I have adapted this, https://simtk.org/projects/finger , finger model by adding contact geometry. A contact sphere at the fingertip and a contact half-plane. I have tried to add custom geometry for the fingertip but found that my mesh would appear in the GUI but wouldn't collide with the other conta...

I'm trying to complete the Custom Static Optimisation Tutorial https://simtk-confluence.stanford.edu/display/OpenSim/Custom+Static+Optimization+in+MATLAB However, I do not know how to fill in the code in the MATLAB code included with the tutorial and there is little guidance provided. Is there a com...