Hey Bao2, looks good! I never tried softbodies, because i always thought that it is an uncontrollable solution. but in your test i can see now that you can still have empties controlling on top of the simulation.
This guy was working before on a spring constraint, which seemed to achieve some good results, but i don’t think it`s currently still in development.
for something like the antennas we need to find away to make the rigid bodies use a
preferred angle instead of falling on the floor all the time. or just use the rigid bodies as a local influence, and not direct world influence over the bones that control the antennas.
I will try it when i get some time, or need it specifically (which happens often), unless someone else can already achieve some test results, which would be grate.