MuJoCo does support soft bodies: https://mujoco.readthedocs.io/en/latest/modelin...

		erikfrey 13 days ago \| parent \| context \| favorite \| on: MuJoco Playground MuJoCo does support soft bodies: https://mujoco.readthedocs.io/en/latest/modeling.html#deform... The GPU part of MuJoCo only supports soft collisions rather than fully deformable bodies.