When catheter contact the inner wall, why stick and strange transform?

[904288343]

I'm try to simulate the catheter in the lung based on the example 3instrument_collision.scn. I change the vessel.obj file to lung.obj, which is a thin-walled model. But when the catheter contact the inner wall of lung, it stick to the wall. And the shape of catheter changed strange like this fig with a warning.

[WARNING] [LCPConstraintSolver(LCPConstraintSolver)] No convergence in unbuilt nlcp gaussseidel function : error =0.00475986 after 1000 iterations
I don't know it is because my model differ to the origin model or other settings are wrong. The catheter can't follow the inner wall ahead, but stick and go inside the wall. How to deal?My code and model:
`# -- coding: utf-8 --
import Sofa
def createScene(rootNode):
rootNode.createObject('RequiredPlugin', pluginName='BeamAdapter SofaDeformable SofaImplicitOdeSolver SofaGeneralLinearSolver SofaLoader SofaMeshCollision SofaMiscCollision SofaOpenglVisual SofaTopologyMapping SofaBoundaryCondition SofaConstraint')
rootNode.findData('dt').value = 0.01
rootNode.findData('gravity').value = '0 0 0'
rootNode.createObject('VisualStyle',
displayFlags='showVisualModels showBehaviorModels showCollisionModels hideMappings hideForceFields')

rootNode.createObject('DefaultVisualManagerLoop')
rootNode.createObject('FreeMotionAnimationLoop')
rootNode.createObject('LCPConstraintSolver', mu='0.1', tolerance='1e-10', maxIt='1000', build_lcp='false')

rootNode.createObject('DefaultPipeline', depth='6', verbose='1', draw='0')
rootNode.createObject('BruteForceBroadPhase')
rootNode.createObject('BVHNarrowPhase')
rootNode.createObject('LocalMinDistance', contactDistance='0.5', alarmDistance='1', name='localmindistance',
                      angleCone='0.8', coneFactor='0.8')
rootNode.createObject('DefaultContactManager', name='Response', response='FrictionContact')

rootNode.createObject('DefaultCollisionGroupManager', name='Group')

topoLines_cath = rootNode.createChild('topoLines_cath')

topoLines_cath.createObject('WireRestShape', name='catheterRestShape',
                            straightLength=600.0, length=1000.0, numEdges=200,
                            youngModulus=10000, spireDiameter=4000.0, numEdgesCollis=[40, 20],
                            printLog=False, template='Rigid3d', spireHeight=0.0,
                            densityOfBeams=[40, 10], youngModulusExtremity=10000)

topoLines_cath.createObject('EdgeSetTopologyContainer', name='meshLinesCath')##Container for the topology of Edge (important for the visualisation)
topoLines_cath.createObject('EdgeSetTopologyModifier', name='Modifier')
# topoLines_cath.createObject('EdgeSetTopologyAlgorithms', name='TopoAlgo', template='Rigid')#Useful for Edge2QuadTopologicalMapping (used in the node « VisuCatheter »)
topoLines_cath.createObject('EdgeSetGeometryAlgorithms', name='GeomAlgo', template='Rigid')
topoLines_cath.createObject('MechanicalObject', name='dofTopo1', template='Rigid')#The mapping Edge2QuadTopologicalMapping needs a Mechanical object templated on rigid

topoLines_guide = rootNode.createChild('topoLines_guide')
topoLines_guide.createObject('WireRestShape', name='GuideRestShape',
                             straightLength=980.0, length=1000.0,
                             numEdges=200, youngModulus=10000,
                             spireDiameter=25, numEdgesCollis=[50, 10],
                             printLog=True, template='Rigid', spireHeight=0.0,
                             densityOfBeams=[30, 5], youngModulusExtremity=10000)##spireDiameter=25，originally
topoLines_guide.createObject('EdgeSetTopologyContainer', name='meshLinesGuide')
topoLines_guide.createObject('EdgeSetTopologyModifier', name='Modifier')
# topoLines_guide.createObject('EdgeSetTopologyAlgorithms', name='TopoAlgo', template='Rigid')
topoLines_guide.createObject('EdgeSetGeometryAlgorithms', name='GeomAlgo', template='Rigid')
topoLines_guide.createObject('MechanicalObject', name='dofTopo2', template='Rigid')

topoLines_coils = rootNode.createChild('topoLines_coils')
topoLines_coils.createObject('WireRestShape', name='CoilRestShape', straightLength=540.0,
                             length=600.0, numEdges=400, youngModulus=168000, spireDiameter=7,
                             numEdgesCollis=[30, 30], printLog=True, template='Rigid',
                             spireHeight=5.0, densityOfBeams=[40, 20],
                             youngModulusExtremity=168000)
topoLines_coils.createObject('EdgeSetTopologyContainer', name='meshLinesCoils')
topoLines_coils.createObject('EdgeSetTopologyModifier', name='Modifier')
# topoLines_coils.createObject('EdgeSetTopologyAlgorithms', name='TopoAlgo', template='Rigid')
topoLines_coils.createObject('EdgeSetGeometryAlgorithms', name='GeomAlgo', template='Rigid')
topoLines_coils.createObject('MechanicalObject', name='dofTopo3', template='Rigid')

InstrumentCombined = rootNode.createChild('InstrumentCombined')
InstrumentCombined.createObject('EulerImplicit', rayleighStiffness=0.2,
                                printLog=False, rayleighMass=0.1)
InstrumentCombined.createObject('BTDLinearSolver', verification=False,
                                subpartSolve=False, verbose=False)
InstrumentCombined.createObject('RegularGridTopology', name='meshLinesCombined',
                                zmax=1, zmin=1, nx=60, ny=1, nz=1,
                                xmax=1.0, xmin=0.0, ymin=0, ymax=0)
# nx : number of points，ny=nz=1 : the topology is a series of lines.
InstrumentCombined.createObject('MechanicalObject', showIndices=False, name='DOFs', template='Rigid', ry=-90)

InstrumentCombined.createObject('WireBeamInterpolation', WireRestShape='@../topoLines_cath/catheterRestShape',
                                radius=1, printLog=True, name='InterpolCatheter')

InstrumentCombined.createObject('AdaptiveBeamForceFieldAndMass', massDensity=0.00000155,
                                name='CatheterForceField', interpolation='@InterpolCatheter')
InstrumentCombined.createObject('WireBeamInterpolation', WireRestShape='@../topoLines_guide/GuideRestShape',
                                radius=0.9, printLog=True, name='InterpolGuide')
InstrumentCombined.createObject('AdaptiveBeamForceFieldAndMass', massDensity=0.00000155,
                                name='GuideForceField', interpolation='@InterpolGuide')

InstrumentCombined.createObject('WireBeamInterpolation', WireRestShape='@../topoLines_coils/CoilRestShape',
                                radius=0.1, printLog=True, name='InterpolCoils')
InstrumentCombined.createObject('AdaptiveBeamForceFieldAndMass', massDensity=0.000021,
                                name='CoilsForceField', interpolation='@InterpolCoils')

InstrumentCombined.createObject('InterventionalRadiologyController', xtip=[1, 0, 0], name='m_ircontroller',
                                instruments='InterpolCatheter InterpolGuide InterpolCoils',
                                step=3, printLog=True,
                                listening=True, template='Rigid', startingPos=[0, 0, 0, 0, -0.7071068, 0, 0.7071068],
                                rotationInstrument=[0, 0, 0], speed=0,
                                controlledInstrument=0)

InstrumentCombined.createObject('LinearSolverConstraintCorrection', wire_optimization='true', printLog=False)
InstrumentCombined.createObject('FixedConstraint', indices=0, name='FixedConstraint')# to fix the points that are store in « indices ».
InstrumentCombined.createObject('RestShapeSpringsForceField', points='@m_ircontroller.indexFirstNode',
                                angularStiffness=1e8, stiffness=1e8)

Collis = InstrumentCombined.createChild('Collis')
Collis.createObject('EdgeSetTopologyContainer', name='collisEdgeSet')
Collis.createObject('EdgeSetTopologyModifier', name='colliseEdgeModifier')
Collis.createObject('MechanicalObject', name='CollisionDOFs')
Collis.createObject('MultiAdaptiveBeamMapping', name='collisMap',  controller='../m_ircontroller', useCurvAbs='1', printLog='1')# drive the Mechanical Object of the collision object
Collis.createObject('LineCollisionModel', proximity='0.0', group='1')
Collis.createObject('PointCollisionModel', proximity='0.0', group='1')

VisuCatheter = InstrumentCombined.createChild('VisuCatheter')
VisuCatheter.createObject('MechanicalObject', name='Quads')
VisuCatheter.createObject('QuadSetTopologyContainer', name='ContainerCath')
VisuCatheter.createObject('QuadSetTopologyModifier', name='Modifier')
# VisuCatheter.createObject('QuadSetTopologyAlgorithms', name='TopoAlgo',  template='Vec3d')
VisuCatheter.createObject('QuadSetGeometryAlgorithms', name='GeomAlgo',  template='Vec3d')
VisuCatheter.createObject('Edge2QuadTopologicalMapping', nbPointsOnEachCircle=10, radius=2, input='@../../topoLines_cath/meshLinesCath', output='@ContainerCath', flipNormals=True)

#nbPointsOnEachCircle : on each cross section, defined the number of point，radius : radius of the cylinder，input : edgeSetContainer that defines the input set of lines
VisuCatheter.createObject('AdaptiveBeamMapping', name='VisuMapCath', useCurvAbs=1, printLog=1, interpolation='@../InterpolCatheter', input='@../DOFs', output='@Quads', isMechanical=False)

VisuOgl = VisuCatheter.createChild('VisuOgl')
VisuOgl.createObject('OglModel', name='Visual', color=[0.7, 0.7, 0.7], 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', quads='@../ContainerCath.quads')
    # 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'
#Open GL state of the model
VisuOgl.createObject('IdentityMapping', input='@../Quads', output='@Visual')#copy the position of the MechanicalObject on OglModel to display it.

VisuGuide = InstrumentCombined.createChild('VisuGuide')
VisuGuide.createObject('MechanicalObject', name='Quads')
VisuGuide.createObject('QuadSetTopologyContainer', name='ContainerGuide')
VisuGuide.createObject('QuadSetTopologyModifier', name='Modifier')
# VisuGuide.createObject('QuadSetTopologyAlgorithms', name='TopoAlgo',  template='Vec3d')
VisuGuide.createObject('QuadSetGeometryAlgorithms', name='GeomAlgo',  template='Vec3d')
VisuGuide.createObject('Edge2QuadTopologicalMapping', nbPointsOnEachCircle=10, radius=1, input='@../../topoLines_guide/meshLinesGuide', output='@ContainerGuide',  flipNormals=True, listening=True)
VisuGuide.createObject('AdaptiveBeamMapping', name='visuMapGuide', useCurvAbs=1, printLog=1, interpolation='@../InterpolGuide', input='@../DOFs', output='@Quads', isMechanical=False)

VisuOgl = VisuGuide.createChild('VisuOgl')
VisuOgl.createObject('OglModel', name='Visual', color=[0.2, 0.2, 0.8], quads='@../ContainerGuide.quads')
VisuOgl.createObject('IdentityMapping', input='@../Quads', output='@Visual')

VisuCoils = InstrumentCombined.createChild('VisuCoils')
VisuCoils.createObject('MechanicalObject', name='Quads')
VisuCoils.createObject('QuadSetTopologyContainer', name='ContainerCoils')
VisuCoils.createObject('QuadSetTopologyModifier', name='Modifier')
# VisuCoils.createObject('QuadSetTopologyAlgorithms', name='TopoAlgo',  template='Vec3d')
VisuCoils.createObject('QuadSetGeometryAlgorithms', name='GeomAlgo',  template='Vec3d')
VisuCoils.createObject('Edge2QuadTopologicalMapping', nbPointsOnEachCircle=10, radius=0.3,  input='@../../topoLines_coils/meshLinesCoils', output='@ContainerCoils',  flipNormals=True, listening=True)
VisuCoils.createObject('AdaptiveBeamMapping', name='visuMapCoils', useCurvAbs=1, printLog=1, interpolation='@../InterpolCoils', input='@../DOFs', output='@Quads', isMechanical=False)

VisuOgl = VisuCoils.createChild('VisuOgl')
VisuOgl.createObject('OglModel', name='Visual', color=[0.2, 0.8, 0.2], quads='@../ContainerCoils.quads')
VisuOgl.createObject('IdentityMapping', input='@../Quads', output='@Visual')

# CollisionModel = rootNode.createChild('CollisionModel')
# CollisionModel.createObject('MeshObjLoader', name='meshLoader', filename='lung.obj', triangulate=True, flipNormals=1, translation=[-178, -313, -144])
# CollisionModel.createObject('MeshTopology', position='@meshLoader.position',  triangles='@meshLoader.triangles')
# CollisionModel.createObject('MechanicalObject', name='DOFs1', position=[0, 0, 400], scale=1.5, rx=-120)#
# CollisionModel.createObject('TriangleCollisionModel', simulated=0, moving=0)
# CollisionModel.createObject('LineCollisionModel', simulated=0, moving=0)
# CollisionModel.createObject('PointCollisionModel', simulated=0, moving=0)
# CollisionModel.createObject('OglModel', name='Visual', fileMesh='lung.obj', color=[1, 0, 0, 0.3], scale=1.5, translation=[-266.25, 47.25, 514.5], rx=-120)
#
CollisionModel = rootNode.createChild('CollisionModel')
CollisionModel.createObject('MeshObjLoader', name='meshLoader', filename='lung.obj', triangulate=True, flipNormals=1)
CollisionModel.createObject('MeshTopology', position='@meshLoader.position',  triangles='@meshLoader.triangles')
CollisionModel.createObject('MechanicalObject', name='DOFs1', position=[0, 0, 400], scale=1.5, rx=90)
CollisionModel.createObject('TriangleCollisionModel', simulated=0, moving=0)
CollisionModel.createObject('LineCollisionModel', simulated=0, moving=0)
CollisionModel.createObject('PointCollisionModel', simulated=0, moving=0)
CollisionModel.createObject('OglModel', name='Visual', fileMesh='lung.obj', color=[1, 0, 0, 0.3], scale=1.5, rx=90)

`
a.zip

[904288343]

@hugtalbot Can you give me some help please, thank you