<mujoco model="box">
    <include file="assets/box_dependencies.xml"/>
    <include file="../scene/basic_scene.xml"/>
    <worldbody>
        <body pos="0 0.8 0">
            <include file="assets/box.xml"/>
        </body>
        <body pos="0 0.8 0">
            <freejoint/>
            <include file="assets/boxtop.xml"/>
        </body>
    </worldbody>
</mujoco>
