From f0342ff6f8292028c999392be61701a6c7bdbf92 Mon Sep 17 00:00:00 2001
From: Frederick Roy <froy@lnrobo.com>
Date: Mon, 22 Sep 2025 15:00:55 +0900
Subject: [PATCH 1/5] reset also the fixed rest positions

---
 .../controller/InterventionalRadiologyController.inl         | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl b/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
index f50fc6e5f..57203d12a 100644
--- a/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
+++ b/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
@@ -1117,14 +1117,17 @@ template <class DataTypes>
 void InterventionalRadiologyController<DataTypes>::fixFirstNodesWithUntil(unsigned int firstSimulatedNode)
 {
     WriteAccessor<Data<VecCoord> > xMstate = *getMechanicalState()->write(sofa::core::vec_id::write_access::position);
+    WriteAccessor<Data<VecCoord> > xrestMstate = *getMechanicalState()->write(sofa::core::vec_id::write_access::restPosition);
     WriteAccessor<Data<VecDeriv> > vMstate = *getMechanicalState()->write(sofa::core::vec_id::write_access::velocity);
 
     // set the position to startingPos for all the nodes that are not simulated
+    const auto& startPos = d_startingPos.getValue();
     // and add a fixedConstraint
     l_fixedConstraint->clearConstraints();
     for(unsigned int i=0; i<firstSimulatedNode-1 ; i++)
     {
-        xMstate[i]=d_startingPos.getValue();
+        xMstate[i] = startPos;
+        xrestMstate[i] = startPos;
         vMstate[i].clear();
         l_fixedConstraint->addConstraint(i);
     }

From 89ac0bbca962930d809d8e0c5c6e09dfb6abef7e Mon Sep 17 00:00:00 2001
From: Frederick Roy <fredroy@users.noreply.github.com>
Date: Fri, 26 Sep 2025 09:12:36 +0900
Subject: [PATCH 2/5] Update
 src/BeamAdapter/component/controller/InterventionalRadiologyController.inl

Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>
---
 .../component/controller/InterventionalRadiologyController.inl  | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl b/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
index 57203d12a..4cb5e1d2f 100644
--- a/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
+++ b/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
@@ -1127,6 +1127,8 @@ void InterventionalRadiologyController<DataTypes>::fixFirstNodesWithUntil(unsign
     for(unsigned int i=0; i<firstSimulatedNode-1 ; i++)
     {
         xMstate[i] = startPos;
+        // Overwriting the rest position avoids a jump of released DoFs, trying to reach their rest position when released
+        // This remains safe since BeamFEMForceField uses the interpolation object to compute transformation without using the rest shape
         xrestMstate[i] = startPos;
         vMstate[i].clear();
         l_fixedConstraint->addConstraint(i);

From 35828b705e35f5c69d6d357e3ecb8e70c97cb722 Mon Sep 17 00:00:00 2001
From: Frederick Roy <froy@lnrobo.com>
Date: Mon, 13 Oct 2025 10:40:27 +0900
Subject: [PATCH 3/5] fix scenes, where the tool starting rotation is set ONLY
 in startingPos

---
 examples/3instruments.scn                         | 2 +-
 examples/SingleBeamDeployment.scn                 | 4 ++--
 examples/SingleBeamDeploymentCollision.scn        | 4 ++--
 examples/python3/SingleBeamDeployment.py          | 4 ++--
 examples/python3/SingleBeamDeploymentCollision.py | 4 ++--
 5 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/examples/3instruments.scn b/examples/3instruments.scn
index e1030a6e9..64ebad9b1 100644
--- a/examples/3instruments.scn
+++ b/examples/3instruments.scn
@@ -65,7 +65,7 @@
             ymin='0' ymax='0'
             zmin='1' zmax='1'
 		/>
-		<MechanicalObject template='Rigid3d' name='DOFs' showIndices='0' ry='-90'/> 
+		<MechanicalObject template='Rigid3d' name='DOFs' showIndices='0' /> 
 
 		<WireBeamInterpolation name='InterpolCatheter' WireRestShape='@../topoLines_cath/catheterRestShape'/> 
 		<AdaptiveBeamForceFieldAndMass name='CatheterForceField' interpolation='@InterpolCatheter'/> 
diff --git a/examples/SingleBeamDeployment.scn b/examples/SingleBeamDeployment.scn
index 8feca7e10..8bba658d2 100644
--- a/examples/SingleBeamDeployment.scn
+++ b/examples/SingleBeamDeployment.scn
@@ -31,12 +31,12 @@
         <RegularGridTopology name="MeshLines" nx="36" ny="1" nz="1"
                                     xmax="0.0" xmin="0.0" ymin="0" ymax="0" zmax="0" zmin="0"
                                     p0="0 0 0" drawEdges="1"/>
-        <MechanicalObject template="Rigid3d" name="DOFs Container" ry="-90" /> 
+        <MechanicalObject template="Rigid3d" name="DOFs Container" /> 
 
         <WireBeamInterpolation name="BeamInterpolation" WireRestShape="@../EdgeTopology/BeamRestShape" />
         <AdaptiveBeamForceFieldAndMass name="BeamForceField" interpolation="@BeamInterpolation"/>
         <InterventionalRadiologyController name="DeployController" template="Rigid3d" instruments="BeamInterpolation"
-                                    topology="@MeshLines" startingPos="0 0 0 0 0 0 1" xtip="0" printLog="1" 
+                                    topology="@MeshLines" startingPos="0 0 0 0 -0.7071068 0 0.7071068" xtip="0" printLog="1" 
                                     rotationInstrument="0" step="0.5" speed="0.5" 
                                     listening="1" controlledInstrument="0"/>
         <FixedProjectiveConstraint name="FixedConstraint" indices="0" />
diff --git a/examples/SingleBeamDeploymentCollision.scn b/examples/SingleBeamDeploymentCollision.scn
index 6c6cd5f53..2947be69d 100644
--- a/examples/SingleBeamDeploymentCollision.scn
+++ b/examples/SingleBeamDeploymentCollision.scn
@@ -49,12 +49,12 @@
         <RegularGridTopology name="MeshLines" nx="61" ny="1" nz="1"
                                     xmax="0.0" xmin="0.0" ymin="0" ymax="0" zmax="0" zmin="0"
                                     p0="0 0 0" drawEdges="1"/>
-        <MechanicalObject template="Rigid3d" name="DOFs Container" ry="-90" /> 
+        <MechanicalObject template="Rigid3d" name="DOFs Container" ry="-90"/> 
 
         <WireBeamInterpolation name="BeamInterpolation" WireRestShape="@../EdgeTopology/BeamRestShape"/>
         <AdaptiveBeamForceFieldAndMass name="BeamForceField" interpolation="@BeamInterpolation"/>
         <InterventionalRadiologyController name="DeployController" template="Rigid3d" instruments="BeamInterpolation"
-                                    topology="@MeshLines" startingPos="0 0 0 0 0 0 1" xtip="0" printLog="1" 
+                                    topology="@MeshLines" startingPos="0 0 0  0 -0.7071068 0 0.7071068" xtip="0" printLog="1" 
                                     rotationInstrument="0" step="5" speed="5" 
                                     listening="1" controlledInstrument="0"/>
         <LinearSolverConstraintCorrection wire_optimization="true" printLog="0" />
diff --git a/examples/python3/SingleBeamDeployment.py b/examples/python3/SingleBeamDeployment.py
index df8059a49..225258504 100644
--- a/examples/python3/SingleBeamDeployment.py
+++ b/examples/python3/SingleBeamDeployment.py
@@ -37,11 +37,11 @@ def createScene(rootNode):
                                     nx=61, ny=1, nz=1,
                                     xmax=0.0, xmin=0.0, ymin=0, ymax=0, zmax=0, zmin=0,
                                     p0=[0,0,0])
-    BeamMechanics.addObject('MechanicalObject', showIndices=False, name='DOFs Container', template='Rigid3d', ry=-90)
+    BeamMechanics.addObject('MechanicalObject', showIndices=False, name='DOFs Container', template='Rigid3d')
     BeamMechanics.addObject('WireBeamInterpolation', name='BeamInterpolation', WireRestShape='@../EdgeTopology/BeamRestShape', printLog=False)
     BeamMechanics.addObject('AdaptiveBeamForceFieldAndMass', name='BeamForceField', massDensity=0.00000155, interpolation='@BeamInterpolation')
     BeamMechanics.addObject('InterventionalRadiologyController', name='DeployController', template='Rigid3d', instruments='BeamInterpolation', 
-                                    topology="@MeshLines", startingPos=[0, 0, 0, 0, 0, 0, 1], xtip=[0], printLog=True, 
+                                    topology="@MeshLines", startingPos=[0, 0, 0, 0, -0.7071068, 0, 0.7071068], xtip=[0], printLog=True, 
                                     rotationInstrument=[0], step=0.5, speed=0.5, 
                                     listening=True, controlledInstrument=0)
     BeamMechanics.addObject('FixedProjectiveConstraint', indices=0, name='FixedConstraint')
diff --git a/examples/python3/SingleBeamDeploymentCollision.py b/examples/python3/SingleBeamDeploymentCollision.py
index f56869dde..5559855df 100644
--- a/examples/python3/SingleBeamDeploymentCollision.py
+++ b/examples/python3/SingleBeamDeploymentCollision.py
@@ -45,11 +45,11 @@ def createScene(rootNode):
                                     nx=61, ny=1, nz=1,
                                     xmax=0.0, xmin=0.0, ymin=0, ymax=0, zmax=0, zmin=0,
                                     p0=[0,0,0])
-    BeamMechanics.addObject('MechanicalObject', showIndices=False, name='DOFs', template='Rigid3d', ry=-90)
+    BeamMechanics.addObject('MechanicalObject', showIndices=False, name='DOFs', template='Rigid3d')
     BeamMechanics.addObject('WireBeamInterpolation', name='BeamInterpolation', WireRestShape='@../EdgeTopology/BeamRestShape', printLog=False)
     BeamMechanics.addObject('AdaptiveBeamForceFieldAndMass', name='BeamForceField', massDensity=0.00000155, interpolation='@BeamInterpolation')
     BeamMechanics.addObject('InterventionalRadiologyController', name='DeployController', template='Rigid3d', instruments='BeamInterpolation', 
-                                    topology="@MeshLines", startingPos=[0, 0, 0, 0, 0, 0, 1], xtip=[0], printLog=True, 
+                                    topology="@MeshLines", startingPos=[0, 0, 0, 0, -0.7071068, 0, 0.7071068], xtip=[0], printLog=True, 
                                     rotationInstrument=[0], step=5., speed=5., 
                                     listening=True, controlledInstrument=0)
     BeamMechanics.addObject('LinearSolverConstraintCorrection', wire_optimization='true', printLog=False)

From 5190fca94402d4f6f2812c101fb79f3a44a41cf6 Mon Sep 17 00:00:00 2001
From: Frederick Roy <froy@lnrobo.com>
Date: Mon, 13 Oct 2025 10:56:19 +0900
Subject: [PATCH 4/5] apply at init too

---
 .../controller/InterventionalRadiologyController.inl       | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl b/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
index 4cb5e1d2f..5a21797c4 100644
--- a/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
+++ b/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
@@ -283,8 +283,13 @@ void InterventionalRadiologyController<DataTypes>::init()
     }
 
     WriteAccessor<Data<VecCoord> > x = *this->mState->write(sofa::core::vec_id::write_access::position);
+    WriteAccessor<Data<VecCoord> > xrest = *this->mState->write(sofa::core::vec_id::write_access::restPosition);
+    const auto& startPos = d_startingPos.getValue();
     for(unsigned int i=0; i<x.size(); i++)
-        x[i] = d_startingPos.getValue();
+    {
+        x[i] = startPos;
+        xrest[i] = startPos;
+    }
 
     applyInterventionalRadiologyController();
 

From 451a2b0d330e5cf7a1bc1433392ae68cb8079518 Mon Sep 17 00:00:00 2001
From: Frederick Roy <froy@lnrobo.com>
Date: Mon, 13 Oct 2025 11:21:13 +0900
Subject: [PATCH 5/5] regenerate references

---
 ...ruments.scn.reference_0_DOFs_mstate.txt.gz | Bin 353 -> 364 bytes
 ...uments.scn.reference_1_Quads_mstate.txt.gz | Bin 3261 -> 3388 bytes
 ...uments.scn.reference_2_Quads_mstate.txt.gz | Bin 1892 -> 2021 bytes
 ...uments.scn.reference_3_Quads_mstate.txt.gz | Bin 140 -> 140 bytes
 ..._collis.scn.reference_0_DOFs_mstate.txt.gz | Bin 2201 -> 2214 bytes
 ...cn.reference_1_CollisionDOFs_mstate.txt.gz | Bin 925 -> 949 bytes
 ...y.reference_0_DOFs Container_mstate.txt.gz | Bin 308 -> 332 bytes
 ...n.reference_0_DOFs Container_mstate.txt.gz | Bin 304 -> 322 bytes
 ...ollision.py.reference_0_DOFs_mstate.txt.gz | Bin 864 -> 878 bytes
 ...py.reference_1_CollisionDOFs_mstate.txt.gz | Bin 410 -> 409 bytes
 ...n.reference_0_DOFs Container_mstate.txt.gz | Bin 858 -> 884 bytes
 ...cn.reference_1_CollisionDOFs_mstate.txt.gz | Bin 409 -> 401 bytes
 12 files changed, 0 insertions(+), 0 deletions(-)

diff --git a/regression/references/3instruments.scn.reference_0_DOFs_mstate.txt.gz b/regression/references/3instruments.scn.reference_0_DOFs_mstate.txt.gz
index 433d55d98bb1f7f8b737e38a03821bf05beab9d1..32ba123e9e46a7bcebbd0e8349d07c368b151b60 100644
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diff --git a/regression/references/SingleBeamDeployment.py.reference_0_DOFs Container_mstate.txt.gz b/regression/references/SingleBeamDeployment.py.reference_0_DOFs Container_mstate.txt.gz
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diff --git a/regression/references/SingleBeamDeployment.scn.reference_0_DOFs Container_mstate.txt.gz b/regression/references/SingleBeamDeployment.scn.reference_0_DOFs Container_mstate.txt.gz
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diff --git a/regression/references/SingleBeamDeploymentCollision.py.reference_0_DOFs_mstate.txt.gz b/regression/references/SingleBeamDeploymentCollision.py.reference_0_DOFs_mstate.txt.gz
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diff --git a/regression/references/SingleBeamDeploymentCollision.py.reference_1_CollisionDOFs_mstate.txt.gz b/regression/references/SingleBeamDeploymentCollision.py.reference_1_CollisionDOFs_mstate.txt.gz
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diff --git a/regression/references/SingleBeamDeploymentCollision.scn.reference_0_DOFs Container_mstate.txt.gz b/regression/references/SingleBeamDeploymentCollision.scn.reference_0_DOFs Container_mstate.txt.gz
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diff --git a/regression/references/SingleBeamDeploymentCollision.scn.reference_1_CollisionDOFs_mstate.txt.gz b/regression/references/SingleBeamDeploymentCollision.scn.reference_1_CollisionDOFs_mstate.txt.gz
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