<mujoco model="Cloth"> Code: <mujoco model="Cloth"> <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="0.1" flatinertia="0.001"> <joint kind="main" damping="0.001"/> <skin material="matsponge" texcoord="true" inflate="0.005" subgrid="2"/> <geom type="capsule" size="0.015 0.01" rgba=".8 .2 .1 1"/> </composite> </body> </worldbody> </mujoco> Hi, how to modify this file to make a vest shape that can be wear by human? I've gone through tutorials but didn't find anything relevant to this problem. The "count" and "spacing" will only return me a rectangular cloth, right? Do I need to assemble different cloth together? How to do that? Is there an example for that? Can't figure this out on myself. Thanks in advance! Best Yuan