IIT SoftFoot

Built by:   Iit
Licence:    BSD 3-Clause
Source:     https://github.com/google-deepmind/mujoco_menagerie/tree/main/iit_softfoot
Collection: MuJoCo Menagerie
Packaged:   2026-11-05 by urdfbase.com/models/iit-softfoot/

This folder holds the model written as MJCF, with mesh paths rewritten to
meshes/ so they resolve wherever the folder is opened. The original files, with
the paths their authors wrote, are at the source above.

What did not survive the conversion:
  - link "world" only anchors the robot to the fixed world, and MJCF's worldbody already carries that name, so it is gone and sf_origin attaches to the world directly
  - link "sf_origin" moves but declares no mass and carries no geometry; MuJoCo refuses such a body, so it was given a placeholder gram — its dynamics are invented, not the robot's

The robot belongs to the people who built it. Credit the source, not this site.
