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