mujoco

<!-- Generated by generate_dmcontrol.py from mjcf.schema;
     do not edit by hand. The element surface is frozen to
     what dm_control supports (see EXCLUDED_ELEMENTS);
     attribute facts follow mjcf.schema. -->
<element name="mujoco">
  <attributes>
    <attribute name="model" type="string" conflict_allowed="true"/>
  </attributes>
  <children>
    <element name="compiler">
      <attributes>
        <attribute name="autolimits" type="keyword" valid_values="false true" default="true"/>
        <attribute name="boundmass" type="float"/>
        <attribute name="boundinertia" type="float"/>
        <attribute name="settotalmass" type="float" default="-1"/>
        <attribute name="balanceinertia" type="keyword" valid_values="false true"/>
        <attribute name="strippath" type="keyword" valid_values="false true"/>
        <attribute name="coordinate" type="keyword" valid_values="local global"/>
        <attribute name="angle" type="keyword" valid_values="radian degree" default="degree"/>
        <attribute name="fitaabb" type="keyword" valid_values="false true"/>
        <attribute name="eulerseq" type="string"/>
        <attribute name="meshdir" type="basepath" path_namespace="mesh" conflict_allowed="true"/>
        <attribute name="texturedir" type="basepath" path_namespace="texture" conflict_allowed="true"/>
        <attribute name="discardvisual" type="keyword" valid_values="false true"/>
        <attribute name="usethread" type="keyword" valid_values="false true" default="true"/>
        <attribute name="fusestatic" type="keyword" valid_values="false true"/>
        <attribute name="inertiafromgeom" type="keyword" valid_values="false true auto" default="auto"/>
        <attribute name="inertiagrouprange" type="array" array_type="int" array_size="2" default="0 5"/>
        <attribute name="saveinertial" type="keyword" valid_values="false true"/>
        <attribute name="assetdir" type="basepath" path_namespace="asset" conflict_allowed="true"/>
        <attribute name="alignfree" type="keyword" valid_values="false true"/>
        <attribute name="conflict" type="keyword" valid_values="warning merge error"/>
      </attributes>
      <children>
        <element name="lengthrange">
          <attributes>
            <attribute name="mode" type="keyword" valid_values="none muscle muscleuser all" default="muscle"/>
            <attribute name="useexisting" type="keyword" valid_values="false true" default="true"/>
            <attribute name="uselimit" type="keyword" valid_values="false true"/>
            <attribute name="accel" type="float" default="20"/>
            <attribute name="maxforce" type="float"/>
            <attribute name="timeconst" type="float" default="1"/>
            <attribute name="timestep" type="float" default="0.01"/>
            <attribute name="inttotal" type="float" default="10"/>
            <attribute name="interval" type="float" default="2"/>
            <attribute name="tolrange" type="float" default="0.05"/>
          </attributes>
        </element>
      </children>
    </element>
    <element name="option">
      <attributes>
        <attribute name="timestep" type="float" default="0.002" conflict_allowed="true" conflict_behavior="min"/>
        <attribute name="impratio" type="float" default="1"/>
        <attribute name="tolerance" type="float" default="1e-08" conflict_allowed="true" conflict_behavior="min"/>
        <attribute name="ls_tolerance" type="float" default="0.01" conflict_allowed="true" conflict_behavior="min"/>
        <attribute name="noslip_tolerance" type="float" default="1e-06" conflict_allowed="true" conflict_behavior="min"/>
        <attribute name="ccd_tolerance" type="float" default="1e-06" conflict_allowed="true" conflict_behavior="min"/>
        <attribute name="sleep_tolerance" type="float" default="0.001"/>
        <attribute name="gravity" type="array" array_type="float" array_size="3" default="0 0 -9.81"/>
        <attribute name="wind" type="array" array_type="float" array_size="3" default="0 0 0"/>
        <attribute name="magnetic" type="array" array_type="float" array_size="3" default="0 -0.5 0"/>
        <attribute name="density" type="float"/>
        <attribute name="viscosity" type="float"/>
        <attribute name="o_margin" type="float"/>
        <attribute name="o_solref" type="array" array_type="float" array_size="2" default="0.02 1"/>
        <attribute name="o_solimp" type="array" array_type="float" array_size="5" default="0.9 0.95 0.001 0.5 2"/>
        <attribute name="o_friction" type="array" array_type="float" array_size="5" default="1 1 0.005 0.0001 0.0001"/>
        <attribute name="integrator" type="keyword" valid_values="Euler RK4 implicit implicitfast discrete" default="Euler"/>
        <attribute name="cone" type="keyword" valid_values="pyramidal elliptic" default="pyramidal"/>
        <attribute name="jacobian" type="keyword" valid_values="dense sparse auto" default="auto"/>
        <attribute name="solver" type="keyword" valid_values="PGS CG Newton" default="Newton"/>
        <attribute name="iterations" type="int" default="100" conflict_allowed="true" conflict_behavior="max"/>
        <attribute name="ls_iterations" type="int" default="50" conflict_allowed="true" conflict_behavior="max"/>
        <attribute name="noslip_iterations" type="int" conflict_allowed="true" conflict_behavior="max"/>
        <attribute name="ccd_iterations" type="int" default="35" conflict_allowed="true" conflict_behavior="max"/>
        <attribute name="sdf_iterations" type="int" default="10" conflict_allowed="true" conflict_behavior="max"/>
        <attribute name="sdf_initpoints" type="int" default="40" conflict_allowed="true" conflict_behavior="max"/>
        <attribute name="actuatorgroupdisable" type="array" array_type="int"/>
      </attributes>
      <children>
        <element name="flag">
          <attributes>
            <attribute name="constraint" type="keyword" valid_values="disable enable" default="enable"/>
            <attribute name="equality" type="keyword" valid_values="disable enable" default="enable"/>
            <attribute name="frictionloss" type="keyword" valid_values="disable enable" default="enable"/>
            <attribute name="limit" type="keyword" valid_values="disable enable" default="enable"/>
            <attribute name="contact" type="keyword" valid_values="disable enable" default="enable"/>
            <attribute name="spring" type="keyword" valid_values="disable enable" default="enable"/>
            <attribute name="damper" type="keyword" valid_values="disable enable" default="enable"/>
            <attribute name="gravity" type="keyword" valid_values="disable enable" default="enable"/>
            <attribute name="clampctrl" type="keyword" valid_values="disable enable" default="enable"/>
            <attribute name="warmstart" type="keyword" valid_values="disable enable" default="enable"/>
            <attribute name="filterparent" type="keyword" valid_values="disable enable" default="enable"/>
            <attribute name="actuation" type="keyword" valid_values="disable enable" default="enable"/>
            <attribute name="refsafe" type="keyword" valid_values="disable enable" default="enable"/>
            <attribute name="sensor" type="keyword" valid_values="disable enable" default="enable"/>
            <attribute name="midphase" type="keyword" valid_values="disable enable" default="enable"/>
            <attribute name="eulerdamp" type="keyword" valid_values="disable enable" default="enable"/>
            <attribute name="autoreset" type="keyword" valid_values="disable enable" default="enable"/>
            <attribute name="nativeccd" type="keyword" valid_values="disable enable" default="enable"/>
            <attribute name="island" type="keyword" valid_values="disable enable" default="enable"/>
            <attribute name="multiccd" type="keyword" valid_values="disable enable" default="enable"/>
            <attribute name="override" type="keyword" valid_values="disable enable" default="disable"/>
            <attribute name="energy" type="keyword" valid_values="disable enable" default="disable"/>
            <attribute name="fwdinv" type="keyword" valid_values="disable enable" default="disable"/>
            <attribute name="invdiscrete" type="keyword" valid_values="disable enable" default="disable"/>
            <attribute name="sleep" type="keyword" valid_values="disable enable" default="disable"/>
            <attribute name="diagexact" type="keyword" valid_values="disable enable" default="disable"/>
            <attribute name="ipc" type="keyword" valid_values="disable enable" default="disable"/>
          </attributes>
        </element>
      </children>
    </element>
    <element name="size">
      <attributes>
        <attribute name="memory" type="string" conflict_allowed="true" conflict_behavior="max_bytes"/>
        <attribute name="njmax" type="int" default="-1" conflict_allowed="true" conflict_behavior="max"/>
        <attribute name="nconmax" type="int" default="-1" conflict_allowed="true" conflict_behavior="max"/>
        <attribute name="nstack" type="int" default="-1"/>
        <attribute name="nuserdata" type="int"/>
        <attribute name="nkey" type="int"/>
        <attribute name="nuser_body" type="int" default="-1"/>
        <attribute name="nuser_jnt" type="int" default="-1"/>
        <attribute name="nuser_geom" type="int" default="-1"/>
        <attribute name="nuser_site" type="int" default="-1"/>
        <attribute name="nuser_cam" type="int" default="-1"/>
        <attribute name="nuser_tendon" type="int" default="-1"/>
        <attribute name="nuser_actuator" type="int" default="-1"/>
        <attribute name="nuser_sensor" type="int" default="-1"/>
      </attributes>
    </element>
    <element name="statistic">
      <attributes>
        <attribute name="meaninertia" type="float"/>
        <attribute name="meanmass" type="float"/>
        <attribute name="meansize" type="float"/>
        <attribute name="extent" type="float"/>
        <attribute name="center" type="array" array_type="float" array_size="3"/>
      </attributes>
    </element>
    <element name="visual">
      <children>
        <element name="global">
          <attributes>
            <attribute name="cameraid" type="int" default="-1"/>
            <attribute name="orthographic" type="keyword" valid_values="false true" default="false"/>
            <attribute name="fovy" type="float" default="45"/>
            <attribute name="ipd" type="float" default="0.068"/>
            <attribute name="azimuth" type="float" default="90"/>
            <attribute name="elevation" type="float" default="-45"/>
            <attribute name="linewidth" type="float" default="1"/>
            <attribute name="glow" type="float" default="0.3"/>
            <attribute name="offwidth" type="int" default="640"/>
            <attribute name="offheight" type="int" default="480"/>
            <attribute name="realtime" type="float" default="1"/>
            <attribute name="ellipsoidinertia" type="keyword" valid_values="false true" default="false"/>
            <attribute name="bvactive" type="keyword" valid_values="false true" default="false"/>
          </attributes>
        </element>
        <element name="quality">
          <attributes>
            <attribute name="shadowsize" type="int" default="4096"/>
            <attribute name="offsamples" type="int" default="4"/>
            <attribute name="numslices" type="int" default="28"/>
            <attribute name="numstacks" type="int" default="16"/>
            <attribute name="numquads" type="int" default="4"/>
          </attributes>
        </element>
        <element name="headlight">
          <attributes>
            <attribute name="ambient" type="array" array_type="float" array_size="3" default="0.1 0.1 0.1"/>
            <attribute name="diffuse" type="array" array_type="float" array_size="3" default="0.4 0.4 0.4"/>
            <attribute name="specular" type="array" array_type="float" array_size="3" default="0.5 0.5 0.5"/>
            <attribute name="active" type="int" default="1"/>
          </attributes>
        </element>
        <element name="map">
          <attributes>
            <attribute name="stiffness" type="float" default="100"/>
            <attribute name="stiffnessrot" type="float" default="500"/>
            <attribute name="force" type="float" default="0.005"/>
            <attribute name="torque" type="float" default="0.1"/>
            <attribute name="alpha" type="float" default="0.3"/>
            <attribute name="fogstart" type="float" default="3"/>
            <attribute name="fogend" type="float" default="10"/>
            <attribute name="znear" type="float" default="0.01" conflict_allowed="true" conflict_behavior="min"/>
            <attribute name="zfar" type="float" default="50" conflict_allowed="true" conflict_behavior="max"/>
            <attribute name="haze" type="float" default="0.3"/>
            <attribute name="shadowclip" type="float" default="1"/>
            <attribute name="shadowscale" type="float" default="0.6"/>
            <attribute name="actuatortendon" type="float" default="2"/>
          </attributes>
        </element>
        <element name="scale">
          <attributes>
            <attribute name="forcewidth" type="float" default="0.1"/>
            <attribute name="contactwidth" type="float" default="0.3"/>
            <attribute name="contactheight" type="float" default="0.1"/>
            <attribute name="connect" type="float" default="0.2"/>
            <attribute name="com" type="float" default="0.4"/>
            <attribute name="camera" type="float" default="0.3"/>
            <attribute name="light" type="float" default="0.3"/>
            <attribute name="selectpoint" type="float" default="0.2"/>
            <attribute name="jointlength" type="float" default="1"/>
            <attribute name="jointwidth" type="float" default="0.1"/>
            <attribute name="actuatorlength" type="float" default="0.7"/>
            <attribute name="actuatorwidth" type="float" default="0.2"/>
            <attribute name="framelength" type="float" default="1"/>
            <attribute name="framewidth" type="float" default="0.1"/>
            <attribute name="constraint" type="float" default="0.1"/>
            <attribute name="slidercrank" type="float" default="0.2"/>
            <attribute name="frustum" type="float" default="10"/>
          </attributes>
        </element>
        <element name="rgba">
          <attributes>
            <attribute name="fog" type="array" array_type="float" array_size="4" default="0 0 0 1"/>
            <attribute name="haze" type="array" array_type="float" array_size="4" default="1 1 1 1"/>
            <attribute name="force" type="array" array_type="float" array_size="4" default="1 0.5 0.5 1"/>
            <attribute name="inertia" type="array" array_type="float" array_size="4" default="0.8 0.2 0.2 0.6"/>
            <attribute name="joint" type="array" array_type="float" array_size="4" default="0.2 0.6 0.8 1"/>
            <attribute name="actuator" type="array" array_type="float" array_size="4" default="0.2 0.25 0.2 1"/>
            <attribute name="actuatornegative" type="array" array_type="float" array_size="4" default="0.2 0.6 0.9 1"/>
            <attribute name="actuatorpositive" type="array" array_type="float" array_size="4" default="0.9 0.4 0.2 1"/>
            <attribute name="com" type="array" array_type="float" array_size="4" default="0.9 0.9 0.9 1"/>
            <attribute name="camera" type="array" array_type="float" array_size="4" default="0.6 0.9 0.6 1"/>
            <attribute name="light" type="array" array_type="float" array_size="4" default="0.6 0.6 0.9 1"/>
            <attribute name="selectpoint" type="array" array_type="float" array_size="4" default="0.9 0.9 0.1 1"/>
            <attribute name="connect" type="array" array_type="float" array_size="4" default="0.2 0.2 0.8 1"/>
            <attribute name="contactpoint" type="array" array_type="float" array_size="4" default="0.9 0.6 0.2 1"/>
            <attribute name="contactforce" type="array" array_type="float" array_size="4" default="0.7 0.9 0.9 1"/>
            <attribute name="contactfriction" type="array" array_type="float" array_size="4" default="0.9 0.8 0.4 1"/>
            <attribute name="contacttorque" type="array" array_type="float" array_size="4" default="0.9 0.7 0.9 1"/>
            <attribute name="contactgap" type="array" array_type="float" array_size="4" default="0.5 0.8 0.9 1"/>
            <attribute name="rangefinder" type="array" array_type="float" array_size="4" default="1 1 0.1 1"/>
            <attribute name="constraint" type="array" array_type="float" array_size="4" default="0.9 0 0 1"/>
            <attribute name="slidercrank" type="array" array_type="float" array_size="4" default="0.5 0.3 0.8 1"/>
            <attribute name="crankbroken" type="array" array_type="float" array_size="4" default="0.9 0 0 1"/>
            <attribute name="frustum" type="array" array_type="float" array_size="4" default="1 1 0 0.2"/>
            <attribute name="bv" type="array" array_type="float" array_size="4" default="0 1 0 0.5"/>
            <attribute name="bvactive" type="array" array_type="float" array_size="4" default="1 0 0 0.5"/>
          </attributes>
        </element>
      </children>
    </element>
    <element name="default">
      <attributes>
        <attribute name="class" type="identifier"/>
      </attributes>
      <children>
        <element name="default" recursive="true" repeated="true">
          <attributes>
            <attribute name="class" type="identifier"/>
          </attributes>
          <children>
            <element name="mesh">
              <attributes>
                <attribute name="scale" type="array" array_type="float" array_size="3" default="1 1 1"/>
                <attribute name="maxhullvert" type="int" default="-1"/>
                <attribute name="inertia" type="keyword" valid_values="convex legacy exact shell" default="legacy"/>
              </attributes>
            </element>
            <element name="material">
              <attributes>
                <attribute name="texture" type="reference" reference_namespace="texture"/>
                <attribute name="texrepeat" type="array" array_type="float" array_size="2" default="1 1"/>
                <attribute name="texuniform" type="keyword" valid_values="false true"/>
                <attribute name="emission" type="float"/>
                <attribute name="specular" type="float" default="0.5"/>
                <attribute name="shininess" type="float" default="0.5"/>
                <attribute name="reflectance" type="float"/>
                <attribute name="metallic" type="float" default="-1"/>
                <attribute name="roughness" type="float" default="-1"/>
                <attribute name="rgba" type="array" array_type="float" array_size="4" default="1 1 1 1"/>
              </attributes>
              <children>
                <element name="layer" repeated="true">
                  <attributes>
                    <attribute name="texture" type="reference" reference_namespace="texture"/>
                    <attribute name="role" type="string" required="true"/>
                  </attributes>
                </element>
              </children>
            </element>
            <element name="joint">
              <attributes>
                <attribute name="type" type="keyword" valid_values="free ball slide hinge" default="hinge"/>
                <attribute name="group" type="int"/>
                <attribute name="pos" type="array" array_type="float" array_size="3"/>
                <attribute name="axis" type="array" array_type="float" array_size="3" default="0 0 1"/>
                <attribute name="springdamper" type="array" array_type="float" array_size="2"/>
                <attribute name="limited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="actuatorfrclimited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="solreflimit" type="array" array_type="float" array_size="2" default="0.02 1"/>
                <attribute name="solimplimit" type="array" array_type="float" array_size="5" default="0.9 0.95 0.001 0.5 2"/>
                <attribute name="solreffriction" type="array" array_type="float" array_size="2" default="0.02 1"/>
                <attribute name="solimpfriction" type="array" array_type="float" array_size="5" default="0.9 0.95 0.001 0.5 2"/>
                <attribute name="stiffness" type="array" array_type="float" array_size="3"/>
                <attribute name="range" type="array" array_type="float" array_size="2"/>
                <attribute name="actuatorfrcrange" type="array" array_type="float" array_size="2"/>
                <attribute name="actuatorgravcomp" type="keyword" valid_values="false true"/>
                <attribute name="margin" type="float"/>
                <attribute name="ref" type="float"/>
                <attribute name="springref" type="float"/>
                <attribute name="armature" type="float"/>
                <attribute name="damping" type="array" array_type="float" array_size="3"/>
                <attribute name="frictionloss" type="float"/>
                <attribute name="user" type="array" array_type="float"/>
              </attributes>
            </element>
            <element name="geom">
              <attributes>
                <attribute name="type" type="keyword" valid_values="plane hfield sphere capsule ellipsoid cylinder box mesh sdf" default="sphere"/>
                <attribute name="contype" type="int" default="1"/>
                <attribute name="conaffinity" type="int" default="1"/>
                <attribute name="condim" type="int" default="3"/>
                <attribute name="group" type="int"/>
                <attribute name="priority" type="int"/>
                <attribute name="size" type="array" array_type="float" array_size="3"/>
                <attribute name="material" type="reference" reference_namespace="material"/>
                <attribute name="friction" type="array" array_type="float" array_size="3" default="1 0.005 0.0001"/>
                <attribute name="mass" type="float"/>
                <attribute name="density" type="float" default="1000"/>
                <attribute name="shellinertia" type="keyword" valid_values="false true"/>
                <attribute name="solmix" type="float" default="1"/>
                <attribute name="solref" type="array" array_type="float" array_size="2" default="0.02 1"/>
                <attribute name="solimp" type="array" array_type="float" array_size="5" default="0.9 0.95 0.001 0.5 2"/>
                <attribute name="margin" type="float"/>
                <attribute name="gap" type="float"/>
                <attribute name="surfacevel" type="array" array_type="float" array_size="6"/>
                <attribute name="adhesion" type="float"/>
                <attribute name="fromto" type="array" array_type="float" array_size="6"/>
                <attribute name="pos" type="array" array_type="float" array_size="3" default="0 0 0"/>
                <attribute name="quat" type="array" array_type="float" array_size="4" default="1 0 0 0"/>
                <attribute name="axisangle" type="array" array_type="float" array_size="4"/>
                <attribute name="xyaxes" type="array" array_type="float" array_size="6"/>
                <attribute name="zaxis" type="array" array_type="float" array_size="3"/>
                <attribute name="euler" type="array" array_type="float" array_size="3"/>
                <attribute name="hfield" type="reference" reference_namespace="hfield"/>
                <attribute name="mesh" type="reference" reference_namespace="mesh"/>
                <attribute name="fitscale" type="float" default="1"/>
                <attribute name="rgba" type="array" array_type="float" array_size="4" default="0.5 0.5 0.5 1"/>
                <attribute name="fluidshape" type="keyword" valid_values="none ellipsoid"/>
                <attribute name="fluidcoef" type="array" array_type="float" array_size="5" default="0.5 0.25 1.5 1 1"/>
                <attribute name="user" type="array" array_type="float"/>
              </attributes>
            </element>
            <element name="site">
              <attributes>
                <attribute name="type" type="keyword" valid_values="plane hfield sphere capsule ellipsoid cylinder box mesh sdf" default="sphere"/>
                <attribute name="group" type="int"/>
                <attribute name="pos" type="array" array_type="float" array_size="3" default="0 0 0"/>
                <attribute name="quat" type="array" array_type="float" array_size="4" default="1 0 0 0"/>
                <attribute name="axisangle" type="array" array_type="float" array_size="4"/>
                <attribute name="xyaxes" type="array" array_type="float" array_size="6"/>
                <attribute name="zaxis" type="array" array_type="float" array_size="3"/>
                <attribute name="euler" type="array" array_type="float" array_size="3"/>
                <attribute name="material" type="reference" reference_namespace="material"/>
                <attribute name="mesh" type="reference" reference_namespace="mesh"/>
                <attribute name="size" type="array" array_type="float" array_size="3" default="0.005 0.005 0.005"/>
                <attribute name="fromto" type="array" array_type="float" array_size="6"/>
                <attribute name="rgba" type="array" array_type="float" array_size="4" default="0.5 0.5 0.5 1"/>
                <attribute name="user" type="array" array_type="float"/>
              </attributes>
            </element>
            <element name="camera">
              <attributes>
                <attribute name="projection" type="keyword" valid_values="perspective orthographic"/>
                <attribute name="fovy" type="float" default="45"/>
                <attribute name="ipd" type="float" default="0.068"/>
                <attribute name="resolution" type="array" array_type="int" array_size="2" default="1 1"/>
                <attribute name="output" type="string"/>
                <attribute name="pos" type="array" array_type="float" array_size="3" default="0 0 0"/>
                <attribute name="quat" type="array" array_type="float" array_size="4" default="1 0 0 0"/>
                <attribute name="axisangle" type="array" array_type="float" array_size="4"/>
                <attribute name="xyaxes" type="array" array_type="float" array_size="6"/>
                <attribute name="zaxis" type="array" array_type="float" array_size="3"/>
                <attribute name="euler" type="array" array_type="float" array_size="3"/>
                <attribute name="mode" type="keyword" valid_values="fixed track trackcom targetbody targetbodycom" default="fixed"/>
                <attribute name="focal" type="array" array_type="float" array_size="2"/>
                <attribute name="focalpixel" type="array" array_type="float" array_size="2"/>
                <attribute name="principal" type="array" array_type="float" array_size="2"/>
                <attribute name="principalpixel" type="array" array_type="float" array_size="2"/>
                <attribute name="sensorsize" type="array" array_type="float" array_size="2"/>
                <attribute name="user" type="array" array_type="float"/>
              </attributes>
            </element>
            <element name="light">
              <attributes>
                <attribute name="directional" type="keyword" valid_values="false true"/>
                <attribute name="type" type="keyword" valid_values="spot directional point image"/>
                <attribute name="castshadow" type="keyword" valid_values="false true" default="true"/>
                <attribute name="active" type="keyword" valid_values="false true" default="true"/>
                <attribute name="pos" type="array" array_type="float" array_size="3" default="0 0 0"/>
                <attribute name="dir" type="array" array_type="float" array_size="3" default="0 0 -1"/>
                <attribute name="bulbradius" type="float" default="0.02"/>
                <attribute name="intensity" type="float"/>
                <attribute name="range" type="float" default="10"/>
                <attribute name="attenuation" type="array" array_type="float" array_size="3" default="1 0 0"/>
                <attribute name="cutoff" type="float" default="45"/>
                <attribute name="softness" type="float" default="0.2"/>
                <attribute name="exponent" type="float" default="10"/>
                <attribute name="ambient" type="array" array_type="float" array_size="3"/>
                <attribute name="diffuse" type="array" array_type="float" array_size="3" default="0.7 0.7 0.7"/>
                <attribute name="specular" type="array" array_type="float" array_size="3" default="0.3 0.3 0.3"/>
                <attribute name="mode" type="keyword" valid_values="fixed track trackcom targetbody targetbodycom" default="fixed"/>
              </attributes>
            </element>
            <element name="pair" namespace="contact">
              <attributes>
                <attribute name="condim" type="int" default="3"/>
                <attribute name="friction" type="array" array_type="float" array_size="5" default="1 1 0.005 0.0001 0.0001"/>
                <attribute name="solref" type="array" array_type="float" array_size="2" default="0.02 1"/>
                <attribute name="solreffriction" type="array" array_type="float" array_size="2"/>
                <attribute name="solimp" type="array" array_type="float" array_size="5" default="0.9 0.95 0.001 0.5 2"/>
                <attribute name="gap" type="float"/>
                <attribute name="margin" type="float"/>
                <attribute name="adhesion" type="float"/>
              </attributes>
            </element>
            <element name="equality">
              <attributes>
                <attribute name="active" type="keyword" valid_values="false true"/>
                <attribute name="solref" type="array" array_type="float" array_size="2"/>
                <attribute name="solimp" type="array" array_type="float" array_size="5"/>
              </attributes>
            </element>
            <element name="tendon">
              <attributes>
                <attribute name="group" type="int"/>
                <attribute name="limited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="range" type="array" array_type="float" array_size="2"/>
                <attribute name="solreflimit" type="array" array_type="float" array_size="2"/>
                <attribute name="solimplimit" type="array" array_type="float" array_size="5"/>
                <attribute name="solreffriction" type="array" array_type="float" array_size="2"/>
                <attribute name="solimpfriction" type="array" array_type="float" array_size="5"/>
                <attribute name="frictionloss" type="float"/>
                <attribute name="springlength" type="array" array_type="float" array_size="2"/>
                <attribute name="width" type="float"/>
                <attribute name="material" type="reference" reference_namespace="material"/>
                <attribute name="margin" type="float"/>
                <attribute name="stiffness" type="array" array_type="float" array_size="3"/>
                <attribute name="damping" type="array" array_type="float" array_size="3"/>
                <attribute name="rgba" type="array" array_type="float" array_size="4"/>
                <attribute name="user" type="array" array_type="float"/>
              </attributes>
            </element>
            <element name="general" namespace="actuator">
              <attributes>
                <attribute name="group" type="int"/>
                <attribute name="nsample" type="int"/>
                <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
                <attribute name="delay" type="float"/>
                <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
                <attribute name="user" type="array" array_type="float"/>
                <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="actlimited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
                <attribute name="actrange" type="array" array_type="float" array_size="2"/>
                <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
                <attribute name="damping" type="array" array_type="float" array_size="3"/>
                <attribute name="armature" type="float"/>
                <attribute name="cranklength" type="float"/>
                <attribute name="actdim" type="int" default="-1"/>
                <attribute name="input" type="keyword" valid_values="expmap quat"/>
                <attribute name="velrange" type="array" array_type="float" array_size="2"/>
                <attribute name="ffrange" type="array" array_type="float" array_size="2"/>
                <attribute name="dyntype" type="keyword" valid_values="none integrator filter filterexact muscle dcmotor pid user" default="none"/>
                <attribute name="gaintype" type="keyword" valid_values="fixed affine muscle dcmotor so3 pid user" default="fixed"/>
                <attribute name="biastype" type="keyword" valid_values="none affine muscle dcmotor so3 user" default="none"/>
                <attribute name="dynprm" type="array" array_type="float" array_size="10" default="1"/>
                <attribute name="gainprm" type="array" array_type="float" array_size="10" default="1"/>
                <attribute name="biasprm" type="array" array_type="float" array_size="10"/>
                <attribute name="actearly" type="keyword" valid_values="false true"/>
              </attributes>
            </element>
            <element name="motor" namespace="actuator">
              <attributes>
                <attribute name="group" type="int"/>
                <attribute name="nsample" type="int"/>
                <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
                <attribute name="delay" type="float"/>
                <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
                <attribute name="user" type="array" array_type="float"/>
                <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
                <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
                <attribute name="damping" type="array" array_type="float" array_size="3"/>
                <attribute name="armature" type="float"/>
                <attribute name="cranklength" type="float"/>
              </attributes>
            </element>
            <element name="position" namespace="actuator">
              <attributes>
                <attribute name="group" type="int"/>
                <attribute name="nsample" type="int"/>
                <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
                <attribute name="delay" type="float"/>
                <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
                <attribute name="user" type="array" array_type="float"/>
                <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="inheritrange" type="float"/>
                <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
                <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
                <attribute name="damping" type="array" array_type="float" array_size="3"/>
                <attribute name="armature" type="float"/>
                <attribute name="cranklength" type="float"/>
                <attribute name="kp" type="float"/>
                <attribute name="kv" type="float"/>
                <attribute name="dampratio" type="float"/>
                <attribute name="timeconst" type="float"/>
              </attributes>
            </element>
            <element name="velocity" namespace="actuator">
              <attributes>
                <attribute name="group" type="int"/>
                <attribute name="nsample" type="int"/>
                <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
                <attribute name="delay" type="float"/>
                <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
                <attribute name="user" type="array" array_type="float"/>
                <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
                <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
                <attribute name="damping" type="array" array_type="float" array_size="3"/>
                <attribute name="armature" type="float"/>
                <attribute name="cranklength" type="float"/>
                <attribute name="kv" type="float"/>
              </attributes>
            </element>
            <element name="intvelocity" namespace="actuator">
              <attributes>
                <attribute name="group" type="int"/>
                <attribute name="nsample" type="int"/>
                <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
                <attribute name="delay" type="float"/>
                <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
                <attribute name="user" type="array" array_type="float"/>
                <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="actlimited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
                <attribute name="actrange" type="array" array_type="float" array_size="2"/>
                <attribute name="inheritrange" type="float"/>
                <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
                <attribute name="damping" type="array" array_type="float" array_size="3"/>
                <attribute name="armature" type="float"/>
                <attribute name="cranklength" type="float"/>
                <attribute name="kp" type="float"/>
                <attribute name="kv" type="float"/>
                <attribute name="dampratio" type="float"/>
              </attributes>
            </element>
            <element name="orientation" namespace="actuator">
              <attributes>
                <attribute name="group" type="int"/>
                <attribute name="nsample" type="int"/>
                <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
                <attribute name="delay" type="float"/>
                <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
                <attribute name="user" type="array" array_type="float"/>
                <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
                <attribute name="kp" type="float"/>
                <attribute name="kv" type="float"/>
                <attribute name="dampratio" type="float"/>
                <attribute name="input" type="keyword" valid_values="expmap quat"/>
              </attributes>
            </element>
            <element name="damper" namespace="actuator">
              <attributes>
                <attribute name="group" type="int"/>
                <attribute name="nsample" type="int"/>
                <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
                <attribute name="delay" type="float"/>
                <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
                <attribute name="user" type="array" array_type="float"/>
                <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
                <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
                <attribute name="damping" type="array" array_type="float" array_size="3"/>
                <attribute name="armature" type="float"/>
                <attribute name="cranklength" type="float"/>
                <attribute name="kv" type="float"/>
              </attributes>
            </element>
            <element name="cylinder" namespace="actuator">
              <attributes>
                <attribute name="group" type="int"/>
                <attribute name="nsample" type="int"/>
                <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
                <attribute name="delay" type="float"/>
                <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
                <attribute name="user" type="array" array_type="float"/>
                <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
                <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
                <attribute name="damping" type="array" array_type="float" array_size="3"/>
                <attribute name="armature" type="float"/>
                <attribute name="cranklength" type="float"/>
                <attribute name="timeconst" type="float"/>
                <attribute name="area" type="float"/>
                <attribute name="diameter" type="float"/>
                <attribute name="bias" type="array" array_type="float" array_size="3"/>
              </attributes>
            </element>
            <element name="muscle" namespace="actuator">
              <attributes>
                <attribute name="group" type="int"/>
                <attribute name="nsample" type="int"/>
                <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
                <attribute name="delay" type="float"/>
                <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
                <attribute name="user" type="array" array_type="float"/>
                <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
                <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
                <attribute name="damping" type="array" array_type="float" array_size="3"/>
                <attribute name="armature" type="float"/>
                <attribute name="cranklength" type="float"/>
                <attribute name="timeconst" type="array" array_type="float" array_size="2"/>
                <attribute name="range" type="array" array_type="float" array_size="2"/>
                <attribute name="force" type="float"/>
                <attribute name="scale" type="float"/>
                <attribute name="lmin" type="float"/>
                <attribute name="lmax" type="float"/>
                <attribute name="vmax" type="float"/>
                <attribute name="fpmax" type="float"/>
                <attribute name="fvmax" type="float"/>
              </attributes>
            </element>
            <element name="adhesion" namespace="actuator">
              <attributes>
                <attribute name="group" type="int"/>
                <attribute name="nsample" type="int"/>
                <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
                <attribute name="delay" type="float"/>
                <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
                <attribute name="user" type="array" array_type="float"/>
                <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
                <attribute name="gain" type="float"/>
              </attributes>
            </element>
          </children>
        </element>
        <element name="mesh">
          <attributes>
            <attribute name="scale" type="array" array_type="float" array_size="3" default="1 1 1"/>
            <attribute name="maxhullvert" type="int" default="-1"/>
            <attribute name="inertia" type="keyword" valid_values="convex legacy exact shell" default="legacy"/>
          </attributes>
        </element>
        <element name="material">
          <attributes>
            <attribute name="texture" type="reference" reference_namespace="texture"/>
            <attribute name="texrepeat" type="array" array_type="float" array_size="2" default="1 1"/>
            <attribute name="texuniform" type="keyword" valid_values="false true"/>
            <attribute name="emission" type="float"/>
            <attribute name="specular" type="float" default="0.5"/>
            <attribute name="shininess" type="float" default="0.5"/>
            <attribute name="reflectance" type="float"/>
            <attribute name="metallic" type="float" default="-1"/>
            <attribute name="roughness" type="float" default="-1"/>
            <attribute name="rgba" type="array" array_type="float" array_size="4" default="1 1 1 1"/>
          </attributes>
          <children>
            <element name="layer" repeated="true">
              <attributes>
                <attribute name="texture" type="reference" reference_namespace="texture"/>
                <attribute name="role" type="string" required="true"/>
              </attributes>
            </element>
          </children>
        </element>
        <element name="joint">
          <attributes>
            <attribute name="type" type="keyword" valid_values="free ball slide hinge" default="hinge"/>
            <attribute name="group" type="int"/>
            <attribute name="pos" type="array" array_type="float" array_size="3"/>
            <attribute name="axis" type="array" array_type="float" array_size="3" default="0 0 1"/>
            <attribute name="springdamper" type="array" array_type="float" array_size="2"/>
            <attribute name="limited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="actuatorfrclimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="solreflimit" type="array" array_type="float" array_size="2" default="0.02 1"/>
            <attribute name="solimplimit" type="array" array_type="float" array_size="5" default="0.9 0.95 0.001 0.5 2"/>
            <attribute name="solreffriction" type="array" array_type="float" array_size="2" default="0.02 1"/>
            <attribute name="solimpfriction" type="array" array_type="float" array_size="5" default="0.9 0.95 0.001 0.5 2"/>
            <attribute name="stiffness" type="array" array_type="float" array_size="3"/>
            <attribute name="range" type="array" array_type="float" array_size="2"/>
            <attribute name="actuatorfrcrange" type="array" array_type="float" array_size="2"/>
            <attribute name="actuatorgravcomp" type="keyword" valid_values="false true"/>
            <attribute name="margin" type="float"/>
            <attribute name="ref" type="float"/>
            <attribute name="springref" type="float"/>
            <attribute name="armature" type="float"/>
            <attribute name="damping" type="array" array_type="float" array_size="3"/>
            <attribute name="frictionloss" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
          </attributes>
        </element>
        <element name="geom">
          <attributes>
            <attribute name="type" type="keyword" valid_values="plane hfield sphere capsule ellipsoid cylinder box mesh sdf" default="sphere"/>
            <attribute name="contype" type="int" default="1"/>
            <attribute name="conaffinity" type="int" default="1"/>
            <attribute name="condim" type="int" default="3"/>
            <attribute name="group" type="int"/>
            <attribute name="priority" type="int"/>
            <attribute name="size" type="array" array_type="float" array_size="3"/>
            <attribute name="material" type="reference" reference_namespace="material"/>
            <attribute name="friction" type="array" array_type="float" array_size="3" default="1 0.005 0.0001"/>
            <attribute name="mass" type="float"/>
            <attribute name="density" type="float" default="1000"/>
            <attribute name="shellinertia" type="keyword" valid_values="false true"/>
            <attribute name="solmix" type="float" default="1"/>
            <attribute name="solref" type="array" array_type="float" array_size="2" default="0.02 1"/>
            <attribute name="solimp" type="array" array_type="float" array_size="5" default="0.9 0.95 0.001 0.5 2"/>
            <attribute name="margin" type="float"/>
            <attribute name="gap" type="float"/>
            <attribute name="surfacevel" type="array" array_type="float" array_size="6"/>
            <attribute name="adhesion" type="float"/>
            <attribute name="fromto" type="array" array_type="float" array_size="6"/>
            <attribute name="pos" type="array" array_type="float" array_size="3" default="0 0 0"/>
            <attribute name="quat" type="array" array_type="float" array_size="4" default="1 0 0 0"/>
            <attribute name="axisangle" type="array" array_type="float" array_size="4"/>
            <attribute name="xyaxes" type="array" array_type="float" array_size="6"/>
            <attribute name="zaxis" type="array" array_type="float" array_size="3"/>
            <attribute name="euler" type="array" array_type="float" array_size="3"/>
            <attribute name="hfield" type="reference" reference_namespace="hfield"/>
            <attribute name="mesh" type="reference" reference_namespace="mesh"/>
            <attribute name="fitscale" type="float" default="1"/>
            <attribute name="rgba" type="array" array_type="float" array_size="4" default="0.5 0.5 0.5 1"/>
            <attribute name="fluidshape" type="keyword" valid_values="none ellipsoid"/>
            <attribute name="fluidcoef" type="array" array_type="float" array_size="5" default="0.5 0.25 1.5 1 1"/>
            <attribute name="user" type="array" array_type="float"/>
          </attributes>
        </element>
        <element name="site">
          <attributes>
            <attribute name="type" type="keyword" valid_values="plane hfield sphere capsule ellipsoid cylinder box mesh sdf" default="sphere"/>
            <attribute name="group" type="int"/>
            <attribute name="pos" type="array" array_type="float" array_size="3" default="0 0 0"/>
            <attribute name="quat" type="array" array_type="float" array_size="4" default="1 0 0 0"/>
            <attribute name="axisangle" type="array" array_type="float" array_size="4"/>
            <attribute name="xyaxes" type="array" array_type="float" array_size="6"/>
            <attribute name="zaxis" type="array" array_type="float" array_size="3"/>
            <attribute name="euler" type="array" array_type="float" array_size="3"/>
            <attribute name="material" type="reference" reference_namespace="material"/>
            <attribute name="mesh" type="reference" reference_namespace="mesh"/>
            <attribute name="size" type="array" array_type="float" array_size="3" default="0.005 0.005 0.005"/>
            <attribute name="fromto" type="array" array_type="float" array_size="6"/>
            <attribute name="rgba" type="array" array_type="float" array_size="4" default="0.5 0.5 0.5 1"/>
            <attribute name="user" type="array" array_type="float"/>
          </attributes>
        </element>
        <element name="camera">
          <attributes>
            <attribute name="projection" type="keyword" valid_values="perspective orthographic"/>
            <attribute name="fovy" type="float" default="45"/>
            <attribute name="ipd" type="float" default="0.068"/>
            <attribute name="resolution" type="array" array_type="int" array_size="2" default="1 1"/>
            <attribute name="output" type="string"/>
            <attribute name="pos" type="array" array_type="float" array_size="3" default="0 0 0"/>
            <attribute name="quat" type="array" array_type="float" array_size="4" default="1 0 0 0"/>
            <attribute name="axisangle" type="array" array_type="float" array_size="4"/>
            <attribute name="xyaxes" type="array" array_type="float" array_size="6"/>
            <attribute name="zaxis" type="array" array_type="float" array_size="3"/>
            <attribute name="euler" type="array" array_type="float" array_size="3"/>
            <attribute name="mode" type="keyword" valid_values="fixed track trackcom targetbody targetbodycom" default="fixed"/>
            <attribute name="focal" type="array" array_type="float" array_size="2"/>
            <attribute name="focalpixel" type="array" array_type="float" array_size="2"/>
            <attribute name="principal" type="array" array_type="float" array_size="2"/>
            <attribute name="principalpixel" type="array" array_type="float" array_size="2"/>
            <attribute name="sensorsize" type="array" array_type="float" array_size="2"/>
            <attribute name="user" type="array" array_type="float"/>
          </attributes>
        </element>
        <element name="light">
          <attributes>
            <attribute name="directional" type="keyword" valid_values="false true"/>
            <attribute name="type" type="keyword" valid_values="spot directional point image"/>
            <attribute name="castshadow" type="keyword" valid_values="false true" default="true"/>
            <attribute name="active" type="keyword" valid_values="false true" default="true"/>
            <attribute name="pos" type="array" array_type="float" array_size="3" default="0 0 0"/>
            <attribute name="dir" type="array" array_type="float" array_size="3" default="0 0 -1"/>
            <attribute name="bulbradius" type="float" default="0.02"/>
            <attribute name="intensity" type="float"/>
            <attribute name="range" type="float" default="10"/>
            <attribute name="attenuation" type="array" array_type="float" array_size="3" default="1 0 0"/>
            <attribute name="cutoff" type="float" default="45"/>
            <attribute name="softness" type="float" default="0.2"/>
            <attribute name="exponent" type="float" default="10"/>
            <attribute name="ambient" type="array" array_type="float" array_size="3"/>
            <attribute name="diffuse" type="array" array_type="float" array_size="3" default="0.7 0.7 0.7"/>
            <attribute name="specular" type="array" array_type="float" array_size="3" default="0.3 0.3 0.3"/>
            <attribute name="mode" type="keyword" valid_values="fixed track trackcom targetbody targetbodycom" default="fixed"/>
          </attributes>
        </element>
        <element name="pair" namespace="contact">
          <attributes>
            <attribute name="condim" type="int" default="3"/>
            <attribute name="friction" type="array" array_type="float" array_size="5" default="1 1 0.005 0.0001 0.0001"/>
            <attribute name="solref" type="array" array_type="float" array_size="2" default="0.02 1"/>
            <attribute name="solreffriction" type="array" array_type="float" array_size="2"/>
            <attribute name="solimp" type="array" array_type="float" array_size="5" default="0.9 0.95 0.001 0.5 2"/>
            <attribute name="gap" type="float"/>
            <attribute name="margin" type="float"/>
            <attribute name="adhesion" type="float"/>
          </attributes>
        </element>
        <element name="equality">
          <attributes>
            <attribute name="active" type="keyword" valid_values="false true"/>
            <attribute name="solref" type="array" array_type="float" array_size="2"/>
            <attribute name="solimp" type="array" array_type="float" array_size="5"/>
          </attributes>
        </element>
        <element name="tendon">
          <attributes>
            <attribute name="group" type="int"/>
            <attribute name="limited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="range" type="array" array_type="float" array_size="2"/>
            <attribute name="solreflimit" type="array" array_type="float" array_size="2"/>
            <attribute name="solimplimit" type="array" array_type="float" array_size="5"/>
            <attribute name="solreffriction" type="array" array_type="float" array_size="2"/>
            <attribute name="solimpfriction" type="array" array_type="float" array_size="5"/>
            <attribute name="frictionloss" type="float"/>
            <attribute name="springlength" type="array" array_type="float" array_size="2"/>
            <attribute name="width" type="float"/>
            <attribute name="material" type="reference" reference_namespace="material"/>
            <attribute name="margin" type="float"/>
            <attribute name="stiffness" type="array" array_type="float" array_size="3"/>
            <attribute name="damping" type="array" array_type="float" array_size="3"/>
            <attribute name="rgba" type="array" array_type="float" array_size="4"/>
            <attribute name="user" type="array" array_type="float"/>
          </attributes>
        </element>
        <element name="general" namespace="actuator">
          <attributes>
            <attribute name="group" type="int"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="actlimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
            <attribute name="actrange" type="array" array_type="float" array_size="2"/>
            <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
            <attribute name="damping" type="array" array_type="float" array_size="3"/>
            <attribute name="armature" type="float"/>
            <attribute name="cranklength" type="float"/>
            <attribute name="actdim" type="int" default="-1"/>
            <attribute name="input" type="keyword" valid_values="expmap quat"/>
            <attribute name="velrange" type="array" array_type="float" array_size="2"/>
            <attribute name="ffrange" type="array" array_type="float" array_size="2"/>
            <attribute name="dyntype" type="keyword" valid_values="none integrator filter filterexact muscle dcmotor pid user" default="none"/>
            <attribute name="gaintype" type="keyword" valid_values="fixed affine muscle dcmotor so3 pid user" default="fixed"/>
            <attribute name="biastype" type="keyword" valid_values="none affine muscle dcmotor so3 user" default="none"/>
            <attribute name="dynprm" type="array" array_type="float" array_size="10" default="1"/>
            <attribute name="gainprm" type="array" array_type="float" array_size="10" default="1"/>
            <attribute name="biasprm" type="array" array_type="float" array_size="10"/>
            <attribute name="actearly" type="keyword" valid_values="false true"/>
          </attributes>
        </element>
        <element name="motor" namespace="actuator">
          <attributes>
            <attribute name="group" type="int"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
            <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
            <attribute name="damping" type="array" array_type="float" array_size="3"/>
            <attribute name="armature" type="float"/>
            <attribute name="cranklength" type="float"/>
          </attributes>
        </element>
        <element name="position" namespace="actuator">
          <attributes>
            <attribute name="group" type="int"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="inheritrange" type="float"/>
            <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
            <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
            <attribute name="damping" type="array" array_type="float" array_size="3"/>
            <attribute name="armature" type="float"/>
            <attribute name="cranklength" type="float"/>
            <attribute name="kp" type="float"/>
            <attribute name="kv" type="float"/>
            <attribute name="dampratio" type="float"/>
            <attribute name="timeconst" type="float"/>
          </attributes>
        </element>
        <element name="velocity" namespace="actuator">
          <attributes>
            <attribute name="group" type="int"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
            <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
            <attribute name="damping" type="array" array_type="float" array_size="3"/>
            <attribute name="armature" type="float"/>
            <attribute name="cranklength" type="float"/>
            <attribute name="kv" type="float"/>
          </attributes>
        </element>
        <element name="intvelocity" namespace="actuator">
          <attributes>
            <attribute name="group" type="int"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="actlimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
            <attribute name="actrange" type="array" array_type="float" array_size="2"/>
            <attribute name="inheritrange" type="float"/>
            <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
            <attribute name="damping" type="array" array_type="float" array_size="3"/>
            <attribute name="armature" type="float"/>
            <attribute name="cranklength" type="float"/>
            <attribute name="kp" type="float"/>
            <attribute name="kv" type="float"/>
            <attribute name="dampratio" type="float"/>
          </attributes>
        </element>
        <element name="orientation" namespace="actuator">
          <attributes>
            <attribute name="group" type="int"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
            <attribute name="kp" type="float"/>
            <attribute name="kv" type="float"/>
            <attribute name="dampratio" type="float"/>
            <attribute name="input" type="keyword" valid_values="expmap quat"/>
          </attributes>
        </element>
        <element name="damper" namespace="actuator">
          <attributes>
            <attribute name="group" type="int"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
            <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
            <attribute name="damping" type="array" array_type="float" array_size="3"/>
            <attribute name="armature" type="float"/>
            <attribute name="cranklength" type="float"/>
            <attribute name="kv" type="float"/>
          </attributes>
        </element>
        <element name="cylinder" namespace="actuator">
          <attributes>
            <attribute name="group" type="int"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
            <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
            <attribute name="damping" type="array" array_type="float" array_size="3"/>
            <attribute name="armature" type="float"/>
            <attribute name="cranklength" type="float"/>
            <attribute name="timeconst" type="float"/>
            <attribute name="area" type="float"/>
            <attribute name="diameter" type="float"/>
            <attribute name="bias" type="array" array_type="float" array_size="3"/>
          </attributes>
        </element>
        <element name="muscle" namespace="actuator">
          <attributes>
            <attribute name="group" type="int"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
            <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
            <attribute name="damping" type="array" array_type="float" array_size="3"/>
            <attribute name="armature" type="float"/>
            <attribute name="cranklength" type="float"/>
            <attribute name="timeconst" type="array" array_type="float" array_size="2"/>
            <attribute name="range" type="array" array_type="float" array_size="2"/>
            <attribute name="force" type="float"/>
            <attribute name="scale" type="float"/>
            <attribute name="lmin" type="float"/>
            <attribute name="lmax" type="float"/>
            <attribute name="vmax" type="float"/>
            <attribute name="fpmax" type="float"/>
            <attribute name="fvmax" type="float"/>
          </attributes>
        </element>
        <element name="adhesion" namespace="actuator">
          <attributes>
            <attribute name="group" type="int"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
            <attribute name="gain" type="float"/>
          </attributes>
        </element>
      </children>
    </element>
    <element name="extension">
      <children>
        <element name="plugin" repeated="true">
          <attributes>
            <attribute name="plugin" type="string"/>
          </attributes>
          <children>
            <element name="instance" repeated="true" namespace="plugin">
              <attributes>
                <attribute name="name" type="identifier" required="true"/>
              </attributes>
              <children>
                <element name="config" repeated="true">
                  <attributes>
                    <attribute name="key" type="string" required="true"/>
                    <attribute name="value" type="string"/>
                  </attributes>
                </element>
              </children>
            </element>
          </children>
        </element>
      </children>
    </element>
    <element name="asset">
      <children>
        <element name="mesh" repeated="true">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="class" type="reference" reference_namespace="default"/>
            <attribute name="content_type" type="string"/>
            <attribute name="file" type="file" path_namespace="mesh"/>
            <attribute name="vertex" type="array" array_type="float"/>
            <attribute name="normal" type="array" array_type="float"/>
            <attribute name="texcoord" type="array" array_type="float"/>
            <attribute name="face" type="array" array_type="int"/>
            <attribute name="refpos" type="array" array_type="float" array_size="3"/>
            <attribute name="refquat" type="array" array_type="float" array_size="4" default="1 0 0 0"/>
            <attribute name="scale" type="array" array_type="float" array_size="3" default="1 1 1"/>
            <attribute name="smoothnormal" type="keyword" valid_values="false true"/>
            <attribute name="maxhullvert" type="int" default="-1"/>
            <attribute name="inertia" type="keyword" valid_values="convex legacy exact shell" default="legacy"/>
            <attribute name="builtin" type="keyword" valid_values="none sphere hemisphere cone supertorus supersphere wedge plate"/>
            <attribute name="params" type="array" array_type="float"/>
            <attribute name="material" type="reference" reference_namespace="material"/>
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          <children>
            <element name="plugin" repeated="true">
              <attributes>
                <attribute name="plugin" type="string"/>
                <attribute name="instance" type="reference" reference_namespace="plugin"/>
              </attributes>
              <children>
                <element name="config" repeated="true">
                  <attributes>
                    <attribute name="key" type="string" required="true"/>
                    <attribute name="value" type="string"/>
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                </element>
              </children>
            </element>
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        </element>
        <element name="hfield" repeated="true">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="content_type" type="string"/>
            <attribute name="file" type="file" path_namespace="mesh"/>
            <attribute name="nrow" type="int"/>
            <attribute name="ncol" type="int"/>
            <attribute name="size" type="array" array_type="float" array_size="4" required="true"/>
            <attribute name="elevation" type="array" array_type="float"/>
          </attributes>
        </element>
        <element name="skin" repeated="true">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="file" type="file" path_namespace="mesh"/>
            <attribute name="material" type="reference" reference_namespace="material"/>
            <attribute name="rgba" type="array" array_type="float" array_size="4" default="0.5 0.5 0.5 1"/>
            <attribute name="inflate" type="float"/>
            <attribute name="vertex" type="array" array_type="float"/>
            <attribute name="texcoord" type="array" array_type="float"/>
            <attribute name="face" type="array" array_type="int"/>
            <attribute name="group" type="int"/>
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          <children>
            <element name="bone" repeated="true">
              <attributes>
                <attribute name="body" type="reference" reference_namespace="body" required="true"/>
                <attribute name="bindpos" type="array" array_type="float" array_size="3"/>
                <attribute name="bindquat" type="array" array_type="float" array_size="4"/>
                <attribute name="vertid" type="array" array_type="int"/>
                <attribute name="vertweight" type="array" array_type="float"/>
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            </element>
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        </element>
        <element name="texture" repeated="true">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="type" type="keyword" valid_values="2d cube skybox" default="cube"/>
            <attribute name="colorspace" type="keyword" valid_values="auto linear sRGB" default="auto"/>
            <attribute name="content_type" type="string"/>
            <attribute name="file" type="file" path_namespace="texture"/>
            <attribute name="gridsize" type="array" array_type="int" array_size="2" default="1 1"/>
            <attribute name="gridlayout" type="string"/>
            <attribute name="fileright" type="file" path_namespace="texture"/>
            <attribute name="fileleft" type="file" path_namespace="texture"/>
            <attribute name="fileup" type="file" path_namespace="texture"/>
            <attribute name="filedown" type="file" path_namespace="texture"/>
            <attribute name="filefront" type="file" path_namespace="texture"/>
            <attribute name="fileback" type="file" path_namespace="texture"/>
            <attribute name="builtin" type="keyword" valid_values="none gradient checker flat"/>
            <attribute name="rgb1" type="array" array_type="float" array_size="3" default="0.8 0.8 0.8"/>
            <attribute name="rgb2" type="array" array_type="float" array_size="3" default="0.5 0.5 0.5"/>
            <attribute name="mark" type="keyword" valid_values="none edge cross random"/>
            <attribute name="markrgb" type="array" array_type="float" array_size="3"/>
            <attribute name="random" type="float" default="0.01"/>
            <attribute name="width" type="int"/>
            <attribute name="height" type="int"/>
            <attribute name="hflip" type="keyword" valid_values="false true"/>
            <attribute name="vflip" type="keyword" valid_values="false true"/>
            <attribute name="nchannel" type="int" default="3"/>
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        </element>
        <element name="material" repeated="true">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="class" type="reference" reference_namespace="default"/>
            <attribute name="texture" type="reference" reference_namespace="texture"/>
            <attribute name="texrepeat" type="array" array_type="float" array_size="2" default="1 1"/>
            <attribute name="texuniform" type="keyword" valid_values="false true"/>
            <attribute name="emission" type="float"/>
            <attribute name="specular" type="float" default="0.5"/>
            <attribute name="shininess" type="float" default="0.5"/>
            <attribute name="reflectance" type="float"/>
            <attribute name="metallic" type="float" default="-1"/>
            <attribute name="roughness" type="float" default="-1"/>
            <attribute name="rgba" type="array" array_type="float" array_size="4" default="1 1 1 1"/>
          </attributes>
          <children>
            <element name="layer" repeated="true">
              <attributes>
                <attribute name="texture" type="reference" reference_namespace="texture"/>
                <attribute name="role" type="string" required="true"/>
              </attributes>
            </element>
          </children>
        </element>
      </children>
    </element>
    <element name="worldbody">
      <children>
        <element name="body" recursive="true" repeated="true">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="childclass" type="reference" reference_namespace="default"/>
            <attribute name="pos" type="array" array_type="float" array_size="3" default="0 0 0"/>
            <attribute name="quat" type="array" array_type="float" array_size="4" default="1 0 0 0"/>
            <attribute name="axisangle" type="array" array_type="float" array_size="4"/>
            <attribute name="xyaxes" type="array" array_type="float" array_size="6"/>
            <attribute name="zaxis" type="array" array_type="float" array_size="3"/>
            <attribute name="euler" type="array" array_type="float" array_size="3"/>
            <attribute name="mocap" type="keyword" valid_values="false true"/>
            <attribute name="gravcomp" type="float"/>
            <attribute name="sleep" type="keyword" valid_values="auto never allowed init"/>
            <attribute name="simple" type="keyword" valid_values="false auto" default="auto"/>
            <attribute name="user" type="array" array_type="float"/>
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          <children>
            <element name="inertial" on_demand="true">
              <attributes>
                <attribute name="pos" type="array" array_type="float" array_size="3" required="true"/>
                <attribute name="quat" type="array" array_type="float" array_size="4" default="1 0 0 0"/>
                <attribute name="mass" type="float" required="true"/>
                <attribute name="diaginertia" type="array" array_type="float" array_size="3"/>
                <attribute name="axisangle" type="array" array_type="float" array_size="4"/>
                <attribute name="xyaxes" type="array" array_type="float" array_size="6"/>
                <attribute name="zaxis" type="array" array_type="float" array_size="3"/>
                <attribute name="euler" type="array" array_type="float" array_size="3"/>
                <attribute name="fullinertia" type="array" array_type="float" array_size="6"/>
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            </element>
            <element name="joint" repeated="true">
              <attributes>
                <attribute name="name" type="identifier"/>
                <attribute name="class" type="reference" reference_namespace="default"/>
                <attribute name="type" type="keyword" valid_values="free ball slide hinge" default="hinge"/>
                <attribute name="group" type="int"/>
                <attribute name="pos" type="array" array_type="float" array_size="3"/>
                <attribute name="axis" type="array" array_type="float" array_size="3" default="0 0 1"/>
                <attribute name="springdamper" type="array" array_type="float" array_size="2"/>
                <attribute name="limited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="actuatorfrclimited" type="keyword" valid_values="false true auto" default="auto"/>
                <attribute name="solreflimit" type="array" array_type="float" array_size="2" default="0.02 1"/>
                <attribute name="solimplimit" type="array" array_type="float" array_size="5" default="0.9 0.95 0.001 0.5 2"/>
                <attribute name="solreffriction" type="array" array_type="float" array_size="2" default="0.02 1"/>
                <attribute name="solimpfriction" type="array" array_type="float" array_size="5" default="0.9 0.95 0.001 0.5 2"/>
                <attribute name="stiffness" type="array" array_type="float" array_size="3"/>
                <attribute name="range" type="array" array_type="float" array_size="2"/>
                <attribute name="actuatorfrcrange" type="array" array_type="float" array_size="2"/>
                <attribute name="actuatorgravcomp" type="keyword" valid_values="false true"/>
                <attribute name="margin" type="float"/>
                <attribute name="ref" type="float"/>
                <attribute name="springref" type="float"/>
                <attribute name="armature" type="float"/>
                <attribute name="damping" type="array" array_type="float" array_size="3"/>
                <attribute name="frictionloss" type="float"/>
                <attribute name="user" type="array" array_type="float"/>
              </attributes>
            </element>
            <element name="freejoint" on_demand="true" namespace="joint">
              <attributes>
                <attribute name="name" type="identifier"/>
                <attribute name="group" type="int"/>
                <attribute name="align" type="keyword" valid_values="false true auto"/>
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            <element name="geom" repeated="true">
              <attributes>
                <attribute name="name" type="identifier"/>
                <attribute name="class" type="reference" reference_namespace="default"/>
                <attribute name="type" type="keyword" valid_values="plane hfield sphere capsule ellipsoid cylinder box mesh sdf" default="sphere"/>
                <attribute name="contype" type="int" default="1"/>
                <attribute name="conaffinity" type="int" default="1"/>
                <attribute name="condim" type="int" default="3"/>
                <attribute name="group" type="int"/>
                <attribute name="priority" type="int"/>
                <attribute name="size" type="array" array_type="float" array_size="3"/>
                <attribute name="material" type="reference" reference_namespace="material"/>
                <attribute name="friction" type="array" array_type="float" array_size="3" default="1 0.005 0.0001"/>
                <attribute name="mass" type="float"/>
                <attribute name="density" type="float" default="1000"/>
                <attribute name="shellinertia" type="keyword" valid_values="false true"/>
                <attribute name="solmix" type="float" default="1"/>
                <attribute name="solref" type="array" array_type="float" array_size="2" default="0.02 1"/>
                <attribute name="solimp" type="array" array_type="float" array_size="5" default="0.9 0.95 0.001 0.5 2"/>
                <attribute name="margin" type="float"/>
                <attribute name="gap" type="float"/>
                <attribute name="surfacevel" type="array" array_type="float" array_size="6"/>
                <attribute name="adhesion" type="float"/>
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            <element name="skin">
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                <attribute name="texcoord" type="keyword" valid_values="false true"/>
                <attribute name="material" type="reference" reference_namespace="material"/>
                <attribute name="group" type="int"/>
                <attribute name="rgba" type="array" array_type="float" array_size="4"/>
                <attribute name="inflate" type="float"/>
                <attribute name="subgrid" type="int"/>
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            </element>
            <element name="geom">
              <attributes>
                <attribute name="type" type="keyword" valid_values="plane hfield sphere capsule ellipsoid cylinder box mesh sdf"/>
                <attribute name="contype" type="int"/>
                <attribute name="conaffinity" type="int"/>
                <attribute name="condim" type="int"/>
                <attribute name="group" type="int"/>
                <attribute name="priority" type="int"/>
                <attribute name="size" type="array" array_type="float" array_size="3"/>
                <attribute name="material" type="reference" reference_namespace="material"/>
                <attribute name="rgba" type="array" array_type="float" array_size="4"/>
                <attribute name="friction" type="array" array_type="float" array_size="3"/>
                <attribute name="mass" type="float"/>
                <attribute name="density" type="float"/>
                <attribute name="solmix" type="float"/>
                <attribute name="solref" type="array" array_type="float" array_size="2"/>
                <attribute name="solimp" type="array" array_type="float" array_size="5"/>
                <attribute name="margin" type="float"/>
                <attribute name="gap" type="float"/>
                <attribute name="surfacevel" type="array" array_type="float" array_size="6"/>
                <attribute name="adhesion" type="float"/>
              </attributes>
            </element>
            <element name="site">
              <attributes>
                <attribute name="group" type="int"/>
                <attribute name="size" type="array" array_type="float" array_size="3"/>
                <attribute name="material" type="reference" reference_namespace="material"/>
                <attribute name="rgba" type="array" array_type="float" array_size="4"/>
                <attribute name="mesh" type="reference" reference_namespace="mesh"/>
              </attributes>
            </element>
            <element name="plugin" repeated="true">
              <attributes>
                <attribute name="plugin" type="string"/>
                <attribute name="instance" type="reference" reference_namespace="plugin"/>
              </attributes>
              <children>
                <element name="config" repeated="true">
                  <attributes>
                    <attribute name="key" type="string" required="true"/>
                    <attribute name="value" type="string"/>
                  </attributes>
                </element>
              </children>
            </element>
          </children>
        </element>
        <element name="flexcomp" repeated="true">
          <attributes>
            <attribute name="name" type="identifier" required="true"/>
            <attribute name="type" type="keyword" valid_values="grid box cylinder ellipsoid square disc circle mesh gmsh direct"/>
            <attribute name="group" type="int"/>
            <attribute name="dim" type="int"/>
            <attribute name="dof" type="keyword" valid_values="full radial trilinear quadratic 2d"/>
            <attribute name="count" type="array" array_type="int" array_size="3"/>
            <attribute name="cellcount" type="array" array_type="int" array_size="3"/>
            <attribute name="spacing" type="array" array_type="float" array_size="3"/>
            <attribute name="radius" type="float"/>
            <attribute name="rigid" type="keyword" valid_values="false true"/>
            <attribute name="mass" type="float"/>
            <attribute name="inertiabox" type="float"/>
            <attribute name="scale" type="array" array_type="float" array_size="3"/>
            <attribute name="file" type="file"/>
            <attribute name="point" type="array" array_type="float"/>
            <attribute name="element" type="array" array_type="float"/>
            <attribute name="texcoord" type="array" array_type="float"/>
            <attribute name="material" type="reference" reference_namespace="material"/>
            <attribute name="rgba" type="array" array_type="float" array_size="4"/>
            <attribute name="flatskin" type="keyword" valid_values="false true"/>
            <attribute name="pos" type="array" array_type="float" array_size="3"/>
            <attribute name="quat" type="array" array_type="float" array_size="4"/>
            <attribute name="axisangle" type="array" array_type="float" array_size="4"/>
            <attribute name="xyaxes" type="array" array_type="float" array_size="6"/>
            <attribute name="zaxis" type="array" array_type="float" array_size="3"/>
            <attribute name="euler" type="array" array_type="float" array_size="3"/>
            <attribute name="origin" type="array" array_type="float" array_size="3"/>
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          <children>
            <element name="edge">
              <attributes>
                <attribute name="equality" type="keyword" valid_values="false true vert strain"/>
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                <attribute name="solimp" type="array" array_type="float" array_size="5"/>
                <attribute name="stiffness" type="float"/>
                <attribute name="damping" type="float"/>
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            </element>
            <element name="elasticity">
              <attributes>
                <attribute name="young" type="float"/>
                <attribute name="poisson" type="float"/>
                <attribute name="damping" type="float"/>
                <attribute name="thickness" type="float" default="-1"/>
                <attribute name="elastic2d" type="keyword" valid_values="none bend stretch both"/>
              </attributes>
            </element>
            <element name="contact">
              <attributes>
                <attribute name="contype" type="int" default="1"/>
                <attribute name="conaffinity" type="int" default="1"/>
                <attribute name="condim" type="int" default="3"/>
                <attribute name="priority" type="int"/>
                <attribute name="friction" type="array" array_type="float" array_size="3" default="1 0.005 0.0001"/>
                <attribute name="solmix" type="float" default="1"/>
                <attribute name="solref" type="array" array_type="float" array_size="2" default="0.02 1"/>
                <attribute name="solimp" type="array" array_type="float" array_size="5" default="0.9 0.95 0.001 0.5 2"/>
                <attribute name="margin" type="float"/>
                <attribute name="gap" type="float"/>
                <attribute name="internal" type="keyword" valid_values="false true"/>
                <attribute name="selfcollide" type="keyword" valid_values="none narrow bvh sap auto" default="auto"/>
                <attribute name="activelayers" type="int" default="1"/>
                <attribute name="passive" type="keyword" valid_values="false true"/>
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            </element>
            <element name="pin" repeated="true">
              <attributes>
                <attribute name="id" type="array" array_type="float"/>
                <attribute name="range" type="array" array_type="float"/>
                <attribute name="grid" type="array" array_type="float"/>
                <attribute name="gridrange" type="array" array_type="float"/>
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            </element>
            <element name="plugin" repeated="true">
              <attributes>
                <attribute name="plugin" type="string"/>
                <attribute name="instance" type="reference" reference_namespace="plugin"/>
              </attributes>
              <children>
                <element name="config" repeated="true">
                  <attributes>
                    <attribute name="key" type="string" required="true"/>
                    <attribute name="value" type="string"/>
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                </element>
              </children>
            </element>
          </children>
        </element>
      </children>
    </element>
    <element name="deformable">
      <children>
        <element name="flex" repeated="true" namespace="deformable">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="group" type="int"/>
            <attribute name="dim" type="int" default="2"/>
            <attribute name="radius" type="float" default="0.005"/>
            <attribute name="material" type="reference" reference_namespace="material"/>
            <attribute name="rgba" type="array" array_type="float" array_size="4" default="0.5 0.5 0.5 1"/>
            <attribute name="flatskin" type="keyword" valid_values="false true"/>
            <attribute name="body" type="string" required="true"/>
            <attribute name="vertex" type="array" array_type="float"/>
            <attribute name="element" type="array" array_type="int" required="true"/>
            <attribute name="texcoord" type="array" array_type="float"/>
            <attribute name="elemtexcoord" type="array" array_type="int"/>
            <attribute name="node" type="string"/>
            <attribute name="nodecoord" type="array" array_type="float"/>
            <attribute name="cellcount" type="array" array_type="int" array_size="3" default="1 1 1"/>
            <attribute name="dof" type="keyword" valid_values="full radial trilinear quadratic 2d"/>
          </attributes>
          <children>
            <element name="contact">
              <attributes>
                <attribute name="contype" type="int" default="1"/>
                <attribute name="conaffinity" type="int" default="1"/>
                <attribute name="condim" type="int" default="3"/>
                <attribute name="priority" type="int"/>
                <attribute name="friction" type="array" array_type="float" array_size="3" default="1 0.005 0.0001"/>
                <attribute name="solmix" type="float" default="1"/>
                <attribute name="solref" type="array" array_type="float" array_size="2" default="0.02 1"/>
                <attribute name="solimp" type="array" array_type="float" array_size="5" default="0.9 0.95 0.001 0.5 2"/>
                <attribute name="margin" type="float"/>
                <attribute name="gap" type="float"/>
                <attribute name="internal" type="keyword" valid_values="false true"/>
                <attribute name="selfcollide" type="keyword" valid_values="none narrow bvh sap auto" default="auto"/>
                <attribute name="activelayers" type="int" default="1"/>
                <attribute name="passive" type="keyword" valid_values="false true"/>
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            </element>
            <element name="edge">
              <attributes>
                <attribute name="stiffness" type="float"/>
                <attribute name="damping" type="float"/>
              </attributes>
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            <element name="elasticity">
              <attributes>
                <attribute name="young" type="float"/>
                <attribute name="poisson" type="float"/>
                <attribute name="damping" type="float"/>
                <attribute name="thickness" type="float" default="-1"/>
                <attribute name="elastic2d" type="keyword" valid_values="none bend stretch both"/>
              </attributes>
            </element>
          </children>
        </element>
        <element name="skin" repeated="true" namespace="deformable">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="file" type="file" path_namespace="mesh"/>
            <attribute name="material" type="reference" reference_namespace="material"/>
            <attribute name="rgba" type="array" array_type="float" array_size="4" default="0.5 0.5 0.5 1"/>
            <attribute name="inflate" type="float"/>
            <attribute name="vertex" type="array" array_type="float"/>
            <attribute name="texcoord" type="array" array_type="float"/>
            <attribute name="face" type="array" array_type="int"/>
            <attribute name="group" type="int"/>
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          <children>
            <element name="bone" repeated="true">
              <attributes>
                <attribute name="body" type="reference" reference_namespace="body" required="true"/>
                <attribute name="bindpos" type="array" array_type="float" array_size="3"/>
                <attribute name="bindquat" type="array" array_type="float" array_size="4"/>
                <attribute name="vertid" type="array" array_type="int"/>
                <attribute name="vertweight" type="array" array_type="float"/>
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            </element>
          </children>
        </element>
      </children>
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    <element name="contact">
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        <element name="pair" repeated="true" namespace="contact">
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            <attribute name="name" type="identifier"/>
            <attribute name="class" type="reference" reference_namespace="default"/>
            <attribute name="geom1" type="reference" reference_namespace="geom"/>
            <attribute name="geom2" type="reference" reference_namespace="geom"/>
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            <attribute name="solref" type="array" array_type="float" array_size="2" default="0.02 1"/>
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            <attribute name="gap" type="float"/>
            <attribute name="margin" type="float"/>
            <attribute name="adhesion" type="float"/>
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        </element>
        <element name="exclude" repeated="true" namespace="contact">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="body1" type="reference" reference_namespace="body" required="true"/>
            <attribute name="body2" type="reference" reference_namespace="body" required="true"/>
          </attributes>
        </element>
      </children>
    </element>
    <element name="tendon">
      <children>
        <element name="spatial" repeated="true" namespace="tendon">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="class" type="reference" reference_namespace="default"/>
            <attribute name="group" type="int"/>
            <attribute name="limited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="actuatorfrclimited" type="keyword" valid_values="false true auto" default="auto"/>
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            <attribute name="frictionloss" type="float"/>
            <attribute name="springlength" type="array" array_type="float" array_size="2" default="-1 -1"/>
            <attribute name="width" type="float" default="0.003"/>
            <attribute name="material" type="reference" reference_namespace="material"/>
            <attribute name="margin" type="float"/>
            <attribute name="stiffness" type="array" array_type="float" array_size="3"/>
            <attribute name="damping" type="array" array_type="float" array_size="3"/>
            <attribute name="armature" type="float"/>
            <attribute name="rgba" type="array" array_type="float" array_size="4" default="0.5 0.5 0.5 1"/>
            <attribute name="user" type="array" array_type="float"/>
          </attributes>
          <children>
            <element name="site" repeated="true">
              <attributes>
                <attribute name="site" type="reference" reference_namespace="site" required="true"/>
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            <element name="geom" repeated="true">
              <attributes>
                <attribute name="geom" type="reference" reference_namespace="geom" required="true"/>
                <attribute name="sidesite" type="reference" reference_namespace="site"/>
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            </element>
            <element name="pulley" repeated="true">
              <attributes>
                <attribute name="divisor" type="float"/>
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        <element name="fixed" repeated="true" namespace="tendon">
          <attributes>
            <attribute name="name" type="identifier"/>
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            <attribute name="frictionloss" type="float"/>
            <attribute name="springlength" type="array" array_type="float" array_size="2" default="-1 -1"/>
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            <attribute name="stiffness" type="array" array_type="float" array_size="3"/>
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            <attribute name="armature" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
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            <element name="joint" repeated="true">
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                <attribute name="joint" type="reference" reference_namespace="joint" required="true"/>
                <attribute name="coef" type="float"/>
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            <attribute name="body1" type="reference" reference_namespace="body"/>
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        </element>
        <element name="weld" repeated="true" namespace="equality">
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            <attribute name="name" type="identifier"/>
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            <attribute name="body1" type="reference" reference_namespace="body"/>
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            <attribute name="torquescale" type="float"/>
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        <element name="joint" repeated="true" namespace="equality">
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            <attribute name="name" type="identifier"/>
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            <attribute name="joint1" type="reference" reference_namespace="joint" required="true"/>
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        <element name="tendon" repeated="true" namespace="equality">
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            <attribute name="name" type="identifier"/>
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        <element name="flex" repeated="true" namespace="equality">
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            <attribute name="name" type="identifier"/>
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        <element name="flexvert" repeated="true" namespace="equality">
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            <attribute name="name" type="identifier"/>
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            <attribute name="solref" type="array" array_type="float" array_size="2" default="0.02 1"/>
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            <attribute name="flex" type="reference" reference_namespace="deformable" required="true"/>
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        </element>
        <element name="flexstrain" repeated="true" namespace="equality">
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            <attribute name="name" type="identifier"/>
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            <attribute name="flex" type="reference" reference_namespace="deformable" required="true"/>
            <attribute name="cell" type="array" array_type="float" array_size="3"/>
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        <element name="general" repeated="true" namespace="actuator">
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            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
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            <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
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            <attribute name="armature" type="float"/>
            <attribute name="cranklength" type="float"/>
            <attribute name="joint" type="reference" reference_namespace="joint"/>
            <attribute name="jointinparent" type="reference" reference_namespace="joint"/>
            <attribute name="tendon" type="reference" reference_namespace="tendon"/>
            <attribute name="slidersite" type="reference" reference_namespace="site"/>
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            <attribute name="site" type="reference" reference_namespace="site"/>
            <attribute name="refsite" type="reference" reference_namespace="site"/>
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            <attribute name="dyntype" type="keyword" valid_values="none integrator filter filterexact muscle dcmotor pid user" default="none"/>
            <attribute name="gaintype" type="keyword" valid_values="fixed affine muscle dcmotor so3 pid user" default="fixed"/>
            <attribute name="biastype" type="keyword" valid_values="none affine muscle dcmotor so3 user" default="none"/>
            <attribute name="dynprm" type="array" array_type="float" array_size="10" default="1"/>
            <attribute name="gainprm" type="array" array_type="float" array_size="10" default="1"/>
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            <attribute name="actearly" type="keyword" valid_values="false true"/>
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        </element>
        <element name="motor" repeated="true" namespace="actuator">
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            <attribute name="name" type="identifier"/>
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            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
            <attribute name="lengthrange" type="array" array_type="float" array_size="2"/>
            <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
            <attribute name="damping" type="array" array_type="float" array_size="3"/>
            <attribute name="armature" type="float"/>
            <attribute name="cranklength" type="float"/>
            <attribute name="joint" type="reference" reference_namespace="joint"/>
            <attribute name="jointinparent" type="reference" reference_namespace="joint"/>
            <attribute name="tendon" type="reference" reference_namespace="tendon"/>
            <attribute name="slidersite" type="reference" reference_namespace="site"/>
            <attribute name="cranksite" type="reference" reference_namespace="site"/>
            <attribute name="site" type="reference" reference_namespace="site"/>
            <attribute name="refsite" type="reference" reference_namespace="site"/>
          </attributes>
        </element>
        <element name="position" repeated="true" namespace="actuator">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="class" type="reference" reference_namespace="default"/>
            <attribute name="group" type="int"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="inheritrange" type="float"/>
            <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
            <attribute name="lengthrange" type="array" array_type="float" array_size="2"/>
            <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
            <attribute name="damping" type="array" array_type="float" array_size="3"/>
            <attribute name="armature" type="float"/>
            <attribute name="cranklength" type="float"/>
            <attribute name="joint" type="reference" reference_namespace="joint"/>
            <attribute name="jointinparent" type="reference" reference_namespace="joint"/>
            <attribute name="tendon" type="reference" reference_namespace="tendon"/>
            <attribute name="slidersite" type="reference" reference_namespace="site"/>
            <attribute name="cranksite" type="reference" reference_namespace="site"/>
            <attribute name="site" type="reference" reference_namespace="site"/>
            <attribute name="refsite" type="reference" reference_namespace="site"/>
            <attribute name="kp" type="float"/>
            <attribute name="kv" type="float"/>
            <attribute name="dampratio" type="float"/>
            <attribute name="timeconst" type="float"/>
          </attributes>
        </element>
        <element name="velocity" repeated="true" namespace="actuator">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="class" type="reference" reference_namespace="default"/>
            <attribute name="group" type="int"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
            <attribute name="lengthrange" type="array" array_type="float" array_size="2"/>
            <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
            <attribute name="damping" type="array" array_type="float" array_size="3"/>
            <attribute name="armature" type="float"/>
            <attribute name="cranklength" type="float"/>
            <attribute name="joint" type="reference" reference_namespace="joint"/>
            <attribute name="jointinparent" type="reference" reference_namespace="joint"/>
            <attribute name="tendon" type="reference" reference_namespace="tendon"/>
            <attribute name="slidersite" type="reference" reference_namespace="site"/>
            <attribute name="cranksite" type="reference" reference_namespace="site"/>
            <attribute name="site" type="reference" reference_namespace="site"/>
            <attribute name="refsite" type="reference" reference_namespace="site"/>
            <attribute name="kv" type="float"/>
          </attributes>
        </element>
        <element name="intvelocity" repeated="true" namespace="actuator">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="class" type="reference" reference_namespace="default"/>
            <attribute name="group" type="int"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="actlimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
            <attribute name="actrange" type="array" array_type="float" array_size="2"/>
            <attribute name="inheritrange" type="float"/>
            <attribute name="lengthrange" type="array" array_type="float" array_size="2"/>
            <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
            <attribute name="damping" type="array" array_type="float" array_size="3"/>
            <attribute name="armature" type="float"/>
            <attribute name="cranklength" type="float"/>
            <attribute name="joint" type="reference" reference_namespace="joint"/>
            <attribute name="jointinparent" type="reference" reference_namespace="joint"/>
            <attribute name="tendon" type="reference" reference_namespace="tendon"/>
            <attribute name="slidersite" type="reference" reference_namespace="site"/>
            <attribute name="cranksite" type="reference" reference_namespace="site"/>
            <attribute name="site" type="reference" reference_namespace="site"/>
            <attribute name="refsite" type="reference" reference_namespace="site"/>
            <attribute name="kp" type="float"/>
            <attribute name="kv" type="float"/>
            <attribute name="dampratio" type="float"/>
          </attributes>
        </element>
        <element name="orientation" repeated="true" namespace="actuator">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="class" type="reference" reference_namespace="default"/>
            <attribute name="group" type="int"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
            <attribute name="joint" type="reference" reference_namespace="joint"/>
            <attribute name="site" type="reference" reference_namespace="site"/>
            <attribute name="refsite" type="reference" reference_namespace="site"/>
            <attribute name="kp" type="float"/>
            <attribute name="kv" type="float"/>
            <attribute name="dampratio" type="float"/>
            <attribute name="input" type="keyword" valid_values="expmap quat"/>
          </attributes>
        </element>
        <element name="damper" repeated="true" namespace="actuator">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="class" type="reference" reference_namespace="default"/>
            <attribute name="group" type="int"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
            <attribute name="lengthrange" type="array" array_type="float" array_size="2"/>
            <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
            <attribute name="damping" type="array" array_type="float" array_size="3"/>
            <attribute name="armature" type="float"/>
            <attribute name="cranklength" type="float"/>
            <attribute name="joint" type="reference" reference_namespace="joint"/>
            <attribute name="jointinparent" type="reference" reference_namespace="joint"/>
            <attribute name="tendon" type="reference" reference_namespace="tendon"/>
            <attribute name="slidersite" type="reference" reference_namespace="site"/>
            <attribute name="cranksite" type="reference" reference_namespace="site"/>
            <attribute name="site" type="reference" reference_namespace="site"/>
            <attribute name="refsite" type="reference" reference_namespace="site"/>
            <attribute name="kv" type="float"/>
          </attributes>
        </element>
        <element name="cylinder" repeated="true" namespace="actuator">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="class" type="reference" reference_namespace="default"/>
            <attribute name="group" type="int"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
            <attribute name="lengthrange" type="array" array_type="float" array_size="2"/>
            <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
            <attribute name="damping" type="array" array_type="float" array_size="3"/>
            <attribute name="armature" type="float"/>
            <attribute name="cranklength" type="float"/>
            <attribute name="joint" type="reference" reference_namespace="joint"/>
            <attribute name="jointinparent" type="reference" reference_namespace="joint"/>
            <attribute name="tendon" type="reference" reference_namespace="tendon"/>
            <attribute name="slidersite" type="reference" reference_namespace="site"/>
            <attribute name="cranksite" type="reference" reference_namespace="site"/>
            <attribute name="site" type="reference" reference_namespace="site"/>
            <attribute name="refsite" type="reference" reference_namespace="site"/>
            <attribute name="timeconst" type="float"/>
            <attribute name="area" type="float"/>
            <attribute name="diameter" type="float"/>
            <attribute name="bias" type="array" array_type="float" array_size="3"/>
          </attributes>
        </element>
        <element name="muscle" repeated="true" namespace="actuator">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="class" type="reference" reference_namespace="default"/>
            <attribute name="group" type="int"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
            <attribute name="lengthrange" type="array" array_type="float" array_size="2"/>
            <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
            <attribute name="damping" type="array" array_type="float" array_size="3"/>
            <attribute name="armature" type="float"/>
            <attribute name="cranklength" type="float"/>
            <attribute name="joint" type="reference" reference_namespace="joint"/>
            <attribute name="jointinparent" type="reference" reference_namespace="joint"/>
            <attribute name="tendon" type="reference" reference_namespace="tendon"/>
            <attribute name="slidersite" type="reference" reference_namespace="site"/>
            <attribute name="cranksite" type="reference" reference_namespace="site"/>
            <attribute name="timeconst" type="array" array_type="float" array_size="2"/>
            <attribute name="tausmooth" type="float"/>
            <attribute name="range" type="array" array_type="float" array_size="2"/>
            <attribute name="force" type="float"/>
            <attribute name="scale" type="float"/>
            <attribute name="lmin" type="float"/>
            <attribute name="lmax" type="float"/>
            <attribute name="vmax" type="float"/>
            <attribute name="fpmax" type="float"/>
            <attribute name="fvmax" type="float"/>
          </attributes>
        </element>
        <element name="adhesion" repeated="true" namespace="actuator">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="class" type="reference" reference_namespace="default"/>
            <attribute name="group" type="int"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
            <attribute name="body" type="reference" reference_namespace="body"/>
            <attribute name="gain" type="float"/>
          </attributes>
        </element>
        <element name="plugin" repeated="true" namespace="actuator">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="class" type="reference" reference_namespace="default"/>
            <attribute name="group" type="int"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="plugin" type="string"/>
            <attribute name="instance" type="reference" reference_namespace="plugin"/>
            <attribute name="ctrllimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcelimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="actlimited" type="keyword" valid_values="false true auto" default="auto"/>
            <attribute name="forcerange" type="array" array_type="float" array_size="2"/>
            <attribute name="actrange" type="array" array_type="float" array_size="2"/>
            <attribute name="lengthrange" type="array" array_type="float" array_size="2"/>
            <attribute name="gear" type="array" array_type="float" array_size="6" default="1 0 0 0 0 0"/>
            <attribute name="damping" type="array" array_type="float" array_size="3"/>
            <attribute name="armature" type="float"/>
            <attribute name="cranklength" type="float"/>
            <attribute name="joint" type="reference" reference_namespace="joint"/>
            <attribute name="jointinparent" type="reference" reference_namespace="joint"/>
            <attribute name="site" type="reference" reference_namespace="site"/>
            <attribute name="actdim" type="int" default="-1"/>
            <attribute name="dyntype" type="keyword" valid_values="none integrator filter filterexact muscle dcmotor pid user" default="none"/>
            <attribute name="dynprm" type="array" array_type="float" array_size="10" default="1"/>
            <attribute name="tendon" type="reference" reference_namespace="tendon"/>
            <attribute name="cranksite" type="reference" reference_namespace="site"/>
            <attribute name="slidersite" type="reference" reference_namespace="site"/>
            <attribute name="actearly" type="keyword" valid_values="false true"/>
          </attributes>
          <children>
            <element name="config" repeated="true">
              <attributes>
                <attribute name="key" type="string" required="true"/>
                <attribute name="value" type="string"/>
              </attributes>
            </element>
          </children>
        </element>
      </children>
    </element>
    <element name="sensor">
      <children>
        <element name="touch" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="site" type="reference" reference_namespace="site" required="true"/>
          </attributes>
        </element>
        <element name="accelerometer" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="site" type="reference" reference_namespace="site" required="true"/>
          </attributes>
        </element>
        <element name="velocimeter" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="site" type="reference" reference_namespace="site" required="true"/>
          </attributes>
        </element>
        <element name="gyro" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="site" type="reference" reference_namespace="site" required="true"/>
          </attributes>
        </element>
        <element name="force" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="site" type="reference" reference_namespace="site" required="true"/>
          </attributes>
        </element>
        <element name="torque" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="site" type="reference" reference_namespace="site" required="true"/>
          </attributes>
        </element>
        <element name="magnetometer" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="site" type="reference" reference_namespace="site" required="true"/>
          </attributes>
        </element>
        <element name="camprojection" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="site" type="reference" reference_namespace="site" required="true"/>
            <attribute name="camera" type="reference" reference_namespace="camera" required="true"/>
          </attributes>
        </element>
        <element name="rangefinder" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="site" type="reference" reference_namespace="site"/>
            <attribute name="camera" type="reference" reference_namespace="camera"/>
            <attribute name="data" type="string"/>
          </attributes>
        </element>
        <element name="jointpos" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="joint" type="reference" reference_namespace="joint" required="true"/>
          </attributes>
        </element>
        <element name="jointvel" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="joint" type="reference" reference_namespace="joint" required="true"/>
          </attributes>
        </element>
        <element name="tendonpos" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="tendon" type="reference" reference_namespace="tendon" required="true"/>
          </attributes>
        </element>
        <element name="tendonvel" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="tendon" type="reference" reference_namespace="tendon" required="true"/>
          </attributes>
        </element>
        <element name="actuatorpos" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="actuator" type="reference" reference_namespace="actuator" required="true"/>
          </attributes>
        </element>
        <element name="actuatorvel" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="actuator" type="reference" reference_namespace="actuator" required="true"/>
          </attributes>
        </element>
        <element name="actuatorfrc" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="actuator" type="reference" reference_namespace="actuator" required="true"/>
          </attributes>
        </element>
        <element name="jointactuatorfrc" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="joint" type="reference" reference_namespace="joint" required="true"/>
          </attributes>
        </element>
        <element name="tendonactuatorfrc" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="tendon" type="reference" reference_namespace="tendon" required="true"/>
          </attributes>
        </element>
        <element name="ballquat" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="joint" type="reference" reference_namespace="joint" required="true"/>
          </attributes>
        </element>
        <element name="ballangvel" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="joint" type="reference" reference_namespace="joint" required="true"/>
          </attributes>
        </element>
        <element name="jointlimitpos" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="joint" type="reference" reference_namespace="joint" required="true"/>
          </attributes>
        </element>
        <element name="jointlimitvel" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="joint" type="reference" reference_namespace="joint" required="true"/>
          </attributes>
        </element>
        <element name="jointlimitfrc" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="joint" type="reference" reference_namespace="joint" required="true"/>
          </attributes>
        </element>
        <element name="tendonlimitpos" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="tendon" type="reference" reference_namespace="tendon" required="true"/>
          </attributes>
        </element>
        <element name="tendonlimitvel" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="tendon" type="reference" reference_namespace="tendon" required="true"/>
          </attributes>
        </element>
        <element name="tendonlimitfrc" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="tendon" type="reference" reference_namespace="tendon" required="true"/>
          </attributes>
        </element>
        <element name="framepos" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="objtype" type="keyword" valid_values="body xbody geom site camera" required="true"/>
            <attribute name="objname" type="reference" reference_namespace="attrib:objtype" required="true"/>
            <attribute name="reftype" type="keyword" valid_values="body xbody geom site camera"/>
            <attribute name="refname" type="reference" reference_namespace="attrib:reftype"/>
          </attributes>
        </element>
        <element name="framequat" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="objtype" type="keyword" valid_values="body xbody geom site camera" required="true"/>
            <attribute name="objname" type="reference" reference_namespace="attrib:objtype" required="true"/>
            <attribute name="reftype" type="keyword" valid_values="body xbody geom site camera"/>
            <attribute name="refname" type="reference" reference_namespace="attrib:reftype"/>
          </attributes>
        </element>
        <element name="framexaxis" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="objtype" type="keyword" valid_values="body xbody geom site camera" required="true"/>
            <attribute name="objname" type="reference" reference_namespace="attrib:objtype" required="true"/>
            <attribute name="reftype" type="keyword" valid_values="body xbody geom site camera"/>
            <attribute name="refname" type="reference" reference_namespace="attrib:reftype"/>
          </attributes>
        </element>
        <element name="frameyaxis" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="objtype" type="keyword" valid_values="body xbody geom site camera" required="true"/>
            <attribute name="objname" type="reference" reference_namespace="attrib:objtype" required="true"/>
            <attribute name="reftype" type="keyword" valid_values="body xbody geom site camera"/>
            <attribute name="refname" type="reference" reference_namespace="attrib:reftype"/>
          </attributes>
        </element>
        <element name="framezaxis" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="objtype" type="keyword" valid_values="body xbody geom site camera" required="true"/>
            <attribute name="objname" type="reference" reference_namespace="attrib:objtype" required="true"/>
            <attribute name="reftype" type="keyword" valid_values="body xbody geom site camera"/>
            <attribute name="refname" type="reference" reference_namespace="attrib:reftype"/>
          </attributes>
        </element>
        <element name="framelinvel" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="objtype" type="keyword" valid_values="body xbody geom site camera" required="true"/>
            <attribute name="objname" type="reference" reference_namespace="attrib:objtype" required="true"/>
            <attribute name="reftype" type="keyword" valid_values="body xbody geom site camera"/>
            <attribute name="refname" type="reference" reference_namespace="attrib:reftype"/>
          </attributes>
        </element>
        <element name="frameangvel" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="objtype" type="keyword" valid_values="body xbody geom site camera" required="true"/>
            <attribute name="objname" type="reference" reference_namespace="attrib:objtype" required="true"/>
            <attribute name="reftype" type="keyword" valid_values="body xbody geom site camera"/>
            <attribute name="refname" type="reference" reference_namespace="attrib:reftype"/>
          </attributes>
        </element>
        <element name="framelinacc" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="objtype" type="keyword" valid_values="body xbody geom site camera" required="true"/>
            <attribute name="objname" type="reference" reference_namespace="attrib:objtype" required="true"/>
          </attributes>
        </element>
        <element name="frameangacc" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="objtype" type="keyword" valid_values="body xbody geom site camera" required="true"/>
            <attribute name="objname" type="reference" reference_namespace="attrib:objtype" required="true"/>
          </attributes>
        </element>
        <element name="subtreecom" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="body" type="reference" reference_namespace="body" required="true"/>
          </attributes>
        </element>
        <element name="subtreelinvel" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="body" type="reference" reference_namespace="body" required="true"/>
          </attributes>
        </element>
        <element name="subtreeangmom" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="body" type="reference" reference_namespace="body" required="true"/>
          </attributes>
        </element>
        <element name="insidesite" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="site" type="reference" reference_namespace="site" required="true"/>
            <attribute name="objtype" type="keyword" valid_values="body xbody geom site camera" required="true"/>
            <attribute name="objname" type="reference" reference_namespace="attrib:objtype" required="true"/>
          </attributes>
        </element>
        <element name="distance" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="geom1" type="reference" reference_namespace="geom"/>
            <attribute name="geom2" type="reference" reference_namespace="geom"/>
            <attribute name="body1" type="reference" reference_namespace="body"/>
            <attribute name="body2" type="reference" reference_namespace="body"/>
          </attributes>
        </element>
        <element name="normal" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="geom1" type="reference" reference_namespace="geom"/>
            <attribute name="geom2" type="reference" reference_namespace="geom"/>
            <attribute name="body1" type="reference" reference_namespace="body"/>
            <attribute name="body2" type="reference" reference_namespace="body"/>
          </attributes>
        </element>
        <element name="fromto" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="geom1" type="reference" reference_namespace="geom"/>
            <attribute name="geom2" type="reference" reference_namespace="geom"/>
            <attribute name="body1" type="reference" reference_namespace="body"/>
            <attribute name="body2" type="reference" reference_namespace="body"/>
          </attributes>
        </element>
        <element name="contact" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
            <attribute name="geom1" type="reference" reference_namespace="geom"/>
            <attribute name="geom2" type="reference" reference_namespace="geom"/>
            <attribute name="body1" type="reference" reference_namespace="body"/>
            <attribute name="body2" type="reference" reference_namespace="body"/>
            <attribute name="subtree1" type="reference" reference_namespace="body"/>
            <attribute name="subtree2" type="reference" reference_namespace="body"/>
            <attribute name="site" type="reference" reference_namespace="site"/>
            <attribute name="num" type="int"/>
            <attribute name="data" type="string"/>
            <attribute name="reduce" type="keyword" valid_values="none mindist maxforce netforce"/>
          </attributes>
        </element>
        <element name="e_potential" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
          </attributes>
        </element>
        <element name="e_kinetic" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
          </attributes>
        </element>
        <element name="clock" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
          </attributes>
        </element>
        <element name="tactile" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="geom" type="reference" reference_namespace="geom" required="true"/>
            <attribute name="mesh" type="reference" reference_namespace="mesh" required="true"/>
            <attribute name="nsample" type="int"/>
            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
            <attribute name="delay" type="float"/>
            <attribute name="interval" type="array" array_type="float" array_size="2"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
          </attributes>
        </element>
        <element name="user" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="objtype" type="string"/>
            <attribute name="objname" type="reference" reference_namespace="attrib:objtype"/>
            <attribute name="datatype" type="keyword" valid_values="real positive axis quaternion" default="real"/>
            <attribute name="needstage" type="keyword" valid_values="none pos vel acc" default="acc"/>
            <attribute name="dim" type="int"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="noise" type="float"/>
            <attribute name="user" type="array" array_type="float"/>
          </attributes>
        </element>
        <element name="plugin" repeated="true" namespace="sensor">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="plugin" type="string"/>
            <attribute name="instance" type="reference" reference_namespace="plugin"/>
            <attribute name="cutoff" type="float"/>
            <attribute name="objtype" type="string"/>
            <attribute name="objname" type="reference" reference_namespace="attrib:objtype"/>
            <attribute name="reftype" type="string"/>
            <attribute name="refname" type="reference" reference_namespace="attrib:reftype"/>
            <attribute name="user" type="array" array_type="float"/>
          </attributes>
          <children>
            <element name="config" repeated="true">
              <attributes>
                <attribute name="key" type="string" required="true"/>
                <attribute name="value" type="string"/>
              </attributes>
            </element>
          </children>
        </element>
      </children>
    </element>
    <element name="custom">
      <children>
        <element name="numeric" repeated="true">
          <attributes>
            <attribute name="name" type="identifier" required="true"/>
            <attribute name="size" type="int"/>
            <attribute name="data" type="array" array_type="float"/>
          </attributes>
        </element>
        <element name="text" repeated="true">
          <attributes>
            <attribute name="name" type="identifier" required="true"/>
            <attribute name="data" type="string"/>
          </attributes>
        </element>
        <element name="tuple" repeated="true">
          <attributes>
            <attribute name="name" type="identifier" required="true"/>
          </attributes>
          <children>
            <element name="element" repeated="true">
              <attributes>
                <attribute name="objtype" type="string" required="true"/>
                <attribute name="objname" type="reference" reference_namespace="attrib:objtype" required="true"/>
                <attribute name="prm" type="float"/>
              </attributes>
            </element>
          </children>
        </element>
      </children>
    </element>
    <element name="keyframe">
      <children>
        <element name="key" repeated="true">
          <attributes>
            <attribute name="name" type="identifier"/>
            <attribute name="time" type="float"/>
            <attribute name="qpos" type="array" array_type="float"/>
            <attribute name="qvel" type="array" array_type="float"/>
            <attribute name="act" type="array" array_type="float"/>
            <attribute name="mpos" type="array" array_type="float"/>
            <attribute name="mquat" type="array" array_type="float"/>
            <attribute name="ctrl" type="array" array_type="float"/>
          </attributes>
        </element>
      </children>
    </element>
  </children>
</element>