Interaction between hard and soft body

[AntonioSkara132]

Hello, i am a novice at SOFA and so this might be a stupid problem.
I am trying simulate interaction between a soft body (dough) and hard body(hand).
But unless i dont'set UniformMass Component, hard body doesn't seem to be able to deform or move soft body upon collision. I tried to control hard body trough positions and velocity, and tried to collide them using gravity. I tried to set UniformMass totalMass of dough to large number but with no success.

Image is of bodies after collision.

This is my code:

def createScene(rootNode):
    # Global Settings
    rootNode.gravity = [0, -10, 0]
    rootNode.dt = 0.001

    # Plugins
    rootNode.addObject('RequiredPlugin', pluginName=[
        "Sofa.Component.Collision.Detection.Algorithm",
        "Sofa.Component.Collision.Detection.Intersection",
        "Sofa.Component.Collision.Geometry",
        "Sofa.Component.Collision.Response.Contact",
        "Sofa.Component.IO.Mesh",
        "Sofa.Component.LinearSolver.Iterative",
        "Sofa.Component.Mapping.Linear",
        "Sofa.Component.Mass",
        "Sofa.Component.ODESolver.Backward",
        "Sofa.Component.SolidMechanics.Spring",
        "Sofa.Component.StateContainer",
        "Sofa.Component.Topology.Container.Constant",
        "Sofa.GL.Component.Rendering3D",
        "Sofa.Component.Constraint.Lagrangian",  # Constraint plugin
        "SofaPython3",
        "Sofa.Component.Constraint.Projective"
    ])
    
    rootNode.addObject('FreeMotionAnimationLoop', parallelCollisionDetectionAndFreeMotion="true")
    
    rootNode.addObject('LCPConstraintSolver', maxIt="1000", tolerance="1e-6", initial_guess="true", build_lcp="true", mu="0.5")
    
    rootNode.addObject('CollisionPipeline')
    rootNode.addObject('ParallelBruteForceBroadPhase')
    rootNode.addObject('ParallelBVHNarrowPhase')
    rootNode.addObject('LocalMinDistance', name="Proximity", alarmDistance="0.3", contactDistance="0.25")
    rootNode.addObject('CollisionResponse', response='FrictionContactConstraint', responseParams="mu=0.5")
    # Dough
    dough = rootNode.addChild('Dough')
    dough.addObject('EulerImplicitSolver', rayleighStiffness=0.5, rayleighMass=0.1)
    dough.addObject('CGLinearSolver', iterations=100, tolerance=1e-9, threshold=1e-9)
    #dough.addObject('MeshVTKLoader', name='loaderMech', filename='tijesto_volume.vtk', rotation=[90,0,0])
    dough.addObject('MeshGmshLoader', name='loaderMech', filename='tijesto.msh', rotation=[90,0,0])
    dough.addObject('TetrahedronSetTopologyContainer', name='topo', src='@loaderMech')

        
    #dough.addObject('TetrahedronSetGeometryAlgorithms')

    doughMech = dough.addObject('MechanicalObject', name='Mech', src='@loaderMech', showObject=True)
    
    dough.addObject('UncoupledConstraintCorrection')
    dough.addObject(
        'ParallelTetrahedronFEMForceField',
        youngModulus=450,
        poissonRatio=0.45,
        plasticYieldThreshold=0.01,
        plasticMaxThreshold=0.5,
        plasticCreep=0.5
    )
    dough.addObject('UniformMass', totalMass = 2)
    
    # Collision surface
    collision = dough.addChild('Collision')
    collision.addObject('MeshOBJLoader', name='loader', filename='tijesto.obj', rotation=[90,0,0])
    collision.addObject('MeshTopology', src='@loader')
    collision.addObject('MechanicalObject', showObject=True, showObjectScale=0.5, showColor=[1, 0, 0, 1])
    collision.addObject('TriangleCollisionModel')
    collision.addObject('LineCollisionModel')
    collision.addObject('PointCollisionModel')
    collision.addObject('BarycentricMapping', input='@../Mech', output='@MechanicalObject')

    # Visual
    visuDough = dough.addChild('Visu')
    visuDough.addObject('OglModel', src='@../Collision/loader', color=[0.8,0.6,0.4,1])
    visuDough.addObject('BarycentricMapping', input='@../Mech', output='@OglModel')

    # Floor
    floor = rootNode.addChild('Floor')
    floor.addObject('MeshOBJLoader', name='loaderFloor', filename='floor.obj')
    floor.addObject('MechanicalObject', name='floorMech', src='@loaderFloor', translation=[0,-5,0], rotation=[10, 0, 0],  scale = 2.)
    floor.addObject('MeshTopology', src='@loaderFloor')
    floor.addObject('TriangleCollisionModel', simulated=False)

    visuFloor = floor.addChild('Visu')
    visuFloor.addObject('OglModel', src='@../loaderFloor', translation=[0,-5,0], rotation=[10, 0, 0], color=[0.6,0.6,0.6,1])
    visuFloor.addObject('IdentityMapping')
    
    
    # Hand
    hand = rootNode.addChild('Hand')    
    
    mechHand = hand.addObject(
        'MechanicalObject',
        template='Rigid3d',
        name='mechHand',
        position=[0, 3, 0,0,1,0,0]
    )
    
    hand.addObject('EulerImplicitSolver')
    hand.addObject('CGLinearSolver')
    # Inside the 'Hand' node
    hand.addObject('UncoupledConstraintCorrection', template='Rigid3d', compliance=[1, 1, 1, 1, 1, 1, 1])
    hand.addObject('UniformMass', totalMass=1000)
    
    # Collision surface for hand
    collisionHand = hand.addChild('Collision')
    collisionHand.addObject('MeshOBJLoader', name='loader', filename='box.obj')
    collisionHand.addObject('MeshTopology', src='@loader')
    collisionHand.addObject('MechanicalObject')
    collisionHand.addObject('TriangleCollisionModel')
    collisionHand.addObject('LineCollisionModel')
    collisionHand.addObject('PointCollisionModel')
    collisionHand.addObject('RigidMapping', input='@../mechHand', output='@MechanicalObject')
    
    # Visual
    visuHand = hand.addChild('Visu')
    visuHand.addObject('MeshOBJLoader', name='loaderVisu', filename='box.obj')
    visuHand.addObject('OglModel', src='@loaderVisu', color=[0.6,0.6,0.6,1])
    visuHand.addObject('RigidMapping', input='@../mechHand', output='@OglModel')

    return rootNode

I would appreciate any help.

[AntonioSkara132]

So

[AntonioSkara132]

Solved, i needed to set compliance values for both objects.