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We are in the process of implementing many features in Gazebo. Bullet's soft-body dynamics are on our minds, though there is not yet a feature request for it on the Gazebo issue tracker. Please feel free to submit one and vote for it.

As a side note, we are actively working to implement deformable body physics using the DART physics engine. Currently we have added some sdf parameters and are working with the DART developers on the implementation.