soft soil-structure interaction problem

Hi all,

I'm simulating the soil-structure interaction problem. for instance, cone penetration test.

right now, almost all the structure is a relatively rigid body. the cone penetration test uses the rigid steel shaft to penetrate into the ground. I'm wondering if Yade simulates the soft structures.
for instance, the earthworm can go under the ground. this is another type of soil-structure interaction problem.
Can Yade simulate the earthworm- soil interaction problem? I think the most difficult part is can we simulate the soft body of the earthworm?

thanks!
Yong