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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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