Animation interacting with Model Target

Hello People!

I am using Unity Vuforia. My model target is kinda like a pipe, meaning of cylindrical shape and with a hole. I would like to animate a rod flying into it. It is part of an assembly process that I am trying to do in AR.
My Model Target and tracking works fine, also the animation. I have the pipe and the rod both overlaid and flying into each other.
However, I would like to only animate the rod and use the real model target for interaction. Problem is that the rod is not really flying "through" the pipe. Instead it is projected in front of it. I know that this is because the model target is real and the rod only a 2D animation projected on my mobile device. So far, everything I found in the internet used a complete overlay over the model target.

Is there any way to sort of "interact" with the real model target. Like the rod would partially disappear so that it seems that part of it would be in the real pipe?

Kind regards!