mujoco

<mujoco>
  <compiler texturedir="asset"/>

  <extension>
    <plugin plugin="mujoco.sdf.torus">
      <instance name="torus">
        <config key="radius1" value="0.15"/>
        <config key="radius2" value="0.05"/>
      </instance>
    </plugin>
  </extension>

  <asset>
    <texture name="texspot" type="2d" file="spot.png"/>
    <material name="matspot" texture="texspot"/>
    <mesh name="spot" file="asset/spot.obj"/>
    <mesh name="torus">
      <plugin instance="torus"/>
    </mesh>
  </asset>

  <option sdf_iterations="20" sdf_initpoints="40"/>

  <visual>
    <map force="1000"/>
  </visual>

  <default>
    <geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.5"/>
  </default>

  <statistic meansize="0.2"/>

  <include file="scene.xml"/>

  <worldbody>
    <body pos="0.1 .25 5.7">
      <freejoint/>
      <geom type="sdf" mesh="torus" rgba=".2 .8 .2 1">
        <plugin instance="torus"/>
      </geom>
    </body>
    <body euler="90 0 0" pos="0 0 .7">
      <geom type="sdf" name="cow1" mesh="spot" material="matspot"/>
    </body>
    <body pos="0.05 .25 2.2">
      <freejoint/>
      <geom type="sdf" name="cow2" mesh="spot" material="matspot"/>
    </body>
    <light name="left" pos="0 0 1"/>
    <light name="right" pos="1 0 1"/>
  </worldbody>
</mujoco>