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If you have a parametrization of the curve, then parametric_plot3d will probably be the best way to plot the curve. Spheres and cylinders are easy to plot -- here is one example:

S = sphere((0,1,2),2,opacity=.6)

theta,z=var('theta,z')
C = cylindrical_plot3d(2,(theta,0,4*pi/2),(z,-2,2),opacity=.5,color='red')

(S+C).show(aspect_ratio=1)