<mujoco model="cloth">
    <asset>
        <texture file="../models/assets/textures/blue-wood.png" type="2d" name="clothtest"/>
        <material name="cloth-material" reflectance="0.5" texrepeat="clothtest"/>
    </asset>
	<worldbody>
     	<body>
        	<body name="object" pos="0.15 0.15 0.8">
                <composite type="grid" count="9 9 1" spacing="0.05">
                    <skin material="cloth-material" inflate="0.005" subgrid="2" texcoord="true"/>
                    <geom type="capsule" size="0.0025 0.005" density="50" friction="0.95 0.3 0.1" group="0" condim="4"/>
                    <pin coord="0 0"/>
                    <!-- <pin coord="8 0"/>  -->
                    <!-- why there must be a pin -->
                </composite>
    		</body>
            <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.007" name="bottom_site"/>
            <site rgba="0 0 0 0" size="0.005" pos="0 0 0.007" name="top_site"/>
            <site rgba="0 0 0 0" size="0.005" pos="0.2 0.2 0" name="horizontal_radius_site"/>
        </body>
   </worldbody>
</mujoco> 