mujoco

<mujoco>
  <extension>
    <plugin plugin="mujoco.sdf.torus">
      <instance name="torus">
        <config key="radius1" value="1"/>
        <config key="radius2" value="0.3"/>
      </instance>
    </plugin>
  </extension>

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

  <option sdf_iterations="10" sdf_initpoints="40"/>

  <include file="ray_swing.xml"/>

  <worldbody>
    <body pos="-.5 .002 -.2" euler="90 0 -40" mocap="true">
      <geom type="sdf" mesh="torus">
        <plugin instance="torus"/>
      </geom>
    </body>
  </worldbody>
</mujoco>