<mujoco model="bowl">
  <asset>
    <mesh file="../meshes/ycb/bowl.stl" name="bowl_mesh"/>
    <texture type="skybox" file="../../textures/blue-wood.png" name="tex-bowl"/>
    <material name="hidden" reflectance="0.5" texrepeat="5 5" texture="tex-bowl" texuniform="true"/>
  </asset>
  <worldbody>
    <body>
      <body name="object">
        <geom pos="0 0 0" mesh="bowl_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="50" friction="0.95 0.3 0.1" material="hidden" contype="0" conaffinity="0" group="1"/>
        <geom pos="0 0 0" mesh="bowl_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="50" friction="0.95 0.3 0.1" material="hidden" group="0"/>
      </body>
      <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.042" name="bottom_site"/>
      <site rgba="0 0 0 0" size="0.005" pos="0 0 0.075" name="top_site"/>
      <site rgba="0 0 0 0" size="0.005" pos="0.0254 0.0254 0" name="horizontal_radius_site"/>
    </body>
  </worldbody>
</mujoco>