diff --git a/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/CMakeLists.txt b/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/CMakeLists.txt
index db57d97fb7e..8c5cf6ddefe 100644
--- a/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/CMakeLists.txt
+++ b/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/CMakeLists.txt
@@ -7,6 +7,7 @@ set(HEADER_FILES
 )
 
 set(SOURCE_FILES
+    CapsuleModel_test.cpp
     OBB_test.cpp
 )
 
diff --git a/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/CapsuleModel_test.cpp b/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/CapsuleModel_test.cpp
new file mode 100644
index 00000000000..fb16017105e
--- /dev/null
+++ b/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/CapsuleModel_test.cpp
@@ -0,0 +1,33 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#include <gtest/gtest.h>
+#include <CollisionOBBCapsule/geometry/CapsuleModel.h>
+#include <sofa/core/ObjectFactory.h>
+
+TEST(CapsuleModel, creationFromFactory)
+{
+    const auto entry = sofa::core::ObjectFactory::getInstance()->getEntry("CapsuleCollisionModel");
+    const auto creatorRigid = entry.creatorMap.at("Rigid3d");
+
+    sofa::core::objectmodel::BaseObjectDescription desc;
+    const auto object = creatorRigid->createInstance(nullptr, &desc);
+}
diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.cpp b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.cpp
index 0a953579c8b..eaf17f99777 100644
--- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.cpp
+++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.cpp
@@ -29,7 +29,8 @@ namespace collisionobbcapsule::geometry
 using namespace sofa::defaulttype;
 
 int CapsuleCollisionModelClass = core::RegisterObject("Collision model which represents a set of Capsules")
-        .add< CapsuleCollisionModel<sofa::defaulttype::Vec3Types> >()
+    .add< CapsuleCollisionModel<sofa::defaulttype::Vec3Types> >()
+    .add< CapsuleCollisionModel<sofa::defaulttype::Rigid3Types> >()
         ;
 
 template class COLLISIONOBBCAPSULE_API TCapsule<defaulttype::Vec3Types>;
diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.h b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.h
index b76d977f3dd..0619a655d66 100644
--- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.h
+++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.h
@@ -103,6 +103,8 @@ class CapsuleCollisionModel : public core::CollisionModel
 
     CapsuleCollisionModel();
     CapsuleCollisionModel(core::behavior::MechanicalState<TDataTypes>* mstate );
+
+    ~CapsuleCollisionModel() override;
 public:
     void init() override;
 
@@ -153,11 +155,14 @@ class CapsuleCollisionModel : public core::CollisionModel
     template<class T>
     static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
     {
-        if (dynamic_cast<core::behavior::MechanicalState<TDataTypes>*>(context->getMechanicalState()) == nullptr && context->getMechanicalState() != nullptr)
+        if (context)
         {
-            arg->logError(std::string("No mechanical state with the datatype '") + DataTypes::Name() +
-                          "' found in the context node.");
-            return false;
+            if (dynamic_cast<core::behavior::MechanicalState<TDataTypes>*>(context->getMechanicalState()) == nullptr && context->getMechanicalState() != nullptr)
+            {
+                arg->logError(std::string("No mechanical state with the datatype '") + DataTypes::Name() +
+                              "' found in the context node.");
+                return false;
+            }
         }
 
         return BaseObject::canCreate(obj, context, arg);
diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.inl b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.inl
index 2d279b45b8e..c67b25ec740 100644
--- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.inl
+++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.inl
@@ -47,6 +47,10 @@ CapsuleCollisionModel<DataTypes>::CapsuleCollisionModel(core::behavior::Mechanic
     enum_type = CAPSULE_TYPE;
 }
 
+template <class TDataTypes>
+CapsuleCollisionModel<TDataTypes>::~CapsuleCollisionModel()
+{}
+
 template<class DataTypes>
 void CapsuleCollisionModel<DataTypes>::resize(sofa::Size size)
 {