Rigid environment and deformable objects

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Hello everyone. I'm warking with ROS and Gazebo and I'm doing experiments on the study of interaction control.

Since the rigid environment is always modeled as a linear spring (or spring-damping model), I wanted to ask: Is it possible to use deformable objects in Gazebo? If so, how do I do it? I tried to use the objects made available by the Gazebo interface, but I didn't find any similar properties in the SDF. How can I solve my problem?