<!-- A model with externally defined assets (a texture, a mesh, and a supplementary XML file) -->

<mujoco model="Textured cube mesh and sphere">
  <asset>
    <mesh name="cube" file="mesh.stl"/>
    <texture name="texture" file="texture.png"/>
    <material name="mat_texture" texture="texture"/>
  </asset>
  <include file="included.xml"/>
  <worldbody>
    <geom type="mesh" mesh="cube" material="mat_texture"/>
  </worldbody>
</mujoco>
