Adding the IIT SoftFoot

[Balint-H]

@matteo-crotti and I have been working on MuJoCo models of the IIT SoftFoot, a compliant lower limb end effector for robots. We believe it could be a useful contribution to the menagerie.

Matteo's WIP fork is at https://github.com/matteo-crotti/mujoco_menagerie_softfoot/tree/main/iit_softfoot.

It is mostly ready for a PR, missing only edits to the central repo README. We are reaching out to the menagerie maintainers for feedback on the model prior to submitting the PR, to see if there is anything missing or should be changed either in the model or its documentation.

Details of the original foot are available at:

• Piazza, C., Della Santina, C., Grioli, G., Bicchi, A. and Catalano, M.G., 2024. Analytical Model and Experimental Testing of the SoftFoot: An Adaptive Robot Foot for Walking Over Obstacles and Irregular Terrains. IEEE Transactions on Robotics.
• Crotti, M., Rossini, L., Pace, A., Grioli, G., Bicchi, A. and Catalano, M.G., 2024. Soft Adaptive Feet for Legged Robots: An Open-Source Model for Locomotion Simulation. arXiv preprint arXiv:2412.03191.

[kevinzakka]

Hi @Balint-H, we would be more than happy to accept this contribution under the biomechanical section!

[Balint-H]

Hello Kevin,

Thanks for the positive feedback! Sent in a PR (#130). Could you let us know if anything is should be changed/reformatted or added.