diff --git a/doc/AdaptiveBeamMapping_00000001.png b/doc/AdaptiveBeamMapping_00000001.png
new file mode 100644
index 000000000..3137425a2
Binary files /dev/null and b/doc/AdaptiveBeamMapping_00000001.png differ
diff --git a/src/BeamAdapter/component/BeamInterpolation.h b/src/BeamAdapter/component/BeamInterpolation.h
index 448b2dd2b..e11519527 100644
--- a/src/BeamAdapter/component/BeamInterpolation.h
+++ b/src/BeamAdapter/component/BeamInterpolation.h
@@ -101,29 +101,10 @@ class BeamInterpolation : public BaseBeamInterpolation<DataTypes>
     BeamInterpolation() ;
     virtual ~BeamInterpolation() override = default;
 
-    //////////////////////////////////// Exposing this object in the factory ///////////////////////
-    /// Pre-construction check method called by ObjectFactory.
-    /// Check that DataTypes matches the MechanicalState.
-    template<class T>
-    static bool canCreate(T* obj, sofa::core::objectmodel::BaseContext* context, sofa::core::objectmodel::BaseObjectDescription* arg)
-    {
-        if (dynamic_cast<MechanicalState<DataTypes>*>(context->getMechanicalState()) == nullptr)
-        {
-            arg->logError(std::string("No mechanical state with the datatype '") + DataTypes::Name() +
-                "' found in the context node.");
-            return false;
-        }
-        return sofa::core::objectmodel::BaseObject::canCreate(obj, context, arg);
-    }
-
-    ////////////////////////////////////////////////////////////////////////////////////////////////
-
-
     //////////////////////////////////// Inherited from Base ///////////////////////////////////////
     void init() override ;
     void bwdInit() override ;
     void reinit() override ;
-    void reset() override ;
 
     //TODO(dmarchal@cduriez) Ca me semble détourner l'API pour faire des choses par surprise. A mon avis la bonne solution
     //est d'implémenter un vrai binding Python pour BeamInterpolation. Avec une fonction updateInterpolation
@@ -140,6 +121,8 @@ class BeamInterpolation : public BaseBeamInterpolation<DataTypes>
     bool verifyTopology();
     void computeCrossSectionInertiaMatrix();
 
+    /// Given @param beamId will return the 2 PointID forming the given edge from the list @sa d_edgeList. Return true if found otherwise false.
+    bool getNodeIndices(const ElementID beamID, PointID &node0Idx, PointID &node1Idx) const;
     void getInterpolationParam(unsigned int edgeInList, Real &_L, Real &_A, Real &_Iy , Real &_Iz,
                                Real &_Asy, Real &_Asz, Real &J) override;
 
diff --git a/src/BeamAdapter/component/BeamInterpolation.inl b/src/BeamAdapter/component/BeamInterpolation.inl
index 396e53a4c..75333c98f 100644
--- a/src/BeamAdapter/component/BeamInterpolation.inl
+++ b/src/BeamAdapter/component/BeamInterpolation.inl
@@ -264,14 +264,6 @@ void BeamInterpolation<DataTypes>::storeResetState()
     updateInterpolation();
 }
 
-template<class DataTypes>
-void BeamInterpolation<DataTypes>::reset()
-{
-    if(d_componentState.getValue()==ComponentState::Invalid)
-        return ;
-
-    bwdInit();
-}
 
 template<class DataTypes>
 bool BeamInterpolation<DataTypes>::interpolationIsAlreadyInitialized()
@@ -485,6 +477,32 @@ void BeamInterpolation<DataTypes>::getSplineRestTransform(unsigned int edgeInLis
 }
 
 
+template<class DataTypes>
+bool BeamInterpolation<DataTypes>::getNodeIndices(const ElementID beamID, PointID& node0Idx, PointID& node1Idx) const
+{
+    if (m_topologyEdges == nullptr)
+    {
+        msg_error() <<"This object does not have edge topology defined (computation halted). " ;
+        return false;
+    }
+
+    const VecElementID& edges = d_edgeList.getValue();
+    if (beamID >= edges.size())
+    {
+        msg_error() << "Given beamID: " << beamID << " in getNodeIndices is out of bounds: " << edges.size();
+        return false;
+    }
+
+    /// 1. Get the indices of element and nodes
+    const ElementID& e = edges[beamID] ;
+    const BaseMeshTopology::Edge& edge=  (*m_topologyEdges)[e];
+    node0Idx = edge[0];
+    node1Idx = edge[1];
+
+    return true;
+}
+
+
 template<class DataTypes>
 void BeamInterpolation<DataTypes>::getInterpolationParam(unsigned int edgeInList, Real &_L, Real &_A, Real &_Iy ,
                                                          Real &_Iz, Real &_Asy, Real &_Asz, Real &_J)
diff --git a/src/BeamAdapter/component/WireBeamInterpolation.h b/src/BeamAdapter/component/WireBeamInterpolation.h
index a875a269a..485047f92 100644
--- a/src/BeamAdapter/component/WireBeamInterpolation.h
+++ b/src/BeamAdapter/component/WireBeamInterpolation.h
@@ -181,16 +181,6 @@ class WireBeamInterpolation : public BaseBeamInterpolation<DataTypes>
     using  BaseBeamInterpolation<DataTypes>::d_componentState ;
     ////////////////////////////////////////////////////////////////////////////
 
-public:
-
-    template<class T>
-    static bool canCreate(T* obj, sofa::core::objectmodel::BaseContext* context, sofa::core::objectmodel::BaseObjectDescription* arg)
-    {
-        return Inherited::canCreate(obj,context,arg);
-    }
-
-    template<class T>
-    static typename T::SPtr  create(T* tObj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg) ;
 
     /////////////////////////// Deprecated Methods  ////////////////////////////////////////// 
     /// For coils: a part of the coil instrument can be brokenIn2  (by default the point of release is the end of the straight length)
diff --git a/src/BeamAdapter/component/WireBeamInterpolation.inl b/src/BeamAdapter/component/WireBeamInterpolation.inl
index 13751a483..4f95124c6 100644
--- a/src/BeamAdapter/component/WireBeamInterpolation.inl
+++ b/src/BeamAdapter/component/WireBeamInterpolation.inl
@@ -253,45 +253,6 @@ bool WireBeamInterpolation<DataTypes>::getApproximateCurvAbs(const Vec3& x_input
 
 
 
-template<class DataTypes>
-template<class T>
-typename T::SPtr  WireBeamInterpolation<DataTypes>::create(T* tObj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
-{
-    WireRestShape<DataTypes>* _restShape = nullptr;
-    std::string _restShapePath;
-    bool pathOK = false;
-
-    if(arg)
-    {
-        if (arg->getAttribute("WireRestShape",nullptr) != nullptr)
-        {
-            _restShapePath = arg->getAttribute("WireRestShape");
-            context->findLinkDest(_restShape, _restShapePath, nullptr);
-
-            if(_restShape == nullptr)
-              msg_warning(context) << " ("<< WireBeamInterpolation<DataTypes>::GetClass()->className <<") : WireRestShape attribute not set correctly, WireBeamInterpolation will be constructed with a default WireRestShape" ;
-            else
-                pathOK = true;
-        }
-        else
-            msg_error(context) << " (" << WireBeamInterpolation<DataTypes>::GetClass()->className <<") : WireRestShape attribute not used, WireBeamInterpolation will be constructed with a default WireRestShape" ;
-
-
-        if (!pathOK)
-        {
-            _restShapePath=" ";
-            _restShape = new WireRestShape<DataTypes>();
-        }
-    }
-
-    typename T::SPtr obj = sofa::core::objectmodel::New<T>(_restShape);
-    obj->setPathToRestShape(_restShapePath);
-    if (context) context->addObject(obj);
-    if (arg) obj->parse(arg);
-    return obj;
-}
-
-
 } // namespace sofa::component::fem::_wirebeaminterpolation_
 
 
diff --git a/src/BeamAdapter/component/controller/BeamAdapterActionController.inl b/src/BeamAdapter/component/controller/BeamAdapterActionController.inl
index 21ef7a858..c355a771d 100644
--- a/src/BeamAdapter/component/controller/BeamAdapterActionController.inl
+++ b/src/BeamAdapter/component/controller/BeamAdapterActionController.inl
@@ -76,7 +76,7 @@ void BeamAdapterActionController<DataTypes>::onKeyPressedEvent(core::objectmodel
     switch (kev->getKey())
     {
     case 'E':
-        m_currAction = BeamAdapterAction::NO_ACTION;
+        m_currAction = BeamAdapterAction::EXPORT_ACTION;
         m_exportActions = !m_exportActions;
         break;
     case 'D':
diff --git a/src/BeamAdapter/component/controller/InterventionalRadiologyController.h b/src/BeamAdapter/component/controller/InterventionalRadiologyController.h
index 17bf4d0c8..8f59b46ad 100644
--- a/src/BeamAdapter/component/controller/InterventionalRadiologyController.h
+++ b/src/BeamAdapter/component/controller/InterventionalRadiologyController.h
@@ -88,20 +88,18 @@ class InterventionalRadiologyController : public MechanicalStateController<DataT
     virtual ~InterventionalRadiologyController() = default;
 
     ////////////////////// Inherited from BaseObject ///////////////////////////////////////////////
-    virtual void init() override ;
-    virtual void bwdInit() override ;
+    void init() override;
+    void bwdInit() override;
     ////////////////////////////////////////////////////////////////////////////////////////////////
 
 
     ////////////////////// Inherited from Controller ///////////////////////////////////////////////
-    virtual void onMouseEvent(core::objectmodel::MouseEvent *) override ;
-    virtual void onKeyPressedEvent(core::objectmodel::KeypressedEvent *) override ;
-    virtual void onBeginAnimationStep(const double dt) override ;
+    void onMouseEvent(core::objectmodel::MouseEvent*) override {};
+    void onKeyPressedEvent(core::objectmodel::KeypressedEvent *) override;
+    void onBeginAnimationStep(const double dt) override;
     ////////////////////////////////////////////////////////////////////////////////////////////////
 
     ////////////////////////////////////////////////////////////////////////////////////////////////
-
-    virtual bool modifyTopology(void);
     void interventionalRadiologyCollisionControls(type::vector<Real> &x_point_list,
                                                   type::vector<int> &id_instrument_list,
                                                   type::vector<int> &removeEdge);
diff --git a/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl b/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
index 221e40a94..3533b1f66 100644
--- a/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
+++ b/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
@@ -227,16 +227,6 @@ void InterventionalRadiologyController<DataTypes>::bwdInit()
 }
 
 
-/*!
- * \todo fix the mouse event with better controls
- */
-template <class DataTypes>
-void InterventionalRadiologyController<DataTypes>::onMouseEvent(MouseEvent * mev)
-{
-    SOFA_UNUSED(mev);
-}
-
-
 template <class DataTypes>
 void InterventionalRadiologyController<DataTypes>::onKeyPressedEvent(KeypressedEvent *kev)
 {
@@ -1040,11 +1030,6 @@ void InterventionalRadiologyController<DataTypes>::fixFirstNodesWithUntil(unsign
     d_indexFirstNode = firstSimulatedNode-1 ;
 }
 
-template <class DataTypes>
-bool InterventionalRadiologyController<DataTypes>::modifyTopology(void)
-{
-    return false;
-}
 
 template <class DataTypes>
 void InterventionalRadiologyController<DataTypes>::getInstrumentList(type::vector<fem::WireBeamInterpolation<DataTypes>*>& list)
diff --git a/src/BeamAdapter/component/engine/WireRestShape.h b/src/BeamAdapter/component/engine/WireRestShape.h
index d5b47a234..a2a78675a 100644
--- a/src/BeamAdapter/component/engine/WireRestShape.h
+++ b/src/BeamAdapter/component/engine/WireRestShape.h
@@ -110,9 +110,9 @@ class WireRestShape : public core::objectmodel::BaseObject
      void computeOrientation(const Vec3& AB, const Quat& Q, Quat &result);     
      
      
-     Real getLength() ;
+     const Real& getLength() const;
      void getCollisionSampling(Real &dx, const Real &x_curv);
-     void getNumberOfCollisionSegment(Real &dx, unsigned int &numLines) ;
+     void getNumberOfCollisionSegment(Real &dx, unsigned int &numLines);
 
 
 
diff --git a/src/BeamAdapter/component/engine/WireRestShape.inl b/src/BeamAdapter/component/engine/WireRestShape.inl
index 667e36680..edeacc9af 100644
--- a/src/BeamAdapter/component/engine/WireRestShape.inl
+++ b/src/BeamAdapter/component/engine/WireRestShape.inl
@@ -318,7 +318,7 @@ const BeamSection& WireRestShape<DataTypes>::getBeamSection(const Real& x_curv)
 
 
 template <class DataTypes>
-typename WireRestShape<DataTypes>::Real WireRestShape<DataTypes>::getLength()
+const typename WireRestShape<DataTypes>::Real& WireRestShape<DataTypes>::getLength() const
 {
     return d_keyPoints.getValue().back();
 }
diff --git a/src/BeamAdapter/component/mapping/AdaptiveBeamMapping.h b/src/BeamAdapter/component/mapping/AdaptiveBeamMapping.h
index 939a4f1aa..f50f0eaa4 100644
--- a/src/BeamAdapter/component/mapping/AdaptiveBeamMapping.h
+++ b/src/BeamAdapter/component/mapping/AdaptiveBeamMapping.h
@@ -154,6 +154,8 @@ class AdaptiveBeamMapping : public Mapping<TIn, TOut>
     Data<type::vector<Real>> d_segmentsCurvAbs; /*!< (output) the abscissa of each created point on the collision model */
     Data<bool> d_parallelMapping;           /*!< flag to enable parallel internal computation of apply/applyJ */
 
+    Data<bool> d_onlyVisual;
+
     SingleLink<AdaptiveBeamMapping<TIn, TOut>,
                BInterpolation, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK> l_adaptativebeamInterpolation;
 
diff --git a/src/BeamAdapter/component/mapping/AdaptiveBeamMapping.inl b/src/BeamAdapter/component/mapping/AdaptiveBeamMapping.inl
index b555475b0..6611f20c7 100644
--- a/src/BeamAdapter/component/mapping/AdaptiveBeamMapping.inl
+++ b/src/BeamAdapter/component/mapping/AdaptiveBeamMapping.inl
@@ -76,6 +76,7 @@ AdaptiveBeamMapping<TIn,TOut>::AdaptiveBeamMapping(State< In >* from, State< Out
     , d_nbPointsPerBeam(initData(&d_nbPointsPerBeam, 0.0, "nbPointsPerBeam", "if non zero, we will adapt the points depending on the discretization, with this num of points per beam (compatible with useCurvAbs)"))
     , d_segmentsCurvAbs(initData(&d_segmentsCurvAbs, "segmentsCurvAbs", "the abscissa of each point on the collision model", true, true))
     , d_parallelMapping(initData(&d_parallelMapping, false, "parallelMapping", "flag to enable parallel internal computation"))
+    , d_onlyVisual(initData(&d_onlyVisual, (bool)false, "onlyVisual", "Really not mechanical mapping"))
     , l_adaptativebeamInterpolation(initLink("interpolation", "Path to the Interpolation component on scene"), interpolation)
     , m_inputMapping(nullptr)
     , m_isSubMapping(isSubMapping)
@@ -291,6 +292,9 @@ void AdaptiveBeamMapping< TIn, TOut>::apply(const MechanicalParams* mparams, Dat
 template <class TIn, class TOut>
 void AdaptiveBeamMapping< TIn, TOut>::applyJ(const core::MechanicalParams* mparams, Data<VecDeriv>& dOut, const Data<InVecDeriv>& dIn)
 {
+    if (d_onlyVisual.getValue())
+        return;
+
     SOFA_UNUSED(mparams);
     SCOPED_TIMER("AdaptiveBeamMapping_applyJ");
 
@@ -376,6 +380,9 @@ void AdaptiveBeamMapping< TIn, TOut>::applyJ(const core::MechanicalParams* mpara
 template <class TIn, class TOut>
 void AdaptiveBeamMapping< TIn, TOut>::applyJT(const core::MechanicalParams* mparams, Data<InVecDeriv>& dOut, const Data<VecDeriv>& dIn)
 {
+    if (d_onlyVisual.getValue())
+        return;
+
     SOFA_UNUSED(mparams);
 
     SCOPED_TIMER("AdaptiveBeamMapping_applyJT");
diff --git a/src/BeamAdapter/utils/BeamActions.h b/src/BeamAdapter/utils/BeamActions.h
index ea91418de..c82477857 100644
--- a/src/BeamAdapter/utils/BeamActions.h
+++ b/src/BeamAdapter/utils/BeamActions.h
@@ -38,6 +38,7 @@ namespace sofa::beamadapter
         USE_TOOL_0,
         USE_TOOL_1,
         USE_TOOL_2,
+        EXPORT_ACTION
     };
 
     /// \brief map of action as string keyword instead of int for better clarity in scene scripting