How to make a beam collide with other objects

[KHJ273]

Hello, thank you for good simulator.

I'm using sofa framework with sofapython in python 3.8.19, Ubuntu 20.04.6 LTS and making an environment of catheter in vessel.
I want to make some objects in the simulator which interact with catheter.

Therefore, I made a sphere, but it doesn't interact with the catheter.
When the catheter contact with the sphere, it doesn't react, but some notice appears on the prompt.

How can I ensure interaction between the catheter and the sphere?

1. The video when the catheter touches the sphere.
   The catheter interacts well with the vessel.

20240409_134500.mp4

2. The message when the catheter touches the sphere.

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[WARNING] [LCPConstraintSolver(LCPConstraintSolver)] No convergence in unbuilt nlcp gaussseidel function : error =5.62447e-05 after 1000 iterations
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[WARNING] [IntersectorMap] Element Intersector SphereCollisionModel<StdRigidTypes<3u,double>>-LineCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>> NOT FOUND within :  RayCollisionModel-LineCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  nullptr  
  RayCollisionModel-PointCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  nullptr  
  RayCollisionModel-SphereCollisionModel<StdRigidTypes<3u,double>>  Ray-TSphere<StdRigidTypes<3u,double>>  
  RayCollisionModel-SphereCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  Ray-TSphere<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  RayCollisionModel-TriangleCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  Ray-TTriangle<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  RayCollisionModel-TetrahedronCollisionModel  Ray-Tetrahedron  
  CubeCollisionModel-CubeCollisionModel  Cube-Cube  
  LineCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-LineCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  TLine<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-TLine<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  LineCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-PointCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  TLine<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-TPoint<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  LineCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-SphereCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  TLine<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-TSphere<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  PointCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-PointCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  TPoint<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-TPoint<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  SphereCollisionModel<StdRigidTypes<3u,double>>-SphereCollisionModel<StdRigidTypes<3u,double>>  TSphere<StdRigidTypes<3u,double>>-TSphere<StdRigidTypes<3u,double>>  
  SphereCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-PointCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  TSphere<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-TPoint<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  SphereCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-SphereCollisionModel<StdRigidTypes<3u,double>>  TSphere<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-TSphere<StdRigidTypes<3u,double>>  
  SphereCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-SphereCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  TSphere<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-TSphere<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  TriangleCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-LineCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  nullptr  
  TriangleCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-PointCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  TTriangle<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-TPoint<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  TriangleCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-SphereCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  TTriangle<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-TSphere<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  TriangleCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-TriangleCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  nullptr  
  TetrahedronCollisionModel-PointCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  Tetrahedron-TPoint<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  

[WARNING] [IntersectorMap] Element Intersector SphereCollisionModel<StdRigidTypes<3u,double>>-PointCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>> NOT FOUND within :  RayCollisionModel-LineCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  nullptr  
  RayCollisionModel-PointCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  nullptr  
  RayCollisionModel-SphereCollisionModel<StdRigidTypes<3u,double>>  Ray-TSphere<StdRigidTypes<3u,double>>  
  RayCollisionModel-SphereCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  Ray-TSphere<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  RayCollisionModel-TriangleCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  Ray-TTriangle<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  RayCollisionModel-TetrahedronCollisionModel  Ray-Tetrahedron  
  CubeCollisionModel-CubeCollisionModel  Cube-Cube  
  LineCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-LineCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  TLine<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-TLine<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  LineCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-PointCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  TLine<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-TPoint<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  LineCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-SphereCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  TLine<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-TSphere<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  PointCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-PointCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  TPoint<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-TPoint<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  SphereCollisionModel<StdRigidTypes<3u,double>>-LineCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  nullptr  
  SphereCollisionModel<StdRigidTypes<3u,double>>-SphereCollisionModel<StdRigidTypes<3u,double>>  TSphere<StdRigidTypes<3u,double>>-TSphere<StdRigidTypes<3u,double>>  
  SphereCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-PointCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  TSphere<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-TPoint<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  SphereCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-SphereCollisionModel<StdRigidTypes<3u,double>>  TSphere<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-TSphere<StdRigidTypes<3u,double>>  
  SphereCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-SphereCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  TSphere<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-TSphere<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  TriangleCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-LineCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  nullptr  
  TriangleCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-PointCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  TTriangle<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-TPoint<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  TriangleCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-SphereCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  TTriangle<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-TSphere<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  TriangleCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>-TriangleCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  nullptr  
  TetrahedronCollisionModel-PointCollisionModel<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  Tetrahedron-TPoint<StdVectorTypes<Vec<3u,double>,Vec<3u,double>,double>>  
  

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3. My entire code.
   The vessel file is from here, carotids.stl.

import Sofa

import Sofa
import Sofa.SofaGL
import os
import numpy as np
import pygame
from scipy.spatial.transform import Rotation as R
import time
import PIL.Image

import OpenGL.GL
import OpenGL.GLU

path = os.path.dirname(os.path.abspath(__file__))+'/vessel/'
model = 'phantom'

display_size = (640, 480)


def init_display(root):
    """Initialize OpenGL and pygame.

    Parameters:
    ----------
        root: Sofa.Core.Node
            Root node of Sofa simulator.

    Returns:
    -------
        None.

    """
    pygame.display.init()
    pygame.display.set_mode(display_size, pygame.DOUBLEBUF | pygame.OPENGL)

    OpenGL.GL.glClear(OpenGL.GL.GL_COLOR_BUFFER_BIT | OpenGL.GL.GL_DEPTH_BUFFER_BIT)
    OpenGL.GL.glEnable(OpenGL.GL.GL_LIGHTING)
    OpenGL.GL.glEnable(OpenGL.GL.GL_DEPTH_TEST)
    Sofa.SofaGL.glewInit()
    Sofa.Simulation.initVisual(root)
    Sofa.Simulation.initTextures(root)
    OpenGL.GL.glMatrixMode(OpenGL.GL.GL_PROJECTION)
    OpenGL.GL.glLoadIdentity()
    OpenGL.GLU.gluPerspective(45, (display_size[0] / display_size[1]), 0.1, 50.0)

    OpenGL.GL.glMatrixMode(OpenGL.GL.GL_MODELVIEW)
    OpenGL.GL.glLoadIdentity()
    

def simple_render(root):
    """Render camera of root onto pygame.
    Get the OpenGL Context to render an image (snapshot) of the simulation state

    Parameters:
    ----------
        root: Sofa.Core.Node
            Root node of Sofa simulator.

    Returns:
    -------
        None.

    """
    zNear = 0.1; zFar = 0 # For penetrate infinite view.
    OpenGL.GL.glClear(OpenGL.GL.GL_COLOR_BUFFER_BIT | OpenGL.GL.GL_DEPTH_BUFFER_BIT)
    OpenGL.GL.glEnable(OpenGL.GL.GL_LIGHTING)
    OpenGL.GL.glEnable(OpenGL.GL.GL_DEPTH_TEST)
    OpenGL.GL.glMatrixMode(OpenGL.GL.GL_PROJECTION)
    OpenGL.GL.glLoadIdentity()
    OpenGL.GLU.gluPerspective(45, (display_size[0] / display_size[1]), zNear, zFar)
    OpenGL.GL.glMatrixMode(OpenGL.GL.GL_MODELVIEW)
    OpenGL.GL.glLoadIdentity()

    cameraMVM = root.camera.getOpenGLModelViewMatrix()
    OpenGL.GL.glMultMatrixd(cameraMVM)
    Sofa.SofaGL.draw(root)

    pygame.display.flip()

def GetFrame():
    """
    Get frame image as numpy.

    Parameters:
    ----------
        kwargs: Dictionary
            Initialization of the arguments.

    Returns:
    -------
        image: np.ndarray

    """
    buffer = OpenGL.GL.glReadPixels(0, 0, *display_size, OpenGL.GL.GL_RGB, OpenGL.GL.GL_UNSIGNED_BYTE)
    image_array = np.fromstring(buffer, np.uint8)
    if image_array.shape != (0,):
        image = image_array.reshape(display_size[1], display_size[0], 3)
    else:
        image = np.zeros((display_size[1], display_size[0], 3))
    image = np.flipud(image)
    return image
    
def SaveImage(image:np.ndarray, filename:str):
    im = PIL.Image.fromarray(image)
    im.save(filename)
    

def createScene(root):
    root.addObject('RequiredPlugin', pluginName=['BeamAdapter',
                                                     'SofaMiscCollision',
                                                     'SofaConstraint',
                                                     'SofaImplicitOdeSolver',
                                                     'SofaGeneralLinearSolver',
                                                     'SofaBoundaryCondition',
                                                     'SofaDeformable',
                                                     'SofaTopologyMapping',
                                                     'SofaOpenglVisual,'
                                                     'SofaMeshCollision',
                                                     'Sofa.Component.Collision.Detection.Algorithm',
                                                     'Sofa.Component.IO.Mesh',
                                                     'Sofa.GL.Component.Rendering3D',
                                                     'Sofa.GL.Component.Shader'
                                                     ])
    root.addObject('FreeMotionAnimationLoop')
    root.addObject('VisualStyle', displayFlags=['showVisualModels',
                                                    'showCollisionModels',
                                                    ])
    root.addObject('LCPConstraintSolver', mu='0.1', tolerance='1e-10', maxIt='1000', build_lcp='false')
    root.addObject('DefaultPipeline', draw='0', depth='6', verbose='1')
    root.addObject('BruteForceBroadPhase', name='N2')
    root.addObject('BVHNarrowPhase')
    root.addObject('LocalMinDistance', contactDistance='1', alarmDistance='3', name='localmindistance', angleCone='0.02')
    root.addObject('DefaultContactManager', name='Response', response='FrictionContactConstraint')


    name='guide'
    straightLength=980.0
    length=1000.0
    numEdges=200
    youngModulus=20000
    spireDiameter=25
    numEdgesCollis=[50,10]
    spireHeight=0.0
    densityOfBeams=[30,5]
    youngModulusExtremity=10000
    topoLines_guide = root.addChild('topoLines_'+name)
    topoLines_guide.addObject('WireRestShape', name=name+'RestShape', 
                            straightLength=straightLength, length=length, 
                            numEdges=numEdges, youngModulus=youngModulus, 
                            spireDiameter=spireDiameter, numEdgesCollis=numEdgesCollis, 
                            printLog=True, template='Rigid3d', spireHeight=spireHeight, 
                            densityOfBeams=densityOfBeams, youngModulusExtremity=youngModulusExtremity)
    topoLines_guide.addObject('MechanicalObject', name='dofTopo2', template='Rigid3d')
    topoLines_guide.addObject('EdgeSetTopologyContainer', name='meshLinesGuide')
    topoLines_guide.addObject('EdgeSetTopologyModifier', name='Modifier')
    topoLines_guide.addObject('EdgeSetGeometryAlgorithms', name='GeomAlgo', template='Rigid3d')


    xtip=[1, 0, 0]
    instruments=['guide']
    step=0.5
    listening=True
    startingPos=[0, 0, 0, 1, 0, 0, 0]
    rotationInstrument=[0, 0, 0]
    speed=0
    controlledInstrument=0
    InstrumentCombined = root.addChild('InstrumentCombined')
    InstrumentCombined.addObject('EulerImplicitSolver', rayleighStiffness=0.2, 
                                    printLog=False, rayleighMass=0.1)
    InstrumentCombined.addObject('BTDLinearSolver', verification=False, 
                                    subpartSolve=False, verbose=False)
    InstrumentCombined.addObject('RegularGridTopology', name='meshLinesCombined', 
                                    zmax=1, zmin=1, nx=60, ny=1, nz=1, 
                                    xmax=1.0, xmin=0.0, ymin=0, ymax=0)
    InstrumentCombined.addObject('MechanicalObject', showIndices=False, name='DOFs', template='Rigid3d', ry=-90)
    for i in range(len(instruments)):
        InstrumentCombined.addObject('WireBeamInterpolation', WireRestShape='@../topoLines_'+instruments[i]+'/'+instruments[i]+'RestShape', 
                                    radius=0.15, printLog=False, name='Interpol'+instruments[i])
        InstrumentCombined.addObject('AdaptiveBeamForceFieldAndMass', massDensity=0.00000155, 
                                    name=instruments[i]+'ForceField', interpolation='@Interpol'+instruments[i])
    InstrumentCombined.addObject('InterventionalRadiologyController', xtip=xtip, name='m_ircontroller', 
                                    instruments=['Interpol'+instruments[i] for i in range(len(instruments))], 
                                    step=step, printLog=True, 
                                    listening=listening, template='Rigid3d', startingPos=startingPos, 
                                    rotationInstrument=rotationInstrument, speed=speed, 
                                    controlledInstrument=controlledInstrument)
    InstrumentCombined.addObject('LinearSolverConstraintCorrection', wire_optimization='true', printLog=False)
    InstrumentCombined.addObject('FixedConstraint', indices=0, name='FixedConstraint')
    InstrumentCombined.addObject('RestShapeSpringsForceField', points='@m_ircontroller.indexFirstNode', 
                                    angularStiffness=1e8, stiffness=1e8)
    # Collision model
    Collis = InstrumentCombined.addChild('Collis')
    #Collis.activated = 'true'
    Collis.addObject('EdgeSetTopologyContainer', name='collisEdgeSet')
    Collis.addObject('EdgeSetTopologyModifier', name='colliseEdgeModifier')
    Collis.addObject('MechanicalObject', name='CollisionDOFs')
    Collis.addObject('MultiAdaptiveBeamMapping', controller='../m_ircontroller', 
                        useCurvAbs=True, printLog=False, name='collisMap')
    Collis.addObject('LineCollisionModel', proximity=0.0, group=1)
    Collis.addObject('PointCollisionModel', proximity=0.0, group=1)
    # Visualization Guide
    VisuGuide = InstrumentCombined.addChild('VisuGuide')
    #VisuGuide.activated = 'true'
    VisuGuide.addObject('MechanicalObject', name='Quads')
    VisuGuide.addObject('QuadSetTopologyContainer', name='ContainerGuide')
    VisuGuide.addObject('QuadSetTopologyModifier', name='Modifier')
    VisuGuide.addObject('QuadSetGeometryAlgorithms', name='GeomAlgo', template='Vec3d')
    VisuGuide.addObject('Edge2QuadTopologicalMapping', radius='1', listening=True, 
                           input='@../../topoLines_guide/meshLinesGuide', 
                           nbPointsOnEachCircle='10', flipNormals='true', output='@ContainerGuide')
    VisuGuide.addObject('AdaptiveBeamMapping', interpolation='@../InterpolGuide', 
                           name='visuMapGuide', output='@Quads', isMechanical=False, 
                           input='@../DOFs', useCurvAbs=True, printLog=True)
    TriangleTopology = VisuGuide.addChild('TriangleTopology')
    TriangleTopology.addObject('TriangleSetTopologyContainer', name='TriangleContainer')
    TriangleTopology.addObject('TriangleSetTopologyModifier', name='Modifier')
    TriangleTopology.addObject('TriangleSetGeometryAlgorithms', name='GeomAlgo', template='Vec3d')
    TriangleTopology.addObject('Quad2TriangleTopologicalMapping', input='@../ContainerGuide', output='@TriangleContainer')
    # Ogl model
    VisuOgl = VisuGuide.addChild('VisuOgl')
    VisuOgl.addObject('OglModel', color=[0.2, 0.2, 0.8], triangles='@../TriangleTopology/TriangleContainer.triangles', 
                         material='texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 1.0 1.0 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20', name='Visual')
    VisuOgl.addObject('IdentityMapping', input='@../Quads', output='@Visual')
    
    
    scale=1.5
    rotation=[-40.0, 0.0, 0.0]
    stl = 'carotids.stl'
    VISUAL = True
    vessels = root.addChild('Vessels')
    vessels.addObject('MeshSTLLoader', filename=stl, flipNormals=False, triangulate=True, name='meshLoader', scale=scale, rotation=rotation)
    vessels.addObject('MeshTopology', position='@meshLoader.position', triangles='@meshLoader.triangles')
    vessels.addObject('MechanicalObject', name='DOFs1', scale=1, rotation=rotation)
    vessels.addObject('TriangleCollisionModel', moving=False, simulated=False)
    vessels.addObject('LineCollisionModel', moving=False, simulated=False)
    vessels.addObject('PointCollisionModel', moving=False, simulated=False)
    vessels.addObject('OglModel', color=[1, 0, 0, 0.3], src='@meshLoader', name='Visual', rotation=rotation)


    # Add a sphere.
    newSphere = root.addChild('FixedSphere')
    newSphere.addObject('EulerImplicitSolver')
    newSphere.addObject('CGLinearSolver', threshold='1e-09', tolerance='1e-09', iterations='200')
    MO = newSphere.addObject('MechanicalObject', showObject=True, position=[0, 200, 200, 0, 0, 0, 0], name='Particle', template='Rigid3d')
    Mass = newSphere.addObject('UniformMass', totalMass=1)
    Force = newSphere.addObject('ConstantForceField', name="CFF", totalForce=[0, 0, 0, 0, 0, 0] )
    Sphere = newSphere.addObject('SphereCollisionModel', name="SCM", radius=30.0 )
    newSphere.addObject('FixedConstraint', name='FixedConstraint', indices=0)
    newSphere.addObject('OglModel', color=[1, 0, 0, 0.3],  name='Visual')
    
    
    
    # visualizing
    source = [-600,0,300]
    lookAt = source+np.array([1,0,0])
    orientation = [ 0, -0.70710678, 0, 0.70710678]
    root.addObject("LightManager")
    root.addObject("DirectionalLight", direction=[-1,0,0])
    root.addObject('InteractiveCamera', name='camera', position=source,
                    lookAt=lookAt, orientation=orientation)
    
if __name__ == "__main__":
    # Read real information from real world.
    pass

    # One simulation for one root. Maybe.
    # Create scene and initialize simulation.
    root = Sofa.Core.Node("root")
    createScene(root)
    Sofa.Simulation.init(root)

    # Initialize pygame.
    init_display(root)
    
    try:
        for i in range(10000):
            root.InstrumentCombined.m_ircontroller.findData('xtip').value =\
                root.InstrumentCombined.m_ircontroller.findData('xtip').value \
                + np.array([2,110,2], dtype=float)
            
            # Calculate simulator one step.
            Sofa.Simulation.animate(root, root.dt.value)
            Sofa.Simulation.updateVisual(root)
            time.sleep(root.dt.value)
            
            # Visualize in pygame.
            simple_render(root)
            
            
            # Save image of pygame.
            image = GetFrame()
            SaveImage(image, f"screen.jpeg")
            
            
            print(i)
            
            
    except KeyboardInterrupt:
        pass
        

How can I ensure interaction between the catheter and the sphere?