mujoco

<mujoco>
  <compiler assetdir="textured_torus"/>
  <asset>
    <texture file="carpet.png" type="2d"/>
    <material name="carpet" texture="carpet"/>
  </asset>
  <worldbody>
    <flexcomp name="torus" type="mesh" file="textured_torus.obj"
      radius="0.01" dim="2" material="carpet">
      <contact internal="false" selfcollide="none"/>
      <edge equality="true" />
    </flexcomp>
  </worldbody>
</mujoco>