 <mujoco model="soft_human_torso">
  <asset>
    <texture name="skin-tex" type="2d" file="../textures/skin_3.png"/>
    <material name="skin-material" texture="skin-tex" reflectance="0.5" texrepeat="1 1"/>
  </asset>
  <worldbody>
    <body>
        <body name="object" pos="0.5 0.5 0.06" quat="0.5 0.5 -0.5 -0.5">
          <composite type="cylinder" count="9 4 11" spacing="0.035" solrefsmooth="-1324.17 -17.59">
            <geom type="capsule" size="0.0075 0.025" rgba=".8 .2 .1 1" mass="0.01" friction="0.01 0.005 0.0001" conaffinity="0" contype="1" group="3"/>
            <skin material="skin-material" texcoord="true"/>
          </composite>
        </body>
        <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.05" name="bottom_site"/>
        <site rgba="0 0 0 0" size="0.005" pos="0 0 0.05" name="top_site"/>
        <site rgba="0 0 0 0" size="0.005" pos="0.2 0.2 0" name="horizontal_radius_site"/>
    </body>
  </worldbody>
</mujoco>