mujoco

<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="20"/>

  <include file="scene.xml"/>

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

  <worldbody>
    <body pos="0 0 .175">
      <freejoint/>
      <geom type="sdf" mesh="torus" rgba=".8 .2 .2 1">
        <plugin instance="torus"/>
      </geom>
    </body>
    <body pos=".1 .1 1.2">
      <freejoint/>
      <geom type="sdf" mesh="torus" rgba=".8 .2 .2 1">
        <plugin instance="torus"/>
      </geom>
    </body>
    <body pos=".1 .1 2.6">
      <freejoint/>
      <geom type="sdf" mesh="torus" rgba=".8 .2 .2 1">
        <plugin instance="torus"/>
      </geom>
    </body>
    <body pos="-.1 .2 2">
      <freejoint/>
      <geom type="sphere" size="0.3"/>
    </body>
    <body pos=".3 -.1 2" euler="0 0 45">
      <freejoint/>
      <geom type="ellipsoid" size=".4 .2 .2"/>
    </body>
    <body pos="-.1 .1 .5">
      <freejoint/>
      <geom type="capsule" size=".1" fromto="-.2 -.2 .1 .2 .2 .1"/>
    </body>
    <body pos=".2 -.2 .3">
      <freejoint/>
      <geom type="cylinder" size=".1" fromto="-.2 -.2 .1 .2 .2 .1"/>
    </body>
    <body pos=".1 .1 3.5">
      <freejoint/>
      <geom type="box" size=".2 .2 .2"/>
    </body>
    <light name="left" pos="0 0 1"/>
    <light name="right" pos="1 0 1"/>
  </worldbody>
</mujoco>