diff --git a/src/SoftRobots/component/behavior/SoftRobotsBaseConstraint.cpp b/src/SoftRobots/component/behavior/SoftRobotsBaseConstraint.cpp
index 0a4fcb79..df40ee8c 100644
--- a/src/SoftRobots/component/behavior/SoftRobotsBaseConstraint.cpp
+++ b/src/SoftRobots/component/behavior/SoftRobotsBaseConstraint.cpp
@@ -40,7 +40,7 @@ SoftRobotsBaseConstraint::SoftRobotsBaseConstraint()
     , m_hasLambdaMin(false)
     , m_hasLambdaEqual(false)
     , m_hasLambdaInit(false)
-    , m_hasEpsilon(false)
+    , m_hasEnergyWeight(false)
 {
     d_constraintIndex.setReadOnly(true);
 }
@@ -83,9 +83,9 @@ bool SoftRobotsBaseConstraint::hasLambdaInit() const
 }
 
 
-bool SoftRobotsBaseConstraint::hasEpsilon() const
+bool SoftRobotsBaseConstraint::hasEnergyWeight() const
 {
-    return m_hasEpsilon;
+    return m_hasEnergyWeight;
 }
 
 
@@ -127,9 +127,9 @@ SReal SoftRobotsBaseConstraint::getLambdaInit(const size_t i) const
 }
 
 
-SReal SoftRobotsBaseConstraint::getEpsilon() const
+SReal SoftRobotsBaseConstraint::getEnergyWeight() const
 {
-    return m_epsilon;
+    return m_energyWeight;
 }
 
 
diff --git a/src/SoftRobots/component/behavior/SoftRobotsBaseConstraint.h b/src/SoftRobots/component/behavior/SoftRobotsBaseConstraint.h
index dd083cb8..21f92218 100644
--- a/src/SoftRobots/component/behavior/SoftRobotsBaseConstraint.h
+++ b/src/SoftRobots/component/behavior/SoftRobotsBaseConstraint.h
@@ -83,7 +83,7 @@ class SOFA_SOFTROBOTS_API SoftRobotsBaseConstraint : public sofa::core::behavior
 
 
     /// Returns if the constraint has an epsilon value that can be used to prioritize the constraint (for actuator with inverse problem)
-    bool hasEpsilon() const;
+    bool hasEnergyWeight() const;
 
 
     /// Accessor to maximum value of delta
@@ -110,7 +110,7 @@ class SOFA_SOFTROBOTS_API SoftRobotsBaseConstraint : public sofa::core::behavior
 
 
     /// Accessor to epsilon value that can be used to prioritize the constraint (for actuator with inverse problem)
-    SReal getEpsilon() const;
+    SReal getEnergyWeight() const;
 
 
 
@@ -148,7 +148,7 @@ class SOFA_SOFTROBOTS_API SoftRobotsBaseConstraint : public sofa::core::behavior
     bool m_hasLambdaEqual;
     bool m_hasLambdaInit;
 
-    bool m_hasEpsilon;
+    bool m_hasEnergyWeight;
 
     vector<double> m_deltaMax;
     vector<double> m_deltaMin;
@@ -159,7 +159,7 @@ class SOFA_SOFTROBOTS_API SoftRobotsBaseConstraint : public sofa::core::behavior
     vector<double> m_lambdaEqual;
     vector<double> m_lambdaInit;
 
-    double m_epsilon;
+    double m_energyWeight;
 };
 
 } // namespace