mujoco

<!-- Copyright 2026 DeepMind Technologies Limited

     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
     You may obtain a copy of the License at

         http://www.apache.org/licenses/LICENSE-2.0

     Unless required by applicable law or agreed to in writing, software
     distributed under the License is distributed on an "AS IS" BASIS,
     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
     See the License for the specific language governing permissions and
     limitations under the License.
-->

<mujoco model="Trash bag">
  <!-- A liner bag on a bin with a ribbon drawstring running inside a stitched sleeve at the top of
       the bag. The ribbon and the sleeve are two flexes coupled by contact only, so the ribbon
       slides through the sleeve; the bag hangs on the bin by the ribbon ring, which is wider than
       the rim. Two bights of the ribbon come out of slots in the sleeve and up over the rim to the
       two pull beads, which carry their apex: raise the actuator and the beads rise and converge,
       the ribbon slides out of the sleeve and the mouth gathers shut around the contents. Flex contact
       is resolved by the ipc mode of the discrete integrator. -->
  <option timestep="0.005" solver="CG" tolerance="1e-5" iterations="150" integrator="discrete">
    <flag ipc="enable"/>
  </option>

  <visual>
    <headlight ambient=".3 .3 .3"/>
  </visual>

  <asset>
    <texture type="2d" name="plane" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 .15 .2"
             width="512" height="512"/>
    <material name="plane" texture="plane" texrepeat="4 4" reflectance=".1"/>
    <material name="bin" rgba=".07 .07 .075 1" specular=".25" shininess=".2"/>
  </asset>

  <worldbody>
    <light pos="0 -.5 1.5" dir="0 .3 -1"/>
    <light pos=".5 .5 1.5" dir="-.3 -.3 -1"/>
    <geom type="plane" size="2 2 .05" material="plane"/>
    <flexcomp name="bag" type="direct" dim="2" radius="0.002" mass="0.3" rgba=".93 .95 .97 .45"
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