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If you were stripped in front of strangers and made to cower in a corner while a frothy, snarling dog (who BTW, has been trained to kill you, if ordered) was held inches from your person: pretty sure you'd consider yourself tortured.
The panties thing seems a bit less torturous, but taken with the religious tenants of most of these prisoners, it's a lot like making an orthodox Jew wear a pigskin.
Just because there's no blood or permanent bodily damage doesn't mean its not torture, aeschylus. Hell, waterboarding, if done correctly, leaves no physical damage.
Do unto others as you'd have them do unto you..