mujoco

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

  <compiler meshdir="meshes"/>
  <asset>
    <model name="other" file="parent_model.xml"/>
    <mesh name="mesh1" file="mesh1.obj"/>
  </asset>
  <worldbody>
    <body name="my_parent">
      <geom name="my_geom" size="2"/>
      <flexcomp type="mesh" file="flex.obj" name="flex" rigid="true"/>
    </body>
    <body name="box">
      <geom type="box" mesh="mesh1"/>
    </body>
  </worldbody>
  <deformable>
    <skin name="skin" file="cube.skn"/>
  </deformable>
</mujoco>