[jlefley]

Thanks for the tips. We are not exactly sure what defines a collision group. Perhaps you could provide a brief explanation?

I think we have the collision system set up as Max described however we use MinProximityIntersection currently. How does that differ from NewProximityIntersection?

Here’s our python code: https://gist.github.com/jlefley/92b32c8a7a156f5e1ea07bdb01c6cf62 We started by reworking the rigid body skeleton from anatomyModelling.cpp slightly to gain a better understanding of how to assemble components in sofa. The end result seems to be the same as the skeleton in the original C++ code. We then brought in the muscle code from the C++ code, pretty much by directly translating it to the corresponding python. We did need to make some slight modifications to accommodate the python API. We left in some comments from the porting process. Everything seems to work correctly up to this point.

We added collision nodes for all the rigid bodies, which seem to provide the expected results for the most part. Occasionally the bones intersect one another. I imagine there are ways to tune the collision pipeline for improvement?

The deformable muscle appears as a collidable object (it is highlighted when collision model visualization is enabled in runSofa) but it does not seem to collide as expected with the bones.

We are also curious about the compliant plugin and if it is applicable to this situation. We looked through many examples but haven’t found anything that demonstrates what we want to accomplish: a flexible object colliding with a rigid object.

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