diff --git a/src/BeamAdapter/component/BaseBeamInterpolation.h b/src/BeamAdapter/component/BaseBeamInterpolation.h
index 8c4bbb51f..a765ea972 100644
--- a/src/BeamAdapter/component/BaseBeamInterpolation.h
+++ b/src/BeamAdapter/component/BaseBeamInterpolation.h
@@ -49,7 +49,6 @@ using sofa::type::Quat ;
 using sofa::type::Vec ;
 using sofa::type::Vec3d ;
 using sofa::type::vector;
-using sofa::core::ConstVecCoordId;
 using sofa::core::behavior::MechanicalState;
 using sofa::component::statecontainer::MechanicalObject;
 
@@ -170,11 +169,11 @@ class BaseBeamInterpolation : public virtual sofa::core::objectmodel::BaseObject
 
     /// spline base interpolation of points and transformation
     void interpolatePointUsingSpline(unsigned int edgeInList, const Real& baryCoord, const Vec3& localPos, const VecCoord& x, Vec3& posResult) {
-        interpolatePointUsingSpline(edgeInList, baryCoord, localPos, x, posResult, true, ConstVecCoordId::position());
+        interpolatePointUsingSpline(edgeInList, baryCoord, localPos, x, posResult, true, sofa::core::vec_id::read_access::position);
     }
 
     void interpolatePointUsingSpline(unsigned int edgeInList, const Real& baryCoord, const Vec3& localPos,
-        const VecCoord& x, Vec3& posResult, bool recompute, const ConstVecCoordId& vecXId);
+        const VecCoord& x, Vec3& posResult, bool recompute, const sofa::core::ConstVecCoordId& vecXId);
 
 
     void InterpolateTransformUsingSpline(unsigned int edgeInList, const Real& baryCoord, const Vec3& localPos,
diff --git a/src/BeamAdapter/component/BaseBeamInterpolation.inl b/src/BeamAdapter/component/BaseBeamInterpolation.inl
index a66ac2883..ebbbbd23b 100644
--- a/src/BeamAdapter/component/BaseBeamInterpolation.inl
+++ b/src/BeamAdapter/component/BaseBeamInterpolation.inl
@@ -619,7 +619,7 @@ void BaseBeamInterpolation<DataTypes>::interpolatePointUsingSpline(unsigned int
     const VecCoord& x,
     Vec3& posResult,
     bool recompute,
-    const ConstVecCoordId& vecXId)
+    const sofa::core::ConstVecCoordId& vecXId)
 {
     if (recompute)
     {
diff --git a/src/BeamAdapter/component/BeamInterpolation.h b/src/BeamAdapter/component/BeamInterpolation.h
index 78346a5ab..728e4ee72 100644
--- a/src/BeamAdapter/component/BeamInterpolation.h
+++ b/src/BeamAdapter/component/BeamInterpolation.h
@@ -47,7 +47,6 @@ namespace _beaminterpolation_
 using sofa::component::fem::BaseBeamInterpolation;
 using sofa::helper::OptionsGroup;
 using sofa::core::topology::BaseMeshTopology;
-using sofa::core::ConstVecCoordId;
 using sofa::core::behavior::MechanicalState;
 using sofa::component::statecontainer::MechanicalObject;
 
@@ -148,7 +147,7 @@ class BeamInterpolation : public BaseBeamInterpolation<DataTypes>
                                Real &_Asy, Real &_Asz, Real &J) override;
     void getMechanicalParameters(sofa::Index beamId, Real& youngModulus, Real& cPoisson, Real& massDensity) override;
 
-    void getTangentUsingSplinePoints(unsigned int edgeInList, const Real& baryCoord, const ConstVecCoordId &vecXId, Vec3& t );
+    void getTangentUsingSplinePoints(unsigned int edgeInList, const Real& baryCoord, const sofa::core::ConstVecCoordId &vecXId, Vec3& t );
 
   
     /// computeActualLength => given the 4 control points of the spline, it provides an estimate of the length (using gauss points integration)
diff --git a/src/BeamAdapter/component/BeamInterpolation.inl b/src/BeamAdapter/component/BeamInterpolation.inl
index 51877342f..4a011261d 100644
--- a/src/BeamAdapter/component/BeamInterpolation.inl
+++ b/src/BeamAdapter/component/BeamInterpolation.inl
@@ -44,7 +44,6 @@ namespace sofa::component::fem::_beaminterpolation_
 using sofa::core::topology::BaseMeshTopology ;
 using sofa::core::objectmodel::ComponentState ;
 using sofa::core::behavior::MechanicalState;
-using sofa::core::ConstVecCoordId ;
 using sofa::core::objectmodel::BaseContext ;
 using sofa::helper::ReadAccessor ;
 
@@ -188,7 +187,7 @@ void BeamInterpolation<DataTypes>::bwdInit()
             DOF1TransformNode1.resize(edgeList.size());
         }
 
-        ReadAccessor<Data<VecCoord> > statePos = this->m_mstate->read(ConstVecCoordId::position()) ;
+        ReadAccessor<Data<VecCoord> > statePos = this->m_mstate->read(sofa::core::vec_id::read_access::position) ;
 
         auto lengthList = sofa::helper::getWriteOnlyAccessor(this->d_lengthList);
         lengthList.clear();
@@ -478,8 +477,8 @@ void BeamInterpolation<DataTypes>::getSplineRestTransform(unsigned int edgeInLis
             unsigned int node0Id, node1Id;
             this->getNodeIndices(edgeInList,node0Id,node1Id);
 
-            Coord global_0 = state->read(core::VecCoordId::restPosition())->getValue()[node0Id];
-            Coord global_1 = state->read(core::VecCoordId::restPosition())->getValue()[node1Id];
+            Coord global_0 = state->read(sofa::core::vec_id::read_access::restPosition)->getValue()[node0Id];
+            Coord global_1 = state->read(sofa::core::vec_id::read_access::restPosition)->getValue()[node1Id];
 
             Transform global_H_DOF0 = Transform(global_0.getCenter(),global_0.getOrientation());
             Transform global_H_DOF1 = Transform(global_1.getCenter(),global_1.getOrientation());
@@ -508,7 +507,7 @@ void BeamInterpolation<DataTypes>::getSplineRestTransform(unsigned int edgeInLis
 
 template<class DataTypes>
 void BeamInterpolation<DataTypes>::getTangentUsingSplinePoints(unsigned int edgeInList, const Real& baryCoord,
-                                                               const ConstVecCoordId &vecXId, Vec3& t )
+                                                               const sofa::core::ConstVecCoordId &vecXId, Vec3& t )
 {
 
     const VectorVec3& splinePos = this->m_StateNodes->read(vecXId)->getValue();
@@ -563,16 +562,16 @@ void BeamInterpolation<DataTypes>::updateInterpolation(){
     if(d_vecID.getValue().getSelectedItem() == "current")
     {
         dmsg_info() <<" position " << msgendl
-                   << "      ="<< this->m_mstate->read( core::ConstVecCoordId::position() )->getValue( ) ;
-        x=this->m_mstate->read( core::ConstVecCoordId::position() );
+                   << "      ="<< this->m_mstate->read( sofa::core::vec_id::read_access::position )->getValue( ) ;
+        x=this->m_mstate->read( sofa::core::vec_id::read_access::position );
     }
     else if(d_vecID.getValue().getSelectedItem() == "free")
     {
-        x=this->m_mstate->read( core::ConstVecCoordId::freePosition() ) ;
+        x=this->m_mstate->read( sofa::core::vec_id::read_access::freePosition ) ;
     }
     else /// rest position
     {
-        x=this->m_mstate->read( core::ConstVecCoordId::restPosition() ) ;
+        x=this->m_mstate->read( sofa::core::vec_id::read_access::restPosition ) ;
         computeVel = false;
     }
 
diff --git a/src/BeamAdapter/component/constraint/AdaptiveBeamLengthConstraint.inl b/src/BeamAdapter/component/constraint/AdaptiveBeamLengthConstraint.inl
index 23e43fb7a..53caa4d03 100644
--- a/src/BeamAdapter/component/constraint/AdaptiveBeamLengthConstraint.inl
+++ b/src/BeamAdapter/component/constraint/AdaptiveBeamLengthConstraint.inl
@@ -34,7 +34,6 @@ namespace sofa::component::constraintset::_adaptivebeamlengthconstraint_
 {
 
 using helper::ReadAccessor;
-using sofa::core::ConstVecCoordId;
 using std::stringstream;
 using sofa::core::ConstraintParams;
 using sofa::linearalgebra::BaseVector;
@@ -295,8 +294,8 @@ void AdaptiveBeamLengthConstraint<DataTypes>::buildConstraintMatrix(const Constr
     m_nbConstraints = 0;
     m_cid = constraintId;
 
-    ReadAccessor<Data<VecCoord> > x = this->mstate->read(ConstVecCoordId::position()) ;
-    ReadAccessor<Data<VecCoord> > xfree = this->mstate->read(ConstVecCoordId::freePosition()) ;
+    ReadAccessor<Data<VecCoord> > x = this->mstate->read(sofa::core::vec_id::read_access::position) ;
+    ReadAccessor<Data<VecCoord> > xfree = this->mstate->read(sofa::core::vec_id::read_access::freePosition) ;
 
     auto c = sofa::helper::getWriteOnlyAccessor(c_d);
 
diff --git a/src/BeamAdapter/component/constraint/AdaptiveBeamSlidingConstraint.inl b/src/BeamAdapter/component/constraint/AdaptiveBeamSlidingConstraint.inl
index 131622877..10bdce8ac 100644
--- a/src/BeamAdapter/component/constraint/AdaptiveBeamSlidingConstraint.inl
+++ b/src/BeamAdapter/component/constraint/AdaptiveBeamSlidingConstraint.inl
@@ -1,4 +1,4 @@
-/******************************************************************************
+/******************************************************************************
 *                              BeamAdapter plugin                             *
 *                  (c) 2006 Inria, University of Lille, CNRS                  *
 *                                                                             *
@@ -32,7 +32,6 @@ namespace sofa::component::constraintset::_adaptiveBeamSlidingConstraint_
 {
 
 using sofa::core::behavior::ConstraintResolution ;
-using sofa::core::ConstVecCoordId;
 using sofa::core::ConstraintParams;
 using sofa::helper::ReadAccessor;
 
@@ -102,8 +101,8 @@ void AdaptiveBeamSlidingConstraint<DataTypes>::internalInit()
     // We search for the closest segment, on which to project each point
     // Convention : object1 is the beam model, object2 is the list of point constraints
 
-    ReadAccessor<Data<VecCoord> > x1 = mstate1->read(ConstVecCoordId::position()) ;
-    ReadAccessor<Data<VecCoord> > x2 = mstate2->read(ConstVecCoordId::position()) ;
+    ReadAccessor<Data<VecCoord> > x1 = mstate1->read(sofa::core::vec_id::read_access::position) ;
+    ReadAccessor<Data<VecCoord> > x2 = mstate2->read(sofa::core::vec_id::read_access::position) ;
 
     unsigned int m2Size = x2.size();
     m_previousPositions.clear();
@@ -154,8 +153,8 @@ void AdaptiveBeamSlidingConstraint<DataTypes>::buildConstraintMatrix(const Const
     Real baryCoord;
     unsigned int beam = 0;
 
-    ReadAccessor<Data<VecCoord> > x1free=mstate1->read(ConstVecCoordId::freePosition()) ;
-    ReadAccessor<Data<VecCoord> > x2free=mstate2->read(ConstVecCoordId::freePosition()) ;
+    ReadAccessor<Data<VecCoord> > x1free=mstate1->read(sofa::core::vec_id::read_access::freePosition) ;
+    ReadAccessor<Data<VecCoord> > x2free=mstate2->read(sofa::core::vec_id::read_access::freePosition) ;
 
     unsigned int m2 = x2free.size();
     WireBeamInterpolation<DataTypes>* interpolation = m_interpolation.get();
@@ -274,7 +273,7 @@ void AdaptiveBeamSlidingConstraint<DataTypes>::draw(const VisualParams* vparams)
     
     vparams->drawTool()->saveLastState();
 
-    ReadAccessor<Data<VecCoord> > x = mstate2->read(ConstVecCoordId::position());
+    ReadAccessor<Data<VecCoord> > x = mstate2->read(sofa::core::vec_id::read_access::position);
     sofa::type::Vec3 point;
     std::vector< sofa::type::Vec3 > points;
     std::vector< sofa::type::RGBAColor> colors;
diff --git a/src/BeamAdapter/component/controller/AdaptiveBeamController.inl b/src/BeamAdapter/component/controller/AdaptiveBeamController.inl
index 76f9eb1a7..f6d0c1acb 100644
--- a/src/BeamAdapter/component/controller/AdaptiveBeamController.inl
+++ b/src/BeamAdapter/component/controller/AdaptiveBeamController.inl
@@ -48,8 +48,6 @@ namespace sofa::component::controller::_adaptivebeamcontroller_
 
 using sofa::core::objectmodel::BaseContext ;
 using std::string;
-using sofa::core::VecCoordId;
-using sofa::core::VecDerivId;
 
 //TODO(dmarchal 2017-05-17) to christian & euallie.
 //  This component seems specific to radiology instrument... but its name suggest a very generic behavior
@@ -229,8 +227,8 @@ void AdaptiveBeamController<DataTypes>::onBeginAnimationStep(const double /*dt*/
 template <class DataTypes>
 void AdaptiveBeamController<DataTypes>::applyController()
 {
-    Data<VecCoord>* datax = this->getMechanicalState()->write(VecCoordId::position());
-    Data<VecDeriv>* datav = this->getMechanicalState()->write(VecDerivId::velocity());
+    Data<VecCoord>* datax = this->getMechanicalState()->write(sofa::core::vec_id::write_access::position);
+    Data<VecDeriv>* datav = this->getMechanicalState()->write(sofa::core::vec_id::write_access::velocity);
     auto x = sofa::helper::getWriteOnlyAccessor(*datax);
     auto v = sofa::helper::getWriteOnlyAccessor(*datav);
 
diff --git a/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl b/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
index 7839c8d88..358344ca9 100644
--- a/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
+++ b/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
@@ -211,7 +211,7 @@ void InterventionalRadiologyController<DataTypes>::bwdInit()
         return;
     }
 
-    WriteAccessor<Data<VecCoord> > x = *this->mState->write(core::VecCoordId::position());
+    WriteAccessor<Data<VecCoord> > x = *this->mState->write(sofa::core::vec_id::write_access::position);
     for(unsigned int i=0; i<x.size(); i++)
         x[i] = d_startingPos.getValue();
     m_numControlledNodes = x.size();
@@ -773,7 +773,7 @@ void InterventionalRadiologyController<DataTypes>::applyInterventionalRadiologyC
     totalLengthIsChanging(newCurvAbs, modifiedCurvAbs, idInstrumentTable); 
 
     //    => Get write access to current nodes/dofs
-    Data<VecCoord>* datax = this->getMechanicalState()->write(core::VecCoordId::position());
+    Data<VecCoord>* datax = this->getMechanicalState()->write(sofa::core::vec_id::write_access::position);
     auto x = sofa::helper::getWriteOnlyAccessor(*datax);
     VecCoord xbuf = x.ref();
 
@@ -1036,8 +1036,8 @@ void InterventionalRadiologyController<DataTypes>::fillInstrumentCurvAbsTable(co
 template <class DataTypes>
 void InterventionalRadiologyController<DataTypes>::fixFirstNodesWithUntil(unsigned int firstSimulatedNode)
 {
-    WriteAccessor<Data<VecCoord> > xMstate = *getMechanicalState()->write(core::VecCoordId::position());
-    WriteAccessor<Data<VecDeriv> > vMstate = *getMechanicalState()->write(core::VecDerivId::velocity());
+    WriteAccessor<Data<VecCoord> > xMstate = *getMechanicalState()->write(sofa::core::vec_id::write_access::position);
+    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
     // and add a fixedConstraint
diff --git a/src/BeamAdapter/component/controller/SutureController.inl b/src/BeamAdapter/component/controller/SutureController.inl
index f38a5f44a..195fbe0af 100644
--- a/src/BeamAdapter/component/controller/SutureController.inl
+++ b/src/BeamAdapter/component/controller/SutureController.inl
@@ -137,8 +137,8 @@ void SutureController<DataTypes>::initWireModel()
 
     Real x_curv = 0.0;
 
-    Data<VecCoord>* datax = getMechanicalState()->write(sofa::core::VecCoordId::position());
-    Data<VecDeriv>* datav = getMechanicalState()->write(sofa::core::VecDerivId::velocity());
+    Data<VecCoord>* datax = getMechanicalState()->write(sofa::core::vec_id::write_access::position);
+    Data<VecDeriv>* datav = getMechanicalState()->write(sofa::core::vec_id::write_access::velocity);
     auto x = sofa::helper::getWriteOnlyAccessor(*datax);
     auto v = sofa::helper::getWriteOnlyAccessor(*datav);
 
@@ -323,8 +323,8 @@ void SutureController<DataTypes>::onBeginAnimationStep(const double dt)
         applyController();
 
     // Propagate modifications
-    MechanicalProjectPositionAndVelocityVisitor(core::MechanicalParams::defaultInstance(), getContext()->getTime(), sofa::core::VecCoordId::position(),sofa::core::VecDerivId::velocity()); // apply projective constraints
-    MechanicalPropagateOnlyPositionAndVelocityVisitor(core::MechanicalParams::defaultInstance(), getContext()->getTime(),sofa::core::VecCoordId::position(),sofa::core::VecDerivId::velocity()).execute( getContext() );
+    MechanicalProjectPositionAndVelocityVisitor(core::MechanicalParams::defaultInstance(), getContext()->getTime(), sofa::core::vec_id::write_access::position,sofa::core::vec_id::write_access::velocity); // apply projective constraints
+    MechanicalPropagateOnlyPositionAndVelocityVisitor(core::MechanicalParams::defaultInstance(), getContext()->getTime(),sofa::core::vec_id::write_access::position,sofa::core::vec_id::write_access::velocity).execute( getContext() );
     simulation::UpdateMappingVisitor(core::ExecParams::defaultInstance()).execute(getContext());
 }
 
@@ -503,8 +503,8 @@ void SutureController<DataTypes>::addImposedCurvAbs(type::vector<Real> &newCurvA
 template <class DataTypes>
 void SutureController<DataTypes>::applyController()
 {
-    Data<VecCoord>* datax = getMechanicalState()->write(sofa::core::VecCoordId::position());
-    Data<VecDeriv>* datav = getMechanicalState()->write(sofa::core::VecDerivId::velocity());
+    Data<VecCoord>* datax = getMechanicalState()->write(sofa::core::vec_id::write_access::position);
+    Data<VecDeriv>* datav = getMechanicalState()->write(sofa::core::vec_id::write_access::velocity);
     auto x = sofa::helper::getWriteOnlyAccessor(*datax);
     auto v = sofa::helper::getWriteOnlyAccessor(*datav);
     type::vector<Real> newCurvAbs;
@@ -1171,7 +1171,7 @@ void SutureController<DataTypes>::updateControlPointsPositions()
 
     unsigned int numBeams = l_adaptiveInterpolation->getNumBeams();
     Transform global_H0_local, global_H1_local;
-    const VecCoord& x = getMechanicalState()->write(sofa::core::VecCoordId::position())->getValue();
+    const VecCoord& x = getMechanicalState()->read(sofa::core::vec_id::read_access::position)->getValue();
     for (unsigned int b = 0; b < numBeams; b++)
     {
         l_adaptiveInterpolation->computeTransform(b, global_H0_local, global_H1_local, x);
diff --git a/src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.inl b/src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.inl
index a7f215d59..2f908fa46 100644
--- a/src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.inl
+++ b/src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.inl
@@ -54,7 +54,6 @@ using sofa::core::objectmodel::BaseContext ;
 using sofa::type::Vec3 ;
 using sofa::type::Quat ;
 using sofa::helper::ReadAccessor ;
-using sofa::core::ConstVecCoordId ;
 using std::set ;
 using sofa::helper::ScopedAdvancedTimer;
 
@@ -746,7 +745,7 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::draw(const VisualParams *vparams)
 
     vparams->drawTool()->saveLastState();
 
-    ReadAccessor<Data<VecCoord> > x = mstate->read(ConstVecCoordId::position()) ;
+    ReadAccessor<Data<VecCoord> > x = mstate->read(sofa::core::vec_id::read_access::position) ;
 
     unsigned int numBeams = l_interpolation->getNumBeams();
 
diff --git a/src/BeamAdapter/component/forcefield/AdaptiveInflatableBeamForceField.inl b/src/BeamAdapter/component/forcefield/AdaptiveInflatableBeamForceField.inl
index d719597ab..cebba2b2b 100644
--- a/src/BeamAdapter/component/forcefield/AdaptiveInflatableBeamForceField.inl
+++ b/src/BeamAdapter/component/forcefield/AdaptiveInflatableBeamForceField.inl
@@ -57,7 +57,6 @@ using sofa::core::objectmodel::BaseContext ;
 using sofa::type::Vec3 ;
 using sofa::type::Quat ;
 using sofa::helper::ReadAccessor ;
-using sofa::core::ConstVecCoordId ;
 using std::set ;
 
 template <class DataTypes>
@@ -730,7 +729,7 @@ void AdaptiveInflatableBeamForceField<DataTypes>::draw(const VisualParams *vpara
     if (!vparams->displayFlags().getShowForceFields() && !vparams->displayFlags().getShowBehaviorModels()) return;
     if (!mstate) return;
 
-    ReadAccessor<Data<VecCoord> > x = mstate->read(ConstVecCoordId::position()) ;
+    ReadAccessor<Data<VecCoord> > x = mstate->read(sofa::core::vec_id::read_access::position) ;
 
     unsigned int numBeams = l_interpolation->getNumBeams();
 
diff --git a/src/BeamAdapter/component/mapping/AdaptiveBeamMapping.inl b/src/BeamAdapter/component/mapping/AdaptiveBeamMapping.inl
index 869a4b015..2a5c6fb1a 100644
--- a/src/BeamAdapter/component/mapping/AdaptiveBeamMapping.inl
+++ b/src/BeamAdapter/component/mapping/AdaptiveBeamMapping.inl
@@ -56,7 +56,6 @@ namespace _adaptivebeammapping_
 using sofa::core::State;
 using helper::ReadAccessor;
 using helper::WriteAccessor;
-using sofa::core::ConstVecCoordId;
 using sofa::helper::AdvancedTimer;
 using sofa::helper::ScopedAdvancedTimer;
 using sofa::core::MultiVecCoordId;
@@ -233,20 +232,20 @@ void AdaptiveBeamMapping< TIn, TOut>::apply(const MechanicalParams* mparams, Dat
         }
     }
 
-    MultiVecCoordId x = VecCoordId::position();
-    MultiVecCoordId xfree = VecCoordId::freePosition();
+    MultiVecCoordId x = sofa::core::vec_id::write_access::position;
+    MultiVecCoordId xfree = sofa::core::vec_id::write_access::freePosition;
 
     const ConstMultiVecCoordId &xId = mparams->x();
-    ConstVecCoordId xtest = xId.getId(this->fromModel);
+    sofa::core::ConstVecCoordId xtest = xId.getId(this->fromModel);
 
     if(xtest == xfree.getId(this->fromModel))
     {
-        VecCoordId xfreeIn = VecCoordId::freePosition();
+        VecCoordId xfreeIn = sofa::core::vec_id::write_access::freePosition;
         l_adaptativebeamInterpolation->updateBezierPoints(in, xfreeIn);
     }
     else if(xtest == x.getId(this->fromModel))
     {
-        VecCoordId positionIn = VecCoordId::position();
+        VecCoordId positionIn = sofa::core::vec_id::write_access::position;
         l_adaptativebeamInterpolation->updateBezierPoints(in, positionIn);
     }
 
@@ -307,7 +306,7 @@ void AdaptiveBeamMapping< TIn, TOut>::applyJ(const core::MechanicalParams* mpara
     auto out = sofa::helper::getWriteOnlyAccessor(dOut);
     const InVecDeriv& in= dIn.getValue();
     
-    Data<InVecCoord>& dataInX = *this->getFromModel()->write(VecCoordId::position());
+    Data<InVecCoord>& dataInX = *this->getFromModel()->write(sofa::core::vec_id::write_access::position);
     auto x = sofa::helper::getWriteOnlyAccessor(dataInX);
 
     if (d_useCurvAbs.getValue() && !d_contactDuplicate.getValue())
@@ -392,7 +391,7 @@ void AdaptiveBeamMapping< TIn, TOut>::applyJT(const core::MechanicalParams* mpar
     auto out = sofa::helper::getWriteOnlyAccessor(dOut);
     const VecDeriv& in= dIn.getValue();
 
-    const Data<InVecCoord>& dataInX = *this->getFromModel()->read(ConstVecCoordId::position());
+    const Data<InVecCoord>& dataInX = *this->getFromModel()->read(sofa::core::vec_id::read_access::position);
     const InVecCoord& x = dataInX.getValue();
 
     for (unsigned int i=0; i<m_pointBeamDistribution.size(); i++)
@@ -434,7 +433,7 @@ void AdaptiveBeamMapping< TIn, TOut>::applyJT(const core::ConstraintParams* cpar
     SCOPED_TIMER("AdaptiveBeamMapping_ApplyJT");
     auto out = sofa::helper::getWriteOnlyAccessor(dOut);
     const OutMatrixDeriv& in = dIn.getValue();
-    const Data<InVecCoord>& dataInX = *this->getFromModel()->read(ConstVecCoordId::position());
+    const Data<InVecCoord>& dataInX = *this->getFromModel()->read(sofa::core::vec_id::read_access::position);
     const InVecCoord& x = dataInX.getValue();
 
     m_isXBufferUsed = false;
@@ -512,7 +511,7 @@ void AdaptiveBeamMapping< TIn, TOut>::bwdInit()
 
     if (ptsSize == 0)
     {
-        helper::ReadAccessor<Data<VecCoord> > xTo = this->toModel->read(sofa::core::ConstVecCoordId::position()) ;
+        helper::ReadAccessor<Data<VecCoord> > xTo = this->toModel->read(sofa::core::vec_id::read_access::position) ;
 
         if(xTo.size()==0)
         {
diff --git a/src/BeamAdapter/component/mapping/BeamLengthMapping.inl b/src/BeamAdapter/component/mapping/BeamLengthMapping.inl
index f894c1ab9..a13c61614 100644
--- a/src/BeamAdapter/component/mapping/BeamLengthMapping.inl
+++ b/src/BeamAdapter/component/mapping/BeamLengthMapping.inl
@@ -62,7 +62,6 @@ using namespace sofa::defaulttype;
 using sofa::core::State;
 using helper::ReadAccessor;
 using helper::WriteAccessor;
-using sofa::core::ConstVecCoordId;
 using sofa::core::MultiVecCoordId;
 using sofa::core::VecCoordId;
 using sofa::core::VecDerivId;
@@ -161,7 +160,7 @@ void BeamLengthMapping< TIn, TOut>::applyJ(const core::MechanicalParams* mparams
     VecDeriv& out = *dOut.beginEdit();
     const InVecDeriv& in= dIn.getValue();
 
-    const Data<InVecCoord>& dataInX = *this->getFromModel()->read(VecCoordId::position());
+    const Data<InVecCoord>& dataInX = *this->getFromModel()->read(sofa::core::vec_id::read_access::position);
     const InVecCoord& x_in = dataInX.getValue();
 
     unsigned int s = l_adaptativebeamInterpolation->getNumBeams();
@@ -233,7 +232,7 @@ void BeamLengthMapping< TIn, TOut>::applyJT(const core::MechanicalParams* mparam
     InVecDeriv& out = *dOut.beginEdit();
     const VecDeriv& in= dIn.getValue();
 
-    const Data<InVecCoord>& dataInX = *this->getFromModel()->read(VecCoordId::position());
+    const Data<InVecCoord>& dataInX = *this->getFromModel()->read(sofa::core::vec_id::read_access::position);
     const InVecCoord& x_in = dataInX.getValue();
 
     unsigned int s = l_adaptativebeamInterpolation->getNumBeams();
@@ -347,7 +346,7 @@ void BeamLengthMapping< TIn, TOut>::applyJT(const core::ConstraintParams* cparam
 
     InMatrixDeriv& out = *dOut.beginEdit();
     const OutMatrixDeriv& in = dIn.getValue();
-    const Data<InVecCoord>& dataInX = *this->getFromModel()->read(ConstVecCoordId::position());
+    const Data<InVecCoord>& dataInX = *this->getFromModel()->read(sofa::core::vec_id::read_access::position);
     const InVecCoord& x_in = dataInX.getValue();
 
 
@@ -437,10 +436,10 @@ void BeamLengthMapping< TIn, TOut>::applyDJT(const MechanicalParams* mparams, co
 
     const SReal kfactor = mparams->kFactor();
 
-    const Data<InVecCoord>& dataInX = *this->getFromModel()->read(VecCoordId::position());
+    const Data<InVecCoord>& dataInX = *this->getFromModel()->read(sofa::core::vec_id::read_access::position);
     const InVecCoord& x_in = dataInX.getValue();
 
-    const Data<InVecDeriv>& dataIndX = *this->getFromModel()->read(VecDerivId::dx());
+    const Data<InVecDeriv>& dataIndX = *this->getFromModel()->read(sofa::core::vec_id::read_access::dx);
     const InVecDeriv& parentDisplacement = dataIndX.getValue();
 
     helper::WriteAccessor<Data<InVecDeriv> > parentForce (*parentDfId[this->fromModel.get()].write());
@@ -597,7 +596,7 @@ void BeamLengthMapping<TIn, TOut>::updateK(const core::MechanicalParams* mparams
     if( !geometricStiffness ) { K_geom.resize(0,0); return; }
     //helper::ReadAccessor<Data<VecDeriv> > childForce( *childForceId[(const core::State<TOut>*)this->getToModels()[0]].read() );
 
-    const Data<InVecCoord>& dataInX = *this->getFromModel()->read(VecCoordId::position());
+    const Data<InVecCoord>& dataInX = *this->getFromModel()->read(sofa::core::vec_id::read_access::position);
     const InVecCoord& x_in = dataInX.getValue();
 
     //const VecDeriv& childForce = this->getToModel()->readForces().ref();
diff --git a/src/BeamAdapter/component/mapping/BeamProjectionDifferenceMultiMapping.inl b/src/BeamAdapter/component/mapping/BeamProjectionDifferenceMultiMapping.inl
index 1b5833e87..9a31db153 100644
--- a/src/BeamAdapter/component/mapping/BeamProjectionDifferenceMultiMapping.inl
+++ b/src/BeamAdapter/component/mapping/BeamProjectionDifferenceMultiMapping.inl
@@ -454,9 +454,9 @@ void BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>::applyDJT(const sofa
 template <class TIn1, class TIn2, class TOut>
 const sofa::type::vector<sofa::linearalgebra::BaseMatrix*>* BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>::getJs()
 {
-    const OutVecCoord& out = m_toModel->read(sofa::core::ConstVecCoordId::position())->getValue();
-    const In1VecCoord& in1 = m_fromModel1->read(sofa::core::ConstVecCoordId::position())->getValue();
-    const In2VecCoord& in2 = m_fromModel2->read(sofa::core::ConstVecCoordId::position())->getValue();
+    const OutVecCoord& out = m_toModel->read(sofa::core::vec_id::read_access::position)->getValue();
+    const In1VecCoord& in1 = m_fromModel1->read(sofa::core::vec_id::read_access::position)->getValue();
+    const In2VecCoord& in2 = m_fromModel2->read(sofa::core::vec_id::read_access::position)->getValue();
 
     typename SparseMatrixEigen1::CompressedMatrix& J1 = m_eigenJacobian1.compressedMatrix;
     typename SparseMatrixEigen1::CompressedMatrix& J2 = m_eigenJacobian2.compressedMatrix;
diff --git a/src/BeamAdapter/component/mapping/MultiAdaptiveBeamMapping.inl b/src/BeamAdapter/component/mapping/MultiAdaptiveBeamMapping.inl
index d28a27d03..ded3bc69c 100644
--- a/src/BeamAdapter/component/mapping/MultiAdaptiveBeamMapping.inl
+++ b/src/BeamAdapter/component/mapping/MultiAdaptiveBeamMapping.inl
@@ -226,24 +226,24 @@ void MultiAdaptiveBeamMapping< TIn, TOut>::assignSubMappingFromControllerInfo()
 
     const core::MechanicalParams* _mparams = core::MechanicalParams::defaultInstance();
 
-    this->apply(_mparams /* PARAMS FIRST */, *this->getToModel()->write(sofa::core::VecCoordId::position()),*this->getFromModel()->read(sofa::core::ConstVecCoordId::position()));
+    this->apply(_mparams /* PARAMS FIRST */, *this->getToModel()->write(sofa::core::vec_id::write_access::position),*this->getFromModel()->read(sofa::core::vec_id::read_access::position));
 
-    const Data<InVecCoord>& xfree_in = *this->getFromModel()->read(sofa::core::ConstVecCoordId::freePosition());
+    const Data<InVecCoord>& xfree_in = *this->getFromModel()->read(sofa::core::vec_id::read_access::freePosition);
 
-    const Data<VecCoord>&     x_out = *this->getToModel()->read(sofa::core::VecCoordId::position());
-    const Data<VecCoord>& xfree_out = *this->getToModel()->read(sofa::core::VecCoordId::freePosition());
+    const Data<VecCoord>&     x_out = *this->getToModel()->read(sofa::core::vec_id::read_access::position);
+    const Data<VecCoord>& xfree_out = *this->getToModel()->read(sofa::core::vec_id::read_access::freePosition);
 
     core::behavior::MechanicalState<TOut>* ms_out =	dynamic_cast<core::behavior::MechanicalState<TOut> *> (this->getToModel());
 
     if (x_out.getValue().size() != xfree_out.getValue().size())
     {
-        ms_out->vInit(_mparams,sofa::core::VecCoordId::freePosition(),sofa::core::ConstVecCoordId::position());
-        ms_out->vInit(_mparams,sofa::core::VecDerivId::freeVelocity(),sofa::core::ConstVecDerivId::velocity());
+        ms_out->vInit(_mparams,sofa::core::vec_id::write_access::freePosition,sofa::core::vec_id::read_access::position);
+        ms_out->vInit(_mparams,sofa::core::vec_id::write_access::freeVelocity,sofa::core::vec_id::read_access::velocity);
     }
 
     if (xfree_in.getValue().size() > 0)
     {
-        this->apply(_mparams /* PARAMS FIRST */, *this->getToModel()->write(sofa::core::VecCoordId::freePosition()),	*this->getFromModel()->read(sofa::core::ConstVecCoordId::freePosition()));
+        this->apply(_mparams /* PARAMS FIRST */, *this->getToModel()->write(sofa::core::vec_id::write_access::freePosition),	*this->getFromModel()->read(sofa::core::vec_id::read_access::freePosition));
     }
 }