There is a good example of this in the AMMR. This is how wrapping for the Pectoralis Major is implemented. Pectoralis Major wraps over the Pectoralis Minor muscles.
So a dummy segment is added and attached to both the thorax segment and the scapula segment. E.g. the origin and insertion of the pectoralis minor muscles.
On to that dummy segment the cylinder is placed.
You can see the implementation in:
In one end, the dummy segment is attached to the thorax with a spherical joint which constrains 3 DOFs. In the other end, two DOFs are constrained to make the segment point towards the insertion of the Pectoralis Minor muscles on the scapula. Finally, the last DOF (the rotation along the long axis of the segment) is constrained.
It may seem a bit cumbersome way to do this. But it ensures that the forces on the segments transferred correctly on the two other segments on which the dummy segment is attached (for example from the muscles wrapping the cylinder).