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<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>
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