diff --git a/iit_softfoot/LICENSE b/iit_softfoot/LICENSE
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+Copyright (c) 2024, Istituto Italiano di Tecnologia
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/iit_softfoot/README.md b/iit_softfoot/README.md
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+# IIT SoftFoot Description (MJCF)
+
+Requires MuJoCo 3.2.0 or later.
+
+## Overview
+
+This package is a reproduction of the simplified robot description (MJCF) developed by the by [IIT Soft Robotics for Human Cooperation and Rehabilitation group](https://softbots.iit.it/) for the [Natural Machine Motion Initiative (NMMI)](https://www.naturalmachinemotioninitiative.com/), originally available from the [NMMI repository](https://github.com/NMMI/SoftFoot_MuJoCo). The MJCF and assets are provided under a [BSD-3-Clause License](LICENSE). For more information on the SoftFoot, see the following references:
+
+- [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.](https://www.doi.org/10.1109/TRO.2024.3415237)
+- [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.](https://arxiv.org/abs/2412.03191)
+
+
+ 
+
+
+## Usage
+
+The SoftFoot model is intended to be attached as an end effector to a legged robot. This can be achieved through several methods:
+- Using the `` element in the robot MJCF, and referencing the `attachment_cube` body from the softfoot MJCF. The provided example `scene.xml` uses this method.
+- Procedurally attaching it through [`mjSpec`](https://mujoco.readthedocs.io/en/stable/programming/modeledit.html).
+- Adding the SoftFoot to the MJCF through the [`mjcf` python module](https://github.com/google-deepmind/dm_control/tree/main/dm_control/mjcf).
+
+
+## License
+
+This model is released under an [BSD-3-Clause License](LICENSE).
+
+
+## Publications
+
+If you use this work in an academic context, please cite the following publications:
+
+> Crotti, M., Rossini, L., Hodossy, K. B., Pace, A., Grioli, G., Bicchi, A. and Catalano, M. G.,
+> **"Soft Adaptive Feet for Legged Robots: An Open-Source Model for Locomotion Simulation“**,
+> in arXiv preprint arXiv:2412.03191, 2024. ([DOI](https://doi.org/10.48550/arXiv.2412.03191))
+
+ @article{anymal2017,
+ title={Soft Adaptive Feet for Legged Robots: An Open-Source Model for Locomotion Simulation},
+ author={Crotti, Matteo and Rossini, Luca and Hodossy, K. Balint and Pace, Anna and Grioli, Giorgio and Bicchi, Antonio and and Catalano, Manuel G.},
+ journal={arXiv},
+ volume={},
+ number={},
+ pages={},
+ year={2024},
+ publisher={}
+ doi = {https://doi.org/10.48550/arXiv.2412.03191}
+ }
+
+> Piazza, C., Della Santina, C., Grioli, G., Bicchi, A. and Catalano, M. G.,
+> **"Analytical Model and Experimental Testing of the SoftFoot: An Adaptive Robot Foot for Walking Over Obstacles and Irregular Terrains“**,
+> in IEEE Transactions on Robotics, 2024. ([DOI](https://www.doi.org/10.1109/TRO.2024.3415237))
+
+ @article{softfoot2024,
+ author={Piazza, Cristina and Santina, Cosimo Della and Grioli, Giorgio and Bicchi, Antonio and Catalano, Manuel G.},
+ journal={IEEE Transactions on Robotics},
+ title={Analytical Model and Experimental Testing of the SoftFoot: An Adaptive Robot Foot for Walking Over Obstacles and Irregular Terrains},
+ year={2024},
+ volume={40},
+ number={},
+ pages={3290-3305},
+ keywords={Foot;Robots;Legged locomotion;Stability analysis;Robot kinematics;Shape;Humanoid robots;Adaptive foot;humanoid robots;soft robots},
+ doi={10.1109/TRO.2024.3415237}
+ }
+
diff --git a/iit_softfoot/meshes/cube_connection_back.stl b/iit_softfoot/meshes/cube_connection_back.stl
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diff --git a/iit_softfoot/meshes/cube_connection_frontal.stl b/iit_softfoot/meshes/cube_connection_frontal.stl
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diff --git a/iit_softfoot/meshes/phalanx_distal_dito.stl b/iit_softfoot/meshes/phalanx_distal_dito.stl
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diff --git a/iit_softfoot/meshes/phalanx_distal_injection.stl b/iit_softfoot/meshes/phalanx_distal_injection.stl
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diff --git a/iit_softfoot/meshes/phalanx_inv.stl b/iit_softfoot/meshes/phalanx_inv.stl
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diff --git a/iit_softfoot/meshes/phalanx_short_injection.stl b/iit_softfoot/meshes/phalanx_short_injection.stl
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diff --git a/iit_softfoot/meshes/phalanx_short_injection2.stl b/iit_softfoot/meshes/phalanx_short_injection2.stl
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diff --git a/iit_softfoot/meshes/phlalanx_inv_bijoint.stl b/iit_softfoot/meshes/phlalanx_inv_bijoint.stl
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diff --git a/iit_softfoot/meshes/qb_move_advanced_for_mate.stl b/iit_softfoot/meshes/qb_move_advanced_for_mate.stl
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diff --git a/iit_softfoot/meshes/tacco.stl b/iit_softfoot/meshes/tacco.stl
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diff --git a/iit_softfoot/scene.xml b/iit_softfoot/scene.xml
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diff --git a/iit_softfoot/softfoot.png b/iit_softfoot/softfoot.png
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diff --git a/iit_softfoot/softfoot.xml b/iit_softfoot/softfoot.xml
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