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- <mujoco>
- <extension>
- <plugin plugin="mujoco.sdf.torus">
- <instance name="torus">
- <config key="radius1" value="0.35"/>
- <config key="radius2" value="0.15"/>
- </instance>
- </plugin>
- </extension>
- <asset>
- <mesh name="torus">
- <plugin instance="torus"/>
- </mesh>
- </asset>
- <option sdf_iterations="10" sdf_initpoints="20"/>
- <include file="scene.xml"/>
- <default>
- <geom solref="0.01 1" solimp=".95 .99 .0001"/>
- </default>
- <worldbody>
- <body pos="0 0 .175">
- <freejoint/>
- <geom type="sdf" mesh="torus" rgba=".8 .2 .2 1">
- <plugin instance="torus"/>
- </geom>
- </body>
- <body pos=".1 .1 1.2">
- <freejoint/>
- <geom type="sdf" mesh="torus" rgba=".8 .2 .2 1">
- <plugin instance="torus"/>
- </geom>
- </body>
- <body pos=".1 .1 2.6">
- <freejoint/>
- <geom type="sdf" mesh="torus" rgba=".8 .2 .2 1">
- <plugin instance="torus"/>
- </geom>
- </body>
- <body pos="-.1 .2 2">
- <freejoint/>
- <geom type="sphere" size="0.3"/>
- </body>
- <body pos=".3 -.1 2" euler="0 0 45">
- <freejoint/>
- <geom type="ellipsoid" size=".4 .2 .2"/>
- </body>
- <body pos="-.1 .1 .5">
- <freejoint/>
- <geom type="capsule" size=".1" fromto="-.2 -.2 .1 .2 .2 .1"/>
- </body>
- <body pos=".2 -.2 .3">
- <freejoint/>
- <geom type="cylinder" size=".1" fromto="-.2 -.2 .1 .2 .2 .1"/>
- </body>
- <body pos=".1 .1 3.5">
- <freejoint/>
- <geom type="box" size=".2 .2 .2"/>
- </body>
- <light name="left" pos="0 0 1"/>
- <light name="right" pos="1 0 1"/>
- </worldbody>
- </mujoco>
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