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As @DimitriProsser said, simulating non-rigid bodies in Gazebo is tricky and not supported natively. An example of how such bodies can still be emulated by using particles can be seen in this video, but that is a special case that probably required quite some effort to realize.

Some rigid foot items like a milk carton and others are available in the cob_gazebo_worlds package, in case you don't want to model them yourself. Spawned into the IPA kitchen environment, they look like in this image: