File size: 873 Bytes
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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>
<option gravity="0 0 -9.81"/>
<asset>
<mesh name="torus">
<plugin instance="torus"/>
</mesh>
<mesh file="../../mug/mug.obj" scale=".2 .2 .2"/>
</asset>
<include file="scene.xml"/>
<worldbody>
<body pos="0 .05 2.5" euler="90 0 0">
<freejoint/>
<geom type="sdf" mesh="torus" rgba=".8 .17 .15 1" group="1">
<plugin instance="torus"/>
</geom>
</body>
<body>
<geom type="mesh" mesh="mug" euler="90 0 0" rgba="0 0 1 .2"/>
</body>
<light pos="1 0 7" dir="0 0 -1" castshadow="false"/>
<light pos="-1 0 7" dir="0 0 -1" castshadow="false"/>
</worldbody>
</mujoco>
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