<mujoco model="coffeemachine">
    <include file="assets/coffeemachine_dependencies.xml"/>
    <include file="../scene/basic_scene.xml"/>
    <worldbody>
      <body pos="0 .6 .2">
        <freejoint/>
        
        <include file="assets/mug.xml"/>
      </body>
    </worldbody>
</mujoco>
