mujoco

// Copyright 2026 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

// GENERATED FILE, DO NOT EDIT. Generated from src/xml/mjcf.schema by
// doc/generate/generate_mjcf_table.py; test/doc/doc_test.py checks freshness.
//
// The MJCF grammar table consumed by mjXSchema: rows of {name, cardinality,
// attributes...} with {"<"}/{">"} nesting markers. worldbody, frame and
// replicate have no rows: mjXSchema::NameMatch validates them against the
// body row (see the alias= facets in mjcf.schema).

// clang-format off
std::vector<const char*> MJCF[] = {
{"mujoco", "!", "model"},
{"<"},
    {"compiler", "*", "autolimits", "boundmass", "boundinertia", "settotalmass", "balanceinertia",
        "strippath", "coordinate", "angle", "fitaabb", "eulerseq", "meshdir", "texturedir",
        "discardvisual", "usethread", "fusestatic", "inertiafromgeom", "inertiagrouprange",
        "saveinertial", "assetdir", "alignfree", "conflict"},
    {"<"},
        {"lengthrange", "?", "mode", "useexisting", "uselimit", "accel", "maxforce", "timeconst",
            "timestep", "inttotal", "interval", "tolrange"},
    {">"},

    {"option", "*", "timestep", "impratio", "tolerance", "ls_tolerance", "noslip_tolerance",
        "ccd_tolerance", "sleep_tolerance", "gravity", "wind", "magnetic", "density", "viscosity",
        "o_margin", "o_solref", "o_solimp", "o_friction", "integrator", "cone", "jacobian",
        "solver", "iterations", "ls_iterations", "noslip_iterations", "ccd_iterations",
        "sdf_iterations", "sdf_initpoints", "actuatorgroupdisable"},
    {"<"},
        {"flag", "?", "constraint", "equality", "frictionloss", "limit", "contact", "spring",
            "damper", "gravity", "clampctrl", "warmstart", "filterparent", "actuation", "refsafe",
            "sensor", "midphase", "eulerdamp", "autoreset", "nativeccd", "island", "multiccd",
            "override", "energy", "fwdinv", "invdiscrete", "sleep", "diagexact"},
    {">"},

    {"size", "*", "memory", "njmax", "nconmax", "nstack", "nuserdata", "nkey", "nuser_body",
        "nuser_jnt", "nuser_geom", "nuser_site", "nuser_cam", "nuser_tendon", "nuser_actuator",
        "nuser_sensor"},

    {"statistic", "*", "meaninertia", "meanmass", "meansize", "extent", "center"},

    {"visual", "*"},
    {"<"},
        {"global", "?", "cameraid", "orthographic", "fovy", "ipd", "azimuth", "elevation",
            "linewidth", "glow", "offwidth", "offheight", "realtime", "ellipsoidinertia",
            "bvactive"},
        {"quality", "?", "shadowsize", "offsamples", "numslices", "numstacks", "numquads"},
        {"headlight", "?", "ambient", "diffuse", "specular", "active"},
        {"map", "?", "stiffness", "stiffnessrot", "force", "torque", "alpha", "fogstart", "fogend",
            "znear", "zfar", "haze", "shadowclip", "shadowscale", "actuatortendon"},
        {"scale", "?", "forcewidth", "contactwidth", "contactheight", "connect", "com", "camera",
            "light", "selectpoint", "jointlength", "jointwidth", "actuatorlength", "actuatorwidth",
            "framelength", "framewidth", "constraint", "slidercrank", "frustum"},
        {"rgba", "?", "fog", "haze", "force", "inertia", "joint", "actuator", "actuatornegative",
            "actuatorpositive", "com", "camera", "light", "selectpoint", "connect", "contactpoint",
            "contactforce", "contactfriction", "contacttorque", "contactgap", "rangefinder",
            "constraint", "slidercrank", "crankbroken", "frustum", "bv", "bvactive"},
    {">"},

    {"default", "R", "class"},
    {"<"},
        {"mesh", "?", "scale", "maxhullvert", "inertia"},
        {"material", "?", "texture", "texrepeat", "texuniform", "emission", "specular",
            "shininess", "reflectance", "metallic", "roughness", "rgba"},
        {"<"},
            {"layer", "*", "texture", "role"},
        {">"},
        {"joint", "?", "type", "group", "pos", "axis", "springdamper", "limited",
            "actuatorfrclimited", "solreflimit", "solimplimit", "solreffriction", "solimpfriction",
            "stiffness", "range", "actuatorfrcrange", "actuatorgravcomp", "margin", "ref",
            "springref", "armature", "damping", "frictionloss", "user"},
        {"geom", "?", "type", "contype", "conaffinity", "condim", "group", "priority", "size",
            "material", "friction", "mass", "density", "shellinertia", "solmix", "solref",
            "solimp", "margin", "gap", "surfacevel", "adhesion", "fromto", "pos", "quat",
            "axisangle", "xyaxes", "zaxis", "euler", "hfield", "mesh", "fitscale", "rgba",
            "fluidshape", "fluidcoef", "user"},
        {"site", "?", "type", "group", "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler",
            "material", "size", "fromto", "rgba", "user"},
        {"camera", "?", "projection", "fovy", "ipd", "resolution", "output", "pos", "quat",
            "axisangle", "xyaxes", "zaxis", "euler", "mode", "focal", "focalpixel", "principal",
            "principalpixel", "sensorsize", "user"},
        {"light", "?", "directional", "type", "castshadow", "active", "pos", "dir", "bulbradius",
            "intensity", "range", "attenuation", "cutoff", "softness", "exponent", "ambient",
            "diffuse", "specular", "mode"},
        {"pair", "?", "condim", "friction", "solref", "solreffriction", "solimp", "gap", "margin",
            "adhesion"},
        {"equality", "?", "active", "solref", "solimp"},
        {"tendon", "?", "group", "limited", "range", "solreflimit", "solimplimit",
            "solreffriction", "solimpfriction", "frictionloss", "springlength", "width",
            "material", "margin", "stiffness", "damping", "rgba", "user"},
        {"general", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user", "ctrllimited",
            "forcelimited", "actlimited", "forcerange", "actrange", "gear", "damping", "armature",
            "cranklength", "actdim", "input", "velrange", "ffrange", "dyntype", "gaintype",
            "biastype", "dynprm", "gainprm", "biasprm", "actearly"},
        {"motor", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user", "ctrllimited",
            "forcelimited", "forcerange", "gear", "damping", "armature", "cranklength"},
        {"position", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user",
            "ctrllimited", "forcelimited", "inheritrange", "forcerange", "gear", "damping",
            "armature", "cranklength", "kp", "kv", "dampratio", "timeconst"},
        {"velocity", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user",
            "ctrllimited", "forcelimited", "forcerange", "gear", "damping", "armature",
            "cranklength", "kv"},
        {"intvelocity", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user",
            "ctrllimited", "forcelimited", "actlimited", "forcerange", "actrange", "inheritrange",
            "gear", "damping", "armature", "cranklength", "kp", "kv", "dampratio"},
        {"orientation", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user",
            "forcelimited", "forcerange", "kp", "kv", "dampratio", "input"},
        {"pid", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user", "ctrllimited",
            "forcelimited", "posrange", "velrange", "ffrange", "forcerange", "inheritrange",
            "gear", "damping", "armature", "cranklength", "kp", "kv", "dampratio", "ki", "imax",
            "slewmax", "input"},
        {"damper", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user", "forcelimited",
            "forcerange", "gear", "damping", "armature", "cranklength", "kv"},
        {"cylinder", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user",
            "ctrllimited", "forcelimited", "forcerange", "gear", "damping", "armature",
            "cranklength", "timeconst", "area", "diameter", "bias"},
        {"muscle", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user", "ctrllimited",
            "forcelimited", "forcerange", "gear", "damping", "armature", "cranklength",
            "timeconst", "range", "force", "scale", "lmin", "lmax", "vmax", "fpmax", "fvmax"},
        {"adhesion", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user",
            "forcelimited", "forcerange", "gain"},
        {"dcmotor", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user", "ctrllimited",
            "gear", "damping", "armature", "cranklength", "motorconst", "resistance", "nominal",
            "saturation", "inductance", "cogging", "controller", "thermal", "lugre", "input"},
    {">"},

    {"extension", "*"},
    {"<"},
        {"plugin", "*", "plugin"},
        {"<"},
            {"instance", "*", "name"},
            {"<"},
                {"config", "*", "key", "value"},
            {">"},
        {">"},
    {">"},

    {"asset", "*"},
    {"<"},
        {"mesh", "*", "name", "class", "content_type", "file", "vertex", "normal", "texcoord",
            "face", "refpos", "refquat", "scale", "smoothnormal", "maxhullvert", "inertia",
            "builtin", "params", "material"},
        {"<"},
            {"plugin", "*", "plugin", "instance"},
            {"<"},
                {"config", "*", "key", "value"},
            {">"},
        {">"},
        {"hfield", "*", "name", "content_type", "file", "nrow", "ncol", "size", "elevation"},
        {"skin", "*", "name", "file", "material", "rgba", "inflate", "vertex", "texcoord", "face",
            "group"},
        {"<"},
            {"bone", "*", "body", "bindpos", "bindquat", "vertid", "vertweight"},
        {">"},
        {"texture", "*", "name", "type", "colorspace", "content_type", "file", "gridsize",
            "gridlayout", "fileright", "fileleft", "fileup", "filedown", "filefront", "fileback",
            "builtin", "rgb1", "rgb2", "mark", "markrgb", "random", "width", "height", "hflip",
            "vflip", "nchannel"},
        {"material", "*", "name", "class", "texture", "texrepeat", "texuniform", "emission",
            "specular", "shininess", "reflectance", "metallic", "roughness", "rgba"},
        {"<"},
            {"layer", "*", "texture", "role"},
        {">"},
        {"model", "*", "name", "file", "content_type"},
    {">"},

    {"body", "R", "name", "childclass", "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler",
        "mocap", "gravcomp", "sleep", "simple", "user"},
    {"<"},
        {"inertial", "?", "pos", "quat", "mass", "diaginertia", "axisangle", "xyaxes", "zaxis",
            "euler", "fullinertia"},
        {"joint", "*", "name", "class", "type", "group", "pos", "axis", "springdamper", "limited",
            "actuatorfrclimited", "solreflimit", "solimplimit", "solreffriction", "solimpfriction",
            "stiffness", "range", "actuatorfrcrange", "actuatorgravcomp", "margin", "ref",
            "springref", "armature", "damping", "frictionloss", "user"},
        {"freejoint", "*", "name", "group", "align"},
        {"geom", "*", "name", "class", "type", "contype", "conaffinity", "condim", "group",
            "priority", "size", "material", "friction", "mass", "density", "shellinertia",
            "solmix", "solref", "solimp", "margin", "gap", "surfacevel", "adhesion", "fromto",
            "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler", "hfield", "mesh", "fitscale",
            "rgba", "fluidshape", "fluidcoef", "user"},
        {"<"},
            {"plugin", "*", "plugin", "instance"},
            {"<"},
                {"config", "*", "key", "value"},
            {">"},
        {">"},
        {"attach", "*", "model", "body", "frame", "prefix"},
        {"site", "*", "name", "class", "type", "group", "pos", "quat", "axisangle", "xyaxes",
            "zaxis", "euler", "material", "size", "fromto", "rgba", "user"},
        {"camera", "*", "name", "class", "projection", "fovy", "ipd", "resolution", "output",
            "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler", "mode", "target", "focal",
            "focalpixel", "principal", "principalpixel", "sensorsize", "user"},
        {"light", "*", "name", "class", "directional", "type", "castshadow", "active", "pos",
            "dir", "bulbradius", "intensity", "range", "attenuation", "cutoff", "softness",
            "exponent", "ambient", "diffuse", "specular", "mode", "target", "texture"},
        {"plugin", "*", "plugin", "instance"},
        {"<"},
            {"config", "*", "key", "value"},
        {">"},
        {"composite", "*", "prefix", "type", "count", "offset", "vertex", "initial", "curve",
            "size", "quat"},
        {"<"},
            {"joint", "*", "kind", "group", "stiffness", "damping", "armature", "solreffix",
                "solimpfix", "type", "axis", "limited", "range", "margin", "solreflimit",
                "solimplimit", "frictionloss", "solreffriction", "solimpfriction"},
            {"skin", "?", "texcoord", "material", "group", "rgba", "inflate", "subgrid"},
            {"geom", "?", "type", "contype", "conaffinity", "condim", "group", "priority", "size",
                "material", "rgba", "friction", "mass", "density", "solmix", "solref", "solimp",
                "margin", "gap", "surfacevel", "adhesion"},
            {"site", "?", "group", "size", "material", "rgba"},
            {"plugin", "*", "plugin", "instance"},
            {"<"},
                {"config", "*", "key", "value"},
            {">"},
        {">"},
        {"flexcomp", "*", "name", "type", "group", "dim", "dof", "count", "cellcount", "spacing",
            "radius", "rigid", "mass", "inertiabox", "scale", "file", "point", "element",
            "texcoord", "material", "rgba", "flatskin", "pos", "quat", "axisangle", "xyaxes",
            "zaxis", "euler", "origin"},
        {"<"},
            {"edge", "?", "equality", "solref", "solimp", "stiffness", "damping"},
            {"elasticity", "?", "young", "poisson", "damping", "thickness", "elastic2d"},
            {"contact", "?", "contype", "conaffinity", "condim", "priority", "friction", "solmix",
                "solref", "solimp", "margin", "gap", "internal", "selfcollide", "activelayers",
                "passive"},
            {"pin", "*", "id", "range", "grid", "gridrange"},
            {"plugin", "*", "plugin", "instance"},
            {"<"},
                {"config", "*", "key", "value"},
            {">"},
        {">"},
    {">"},

    {"deformable", "*"},
    {"<"},
        {"flex", "*", "name", "group", "dim", "radius", "material", "rgba", "flatskin", "body",
            "vertex", "element", "texcoord", "elemtexcoord", "node", "nodecoord", "cellcount",
            "dof"},
        {"<"},
            {"contact", "?", "contype", "conaffinity", "condim", "priority", "friction", "solmix",
                "solref", "solimp", "margin", "gap", "internal", "selfcollide", "activelayers",
                "passive"},
            {"edge", "?", "stiffness", "damping"},
            {"elasticity", "?", "young", "poisson", "damping", "thickness", "elastic2d"},
        {">"},
        {"skin", "*", "name", "file", "material", "rgba", "inflate", "vertex", "texcoord", "face",
            "group"},
        {"<"},
            {"bone", "*", "body", "bindpos", "bindquat", "vertid", "vertweight"},
        {">"},
    {">"},

    {"contact", "*"},
    {"<"},
        {"pair", "*", "name", "class", "geom1", "geom2", "condim", "friction", "solref",
            "solreffriction", "solimp", "gap", "margin", "adhesion"},
        {"exclude", "*", "name", "body1", "body2"},
    {">"},

    {"tendon", "*"},
    {"<"},
        {"spatial", "*", "name", "class", "group", "limited", "actuatorfrclimited", "range",
            "actuatorfrcrange", "solreflimit", "solimplimit", "solreffriction", "solimpfriction",
            "frictionloss", "springlength", "width", "material", "margin", "stiffness", "damping",
            "armature", "rgba", "user"},
        {"<"},
            {"site", "*", "site"},
            {"geom", "*", "geom", "sidesite"},
            {"pulley", "*", "divisor"},
        {">"},
        {"fixed", "*", "name", "class", "group", "limited", "actuatorfrclimited", "range",
            "actuatorfrcrange", "solreflimit", "solimplimit", "solreffriction", "solimpfriction",
            "frictionloss", "springlength", "margin", "stiffness", "damping", "armature", "user"},
        {"<"},
            {"joint", "*", "joint", "coef"},
        {">"},
    {">"},

    {"equality", "*"},
    {"<"},
        {"connect", "*", "name", "class", "active", "solref", "solimp", "body1", "body2", "anchor",
            "site1", "site2"},
        {"weld", "*", "name", "class", "active", "solref", "solimp", "body1", "body2", "relpose",
            "anchor", "site1", "site2", "torquescale"},
        {"joint", "*", "name", "class", "active", "solref", "solimp", "joint1", "joint2",
            "polycoef"},
        {"tendon", "*", "name", "class", "active", "solref", "solimp", "tendon1", "tendon2",
            "polycoef"},
        {"flex", "*", "name", "class", "active", "solref", "solimp", "flex"},
        {"flexvert", "*", "name", "class", "active", "solref", "solimp", "flex"},
        {"flexstrain", "*", "name", "class", "active", "solref", "solimp", "flex", "cell"},
    {">"},

    {"actuator", "*"},
    {"<"},
        {"general", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
            "user", "ctrllimited", "forcelimited", "actlimited", "forcerange", "actrange",
            "lengthrange", "gear", "damping", "armature", "cranklength", "joint", "jointinparent",
            "tendon", "slidersite", "cranksite", "site", "refsite", "body", "actdim", "input",
            "velrange", "ffrange", "dyntype", "gaintype", "biastype", "dynprm", "gainprm",
            "biasprm", "actearly"},
        {"motor", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange", "user",
            "ctrllimited", "forcelimited", "forcerange", "lengthrange", "gear", "damping",
            "armature", "cranklength", "joint", "jointinparent", "tendon", "slidersite",
            "cranksite", "site", "refsite"},
        {"position", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
            "user", "ctrllimited", "forcelimited", "inheritrange", "forcerange", "lengthrange",
            "gear", "damping", "armature", "cranklength", "joint", "jointinparent", "tendon",
            "slidersite", "cranksite", "site", "refsite", "kp", "kv", "dampratio", "timeconst"},
        {"velocity", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
            "user", "ctrllimited", "forcelimited", "forcerange", "lengthrange", "gear", "damping",
            "armature", "cranklength", "joint", "jointinparent", "tendon", "slidersite",
            "cranksite", "site", "refsite", "kv"},
        {"intvelocity", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
            "user", "ctrllimited", "forcelimited", "actlimited", "forcerange", "actrange",
            "inheritrange", "lengthrange", "gear", "damping", "armature", "cranklength", "joint",
            "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite", "kp", "kv",
            "dampratio"},
        {"orientation", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
            "user", "forcelimited", "forcerange", "joint", "site", "refsite", "kp", "kv",
            "dampratio", "input"},
        {"pid", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange", "user",
            "ctrllimited", "forcelimited", "posrange", "velrange", "ffrange", "forcerange",
            "inheritrange", "lengthrange", "gear", "damping", "armature", "cranklength", "joint",
            "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite", "kp", "kv",
            "dampratio", "ki", "imax", "slewmax", "input"},
        {"damper", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
            "user", "forcelimited", "forcerange", "lengthrange", "gear", "damping", "armature",
            "cranklength", "joint", "jointinparent", "tendon", "slidersite", "cranksite", "site",
            "refsite", "kv"},
        {"cylinder", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
            "user", "ctrllimited", "forcelimited", "forcerange", "lengthrange", "gear", "damping",
            "armature", "cranklength", "joint", "jointinparent", "tendon", "slidersite",
            "cranksite", "site", "refsite", "timeconst", "area", "diameter", "bias"},
        {"muscle", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
            "user", "ctrllimited", "forcelimited", "forcerange", "lengthrange", "gear", "damping",
            "armature", "cranklength", "joint", "jointinparent", "tendon", "slidersite",
            "cranksite", "timeconst", "tausmooth", "range", "force", "scale", "lmin", "lmax",
            "vmax", "fpmax", "fvmax"},
        {"adhesion", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
            "user", "forcelimited", "forcerange", "body", "gain"},
        {"dcmotor", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
            "user", "ctrllimited", "lengthrange", "gear", "damping", "armature", "cranklength",
            "joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
            "motorconst", "resistance", "nominal", "saturation", "inductance", "cogging",
            "controller", "thermal", "lugre", "input"},
        {"plugin", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
            "user", "plugin", "instance", "ctrllimited", "forcelimited", "actlimited",
            "forcerange", "actrange", "lengthrange", "gear", "damping", "armature", "cranklength",
            "joint", "jointinparent", "site", "actdim", "dyntype", "dynprm", "tendon", "cranksite",
            "slidersite", "actearly"},
        {"<"},
            {"config", "*", "key", "value"},
        {">"},
    {">"},

    {"sensor", "*"},
    {"<"},
        {"touch", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user",
            "site"},
        {"accelerometer", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "site"},
        {"velocimeter", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "site"},
        {"gyro", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user",
            "site"},
        {"force", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user",
            "site"},
        {"torque", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "site"},
        {"magnetometer", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "site"},
        {"camprojection", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "site", "camera"},
        {"rangefinder", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "site", "camera", "data"},
        {"jointpos", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "joint"},
        {"jointvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "joint"},
        {"tendonpos", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "tendon"},
        {"tendonvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "tendon"},
        {"actuatorpos", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "actuator"},
        {"actuatorvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "actuator"},
        {"actuatorfrc", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "actuator"},
        {"jointactuatorfrc", "*", "name", "nsample", "interp", "delay", "interval", "cutoff",
            "noise", "user", "joint"},
        {"tendonactuatorfrc", "*", "name", "nsample", "interp", "delay", "interval", "cutoff",
            "noise", "user", "tendon"},
        {"ballquat", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "joint"},
        {"ballangvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "joint"},
        {"jointlimitpos", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "joint"},
        {"jointlimitvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "joint"},
        {"jointlimitfrc", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "joint"},
        {"tendonlimitpos", "*", "name", "nsample", "interp", "delay", "interval", "cutoff",
            "noise", "user", "tendon"},
        {"tendonlimitvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff",
            "noise", "user", "tendon"},
        {"tendonlimitfrc", "*", "name", "nsample", "interp", "delay", "interval", "cutoff",
            "noise", "user", "tendon"},
        {"framepos", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "objtype", "objname", "reftype", "refname"},
        {"framequat", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "objtype", "objname", "reftype", "refname"},
        {"framexaxis", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "objtype", "objname", "reftype", "refname"},
        {"frameyaxis", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "objtype", "objname", "reftype", "refname"},
        {"framezaxis", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "objtype", "objname", "reftype", "refname"},
        {"framelinvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "objtype", "objname", "reftype", "refname"},
        {"frameangvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "objtype", "objname", "reftype", "refname"},
        {"framelinacc", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "objtype", "objname"},
        {"frameangacc", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "objtype", "objname"},
        {"subtreecom", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "body"},
        {"subtreelinvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "body"},
        {"subtreeangmom", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "body"},
        {"insidesite", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "site", "objtype", "objname"},
        {"distance", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "geom1", "geom2", "body1", "body2"},
        {"normal", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "geom1", "geom2", "body1", "body2"},
        {"fromto", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "geom1", "geom2", "body1", "body2"},
        {"contact", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user", "geom1", "geom2", "body1", "body2", "subtree1", "subtree2", "site", "num",
            "data", "reduce"},
        {"e_potential", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user"},
        {"e_kinetic", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
            "user"},
        {"clock", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
        {"tactile", "*", "name", "geom", "mesh", "nsample", "interp", "delay", "interval",
            "cutoff", "user"},
        {"user", "*", "name", "objtype", "objname", "datatype", "needstage", "dim", "cutoff",
            "noise", "user"},
        {"plugin", "*", "name", "plugin", "instance", "cutoff", "objtype", "objname", "reftype",
            "refname", "user"},
        {"<"},
            {"config", "*", "key", "value"},
        {">"},
    {">"},

    {"custom", "*"},
    {"<"},
        {"numeric", "*", "name", "size", "data"},
        {"text", "*", "name", "data"},
        {"tuple", "*", "name"},
        {"<"},
            {"element", "*", "objtype", "objname", "prm"},
        {">"},
    {">"},

    {"keyframe", "*"},
    {"<"},
        {"key", "*", "name", "time", "qpos", "qvel", "act", "mpos", "mquat", "ctrl"},
    {">"},

{">"},
};
// clang-format on

const int nMJCF = sizeof(MJCF) / sizeof(MJCF[0]);

// presence constraints, indexed into MJCF[]; enforced by
// mjXSchema::Check. spec: attribute bundles, space-joined,
// '|'-separated; kind: e=exclusive t=together r=requires o=oneof
// clang-format off
const mjXConstraintDef MJCF_constraints[] = {
  {10, 'e', "memory|nstack"},
  {10, 'e', "memory|njmax"},
  {31, 'e', "fovy|sensorsize"},
  {32, 'e', "directional|type"},
  {61, 'e', "builtin|file"},
  {61, 'e', "builtin|vertex"},
  {82, 'e', "fullinertia|quat|axisangle|xyaxes|zaxis|euler"},
  {92, 'e', "body|frame"},
  {94, 'e', "fovy|sensorsize"},
  {95, 'e', "directional|type"},
  {156, 'e', "site1 site2|body1 body2 anchor"},
  {156, 'o', "site1 site2|body1 anchor"},
  {156, 't', "site1|site2"},
  {157, 'e', "site1 site2|body1 body2 anchor relpose"},
  {157, 'o', "site1 site2|body1"},
  {157, 't', "site1|site2"},
  {193, 'e', "site|camera"},
  {193, 'o', "site|camera"},
  {211, 't', "reftype|refname"},
  {212, 't', "reftype|refname"},
  {213, 't', "reftype|refname"},
  {214, 't', "reftype|refname"},
  {215, 't', "reftype|refname"},
  {216, 't', "reftype|refname"},
  {217, 't', "reftype|refname"},
  {224, 'e', "geom1|body1"},
  {224, 'o', "geom1|body1"},
  {224, 'e', "geom2|body2"},
  {224, 'o', "geom2|body2"},
  {225, 'e', "geom1|body1"},
  {225, 'o', "geom1|body1"},
  {225, 'e', "geom2|body2"},
  {225, 'o', "geom2|body2"},
  {226, 'e', "geom1|body1"},
  {226, 'o', "geom1|body1"},
  {226, 'e', "geom2|body2"},
  {226, 'o', "geom2|body2"},
  {227, 'e', "geom1|body1|subtree1|site"},
  {227, 'e', "geom2|body2|subtree2"},
  {232, 't', "objtype|objname"},
};
// clang-format on

const int nMJCF_constraints = sizeof(MJCF_constraints) / sizeof(MJCF_constraints[0]);