<mujoco model="soft experiments_softball">
<!--    <include file="soft_grip_four_fingers.xml"/>-->
    <include file="soft_grip_two_fingers.xml"/>

    <!--BALL-->
    <worldbody>
        <body pos="1.5 -0.04 0.8">
            <freejoint/>
            <composite prefix="OBJ" type="ellipsoid" count="7 7 7" spacing="0.31">
<!--                <skin texcoord="true" material="mattennis"/>-->
                <geom type="capsule" size=".15 0.2" rgba=".8 .2 .1 1" mass="0.003" contype="0" conaffinity="1"/>
                <joint kind="main" stiffness="1" damping="1" solreffix="-0.02 -1"/>
                <tendon kind="main" stiffness="1"  damping="1" solreffix="-0.02 -1"/>
            </composite>
        </body>
    </worldbody>
</mujoco>
