mujoco

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     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

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     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>
  <extension>
    <plugin plugin="mujoco.sdf.torus">
      <instance name="torus">
        <config key="radius1" value="0.55"/>
        <config key="radius2" value="0.15"/>
      </instance>
    </plugin>
  </extension>

  <asset>
    <mesh name="torus">
      <plugin instance="torus"/>
    </mesh>
  </asset>

  <include file="scene.xml"/>

  <worldbody>
    <body pos="0 0 0.3">
      <geom type="sdf" mesh="torus" rgba=".8 .17 .15 1">
        <plugin instance="torus"/>
      </geom>
    </body>
    <body name="flex" pos="0 0 .6">
      <flexcomp name="test" type="grid" count="8 8 1" spacing=".2 .2 .2" dim="2" rgba="0 .7 .7 1">
        <edge equality="true"/>
        <contact selfcollide="none" internal="false"/>
      </flexcomp>
    </body>
    <body pos="0 0 1.0">
      <freejoint/>
      <geom type="sphere" size="0.1" mass=".5" rgba="0 0 1 .2"/>
    </body>
  </worldbody>
</mujoco>