All environments are in dm_control/suite. In order to run these environments, you may need to change the path of the cloth skin images in the xml files
Cloth (State): cloth_point_state.py / cloth_point.xml
Cloth (Pixel): cloth_point.py / cloth_point.xml
Cloth Simplified (State): cloth_corner.py / clother_corner.xml
Rope (State): rope_v2.py / rope_v2.xml
Rope (Pixel): rope_sac.py / rope_sac.xml