMapped(true);
+    this->getContext()->executeVisitor(&copyPoseInFreePose);
+    this->getContext()->executeVisitor(&copyVelInFreeVel);
+
 
     // Deal with higher order integration scheme
     const Size order = getIntegrationSchemeTimeOrder();
diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/integrationscheme/VelocityBasedImplicitIntegrationScheme.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/integrationscheme/VelocityBasedImplicitIntegrationScheme.cpp
index 18ecc22bb96..070e2025dc3 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/integrationscheme/VelocityBasedImplicitIntegrationScheme.cpp
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/integrationscheme/VelocityBasedImplicitIntegrationScheme.cpp
@@ -28,6 +28,7 @@
 #include <sofa/helper/ScopedAdvancedTimer.h>
 #include <sofa/simulation/mechanicalvisitor/MechanicalGetNonDiagonalMassesCountVisitor.h>
 using sofa::simulation::mechanicalvisitor::MechanicalGetNonDiagonalMassesCountVisitor;
+#include <sofa/simulation/mechanicalvisitor/MechanicalVOpVisitor.h>
 
 namespace sofa::simulation::integrationscheme
 {
@@ -65,9 +66,12 @@ void VelocityBasedImplicitIntegrationScheme::doSetupIntegrationStep(const core::
 
     // This is only there for lagrangian based simulation, to make sure we start using the real pose
     // instead of the free pos (same for velocity)
-
-    m_vop->v_eq(m_vResult, core::vec_id::write_access::velocity);
-    m_vop->v_eq(m_xResult, core::vec_id::write_access::position);
+    simulation::mechanicalvisitor::MechanicalVOpVisitor copyPoseInFreePose(params, m_xResult, core::vec_id::write_access::position);
+    simulation::mechanicalvisitor::MechanicalVOpVisitor copyVelInFreeVel(params, m_vResult, core::vec_id::write_access::velocity);
+    copyVelInFreeVel.setMapped(true);
+    copyPoseInFreePose.setMapped(true);
+    this->getContext()->executeVisitor(&copyPoseInFreePose);
+    this->getContext()->executeVisitor(&copyVelInFreeVel);
 
     // Deal with higher order integration scheme
     const Size order = getIntegrationSchemeTimeOrder();