<mujoco model="Cloth">
    <!--  Copyright © 2018, Roboti LLC

          This file is licensed under the MuJoCo Resource License (the "License").
          You may not use this file except in compliance with the License.
          You may obtain a copy of the License at

            https://www.roboti.us/resourcelicense.txt
    -->

    <include file="scene.xml"/>

    <option timestep="0.002" solver="CG" tolerance="1e-6"/>

    <size nconmax="300" njmax="1000" nstack="1000000"/>

    <worldbody>

        <body name="B3_5" pos="0 0 1">
            <freejoint/>
            <composite type="cloth" count="9 9 1" spacing="0.05" flatinertia="0.01">
                <joint kind="main" damping="0.001"/>
                <skin material="matcarpet" texcoord="true" inflate="0.005" subgrid="2"/>
                <geom type="capsule" size="0.015 0.01" rgba=".8 .2 .1 1"/>
            </composite>
        </body> 

    </worldbody>
</mujoco>
