<mujoco>
    <include file="include_default.xml" />

    <worldbody>
        <geom type="box" />
        <body childclass="sub" name="body0">
            <geom type="ellipsoid"/>
            <geom type="sphere" rgba="0 0 1 0"/>
            <geom type="cylinder" class="main"/>
        </body>
    </worldbody>
</mujoco>
