File size: 1,318 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>
<asset>
<mesh name="torus">
<plugin instance="torus"/>
</mesh>
</asset>
<option sdf_iterations="10" sdf_initpoints="40"/>
<include file="scene.xml"/>
<default>
<geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.1"/>
</default>
<worldbody>
<body pos="-1 0 3.8">
<freejoint/>
<geom type="sdf" mesh="torus" rgba=".2 .2 .8 1">
<plugin instance="torus"/>
</geom>
</body>
<body pos="-1 0 3.4">
<freejoint/>
<geom type="sdf" mesh="torus" rgba=".2 .8 .2 1">
<plugin instance="torus"/>
</geom>
</body>
<body pos="-1 0 3">
<freejoint/>
<geom type="sdf" mesh="torus" rgba=".8 .2 .2 1">
<plugin instance="torus"/>
</geom>
</body>
<body pos="0 0 2">
<geom type="cylinder" size=".1" fromto="1 0 -1 -1 0 1"/>
</body>
<body pos="0 0 2">
<geom type="cylinder" size=".5" fromto="1.2 0 -1.2 1 0 -1"/>
</body>
<light name="left" pos="-2 0 7" cutoff="80"/>
<light name="right" pos="2 0 7" cutoff="80"/>
</worldbody>
</mujoco>
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