Hello, I am trying to get a near realistic deformable cloth for doing some sim-to-real stuff. Currently, my cloth XML is as follows <option timestep="0.002" solver="CG" tolerance="1e-6"/> <size nconmax="300" njmax="1000" nstack="1000000"/> <composite type="cloth" count="7 7 1" spacing="0.05" flatinertia="0.01"> <joint kind="main" damping="0.001"/> <joint kind="twist" damping="0.0001"/> <geom type="capsule" size="0.015 0.01" rgba=".8 .2 .1 1" friction="0.1 0.005 0.0001"/> </composite> 1) When I add a shear tendon, the cloth behavior changes a lot and the diagonal connections make the cloth move together as a unit in the same direction. Is this the intended behavior? I read that joints are preferred over tendons due to implicit Euler integration, is there something I am losing by using joints? Joints don't seem to have a shear attribute. 2) flatinertia : "The idea is to set it to a small value, say 0.01, in which case the inertias of the body elements will correspond to flat boxes aligned with the cloth (which can then be used for lift forces). This will not change the geom shapes, but instead will set the body inertias directly and disable the automatic computation of inertia from geom shape for the composite body only. " Could you explain how changing this ratio to a positive value corresponds to a more realistic modeling scenario? I am unable to understand from this quote in the documentation. 3) If I wanted to define friction between all the bodies in the composite with a plane, is there an easy way to define pairs? (rather than define a lot of pairs and their properties) 4) Am I missing any other major additions (joints/tendons/properties) which could be changed compared to the default values for the cloth? Thanks!