<mujoco model="soft experiments_softbox">
    <include file="soft_grip_two_fingers.xml"/>

    <!--SPONGE-->
    <worldbody>
        <body pos="1.7 0 1.0">
            <composite prefix="OBJ" type="box" count="4 5 7" spacing="0.3">
                <geom type="capsule" size=".2 0.2" rgba=".8 .2 .1 1" mass="0.0005" contype="0" conaffinity="1"/>
                <skin texcoord="true" material="matsponge"/>

                <joint kind="main" stiffness="700" damping="100" solreffix="-100 -10" solimpfix="0.9 0.97 0.000001 0.9 2"/>
                <tendon kind="main" stiffness="700" damping="100" solreffix="-100 -10" solimpfix="0.9 0.97 0.000001 0.9 2"/>
            </composite>
        </body>
    </worldbody>
</mujoco>
