mujoco

<mujoco model="Bowl">
  <statistic meansize=".05"/>

  <worldbody>
    <light pos=".1 0 .6"/>
    <light pos="-.1 0 .6"/>
    <geom type="plane" size="1 1 .01"/>

    <body pos="-.1 0 .04" euler="20 10 0">
      <freejoint/>
      <geom type="cylinder" size="0.03 0.002" rgba=".8 0 0 1"/>
      <replicate count="20" euler="0 0 18">
        <frame pos="-.025 0 .03" euler="0 15 0">
          <replicate count="6" euler="0 15 0">
            <geom type="box" size=".0044 .009 .002" pos="0 0 -.03" rgba=".8 0 0 1"/>
          </replicate>
        </frame>
      </replicate>
    </body>

    <body pos="0 0 .02" euler="20 20 0">
      <freejoint/>
      <geom type="cylinder" size="0.01 0.0015" rgba="0 .8 0 1"/>
      <replicate count="20" euler="0 0 18">
        <frame pos="-.005 0 .03" euler="0 15 0">
          <replicate count="6" euler="0 15 0">
            <geom type="box" size=".0044 .006 .0015" pos="0 0 -.03" rgba="0 .8 0 1"/>
          </replicate>
        </frame>
      </replicate>
    </body>

    <body pos=".09 0 .04" euler="30 30 0">
      <freejoint/>
      <geom type="cylinder" size="0.03 0.002" rgba="0 0 .8 1"/>
      <replicate count="20" euler="0 0 18">
        <frame pos="-.025 0 .03" euler="0 15 0">
          <replicate count="4" euler="0 15 0">
            <geom type="box" size=".0044 .009 .002" pos="0 0 -.03" rgba="0 0 .8 1"/>
          </replicate>
        </frame>
      </replicate>
    </body>

  </worldbody>
</mujoco>