Availability of Beamadapter's Steerable Catheter and Attaching an External STL to Its Tip

[SangbaekYoo]

Long time no see!

I always make good use of the SOFA simulation. Thank you :)
I am asking this question because my new project requires a more advanced catheter simulation.

Actually, the following link represents the procedure I am trying to implement, but since it is not available, I am currently gathering information from various sources to imitate this.
https://www.sofa-framework.org/applications/plugins/cardiac-electrophysiology-2/

1. First question is "How to use and apply SteerableCatheter?".
   The source code is as following:
   https://github.com/sofa-framework/BeamAdapter/blob/master/src/BeamAdapter/component/engine/SteerableCatheter.inl

When I change in the example code (https://github.com/sofa-framework/BeamAdapter/blob/master/examples/3instruments_collis.scn)

<WireRestShape template="Rigid3d" name="catheterRestShape" wireMaterials="@StraightSection @SpireSection"/> <!-- silicone -->

to

<SteerableCatheter template="Rigid3d" name="catheterRestShape" wireMaterials="@StraightSection @SpireSection"/> <!-- silicone -->

It success to start the simulation, but bending is not working(ctrl+6, ctrl+9 not working).
How can I fix the code to work correctly? Is it possible to use this now? I really want to use steerable catheter :)

2. Second question is "How can attach object in the tip of catheter?".
   I want to add pacemaker object to catheter. like this.
   
   I have the stl file of pacemaker object, but I want to know the way to add this object to tip of catheter. I am implementing these in python script. Is it possible to implement without modify the source code?

Thank you!
Best regards,
Sangbaek Yoo

[bakpaul]

Hello !
For this question I'll invoke @epernod @fredroy and @hugtalbot
I don't know a lot about BeamAdapter myself.

[SangbaekYoo]

With @fredroy's help, I successfully implement everything. Thank you!

[904288343]

Hi @SangbaekYoo and @fredroy
So how to solve the questions above? Could you show your code or give me some tips? very very thanks! I really want to know how to control the catheter bending, and how to add a tool on the tip!!!