mujoco

<mujoco>
  <extension>
    <plugin plugin="mujoco.sdf.bowl">
      <instance name="bowl">
        <config key="height" value="0.4"/>
        <config key="radius" value="1.0"/>
        <config key="thickness" value="0.02"/>
      </instance>
    </plugin>
  </extension>

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

  <option sdf_iterations="5" sdf_initpoints="20"/>

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

  <statistic meansize=".1"/>

  <include file="scene.xml"/>

  <worldbody>
    <light name="left" pos="0 0 4"/>
    <light name="right" pos="-1 -1 2" dir="1 1 -2"/>
    <body euler="45 -15 0" pos="0 0 1">
      <geom type="sdf" name="bowl" mesh="bowl" rgba=".2 .8 .8 1">
        <plugin instance="bowl"/>
      </geom>
    </body>
    <body pos=".6 -.4 2.5">
      <freejoint/>
      <geom type="sphere" size=".15" rgba=".8 .17 .15 1"/>
    </body>
    <body pos="0 -.4 2.5">
      <freejoint/>
      <geom type="sphere" size=".15" rgba=".8 .17 .15 1"/>
    </body>
    <body pos=".3 -.4 2.5">
      <freejoint/>
      <geom type="sphere" size=".15" rgba=".8 .17 .15 1"/>
    </body>
  </worldbody>
</mujoco>