Flexible suture attached with rigid needle in sofa framwork

rigidNeedleSuture.xml

<?xml version="1.0"?>
<Node name="root" dt="0.01" gravity="0 0 -9.81">
    <RequiredPlugin name="SofaOpenglVisual"/>
    <VisualStyle displayFlags="showBehaviorModels showForceFields showCollisionModels" />
    <DefaultPipeline depth="6" verbose="0" draw="0" />
    <BruteForceDetection name="N2" />
    <MinProximityIntersection name="Proximity" alarmDistance="0.03" contactDistance="0.02" />
    <DefaultContactManager name="Response" response="default" />
    <FreeMotionAnimationLoop /><!-- this is necessary in BilateralInteractionConstraint-->
    <LCPConstraintSolver tolerance="1e-3" maxIt="1000"/>

    <Node name="RigidNeedle">
        <EulerImplicitSolver rayleighStiffness="0.01"  rayleighMass="0.1" />
        <CGLinearSolver iterations="25" threshold="0.00000001"  />
        <MechanicalObject template="Rigid3d" translation="0 0 0" rotation="0 0 0" scale3d="3 3 3"/>
        <UniformMass />
        <FixedConstraint name="FixedConstraint" indices="0" />
        <LinearSolverConstraintCorrection /> <!-- this is necessary in BilateralInteractionConstraint-->
        <Node name="Collision">
            <MeshObjLoader name="loader" filename="mesh/needle/suture_needle.obj"/>
            <MeshTopology src="@loader"/>
            <MechanicalObject src="@loader" scale3d="1 1 1"/>
            <TriangleCollisionModel contactStiffness="200"/>
            <LineCollisionModel     contactStiffness="@[-1].contactStiffness"/>
            <PointCollisionModel    contactStiffness="@[-1].contactStiffness" />
            <RigidMapping/>
        </Node>
        <Node name="Visual" tags="Visual">
            <OglModel name="Visual" src="@../Collision/loader" color="gray" scale3d="1 1 1" />
            <RigidMapping input="@.." output="@Visual" />
        </Node>
        <Node name="Constraints">
            <MechanicalObject name="DOFs" template="Rigid3d" position="0 0 -0.1 0 0 0 0" />
            <RigidRigidMapping index="0" />
        </Node>
    </Node>

    <Node name="Suture">
        <EulerImplicitSolver rayleighStiffness="0" printLog="false"  rayleighMass="0.1" />
        <BTDLinearSolver template="BTDMatrix6d" printLog="false" verbose="false" />
        <MechanicalObject template="Rigid3d" name="DOFs" position="0 0 0 0 0 0 1  1 0 0 0 0 0 1  2 0 0 0 0 0 1  3 0 0 0 0 0 1  4 0 0 0 0 0 1  5 0 0 0 0 0 1  6 0 0 0 0 0 1  7 0 0 0 0 0 1" />
        <MeshTopology name="lines" lines="0 1 1 2 2 3 3 4 4 5 5 6 6 7" />
        <!--FixedConstraint name="FixedConstraint" indices="0" /-->
        <UniformMass vertexMass="1 1 0.01 0 0 0 0.1 0 0 0 0.1" printLog="false" />
        <BeamFEMForceField name="FEM" radius="0.1" youngModulus="20000000" poissonRatio="0.49"/>
        <LinearSolverConstraintCorrection /><!-- this is necessary in BilateralInteractionConstraint-->
        <Node name="Collision">
		    <CylinderGridTopology name="coli" nx="6" ny="6" nz="7" length="7" radius=".3" axis="1 0 0" />		
            <MechanicalObject />
            <BeamLinearMapping isMechanical="true" />
            <TriangleCollisionModel />
        </Node>
        <Node name="Visual">
		    <CylinderGridTopology name="vis" nx="6" ny="6" nz="7" length="7" radius=".3" axis="1 0 0" />		
            <OglModel color='gray'/>
            <BeamLinearMapping isMechanical="false" />
        </Node>
    </Node>

    <BilateralInteractionConstraint template="Rigid3d" object1="@RigidNeedle/Constraints/DOFs" object2="@Suture/DOFs" first_point="0" second_point="0" />
</Node>