diff --git a/doc/changelog.rst b/doc/changelog.rst
index e42fc33c..3254f40f 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -13,6 +13,8 @@ General
   grammar table, presence constraints, keyword maps, typed attribute bindings and save policies are generated from it
   and gated by tests, as are the schema's enum keywords and declared defaults against the C headers and
   default-constructors.
+- An XSD schema derived from the main schema is provided in
+  `model/mjcf.xsd <https://github.com/google-deepmind/mujoco/tree/main/src/xml/generated/mjcf.xsd>`__.
 
 Actuation
 ^^^^^^^^^
diff --git a/doc/generate/generate_xsd.py b/doc/generate/generate_xsd.py
new file mode 100644
index 00000000..f2037f1a
--- /dev/null
+++ b/doc/generate/generate_xsd.py
@@ -0,0 +1,375 @@
+# Copyright 2026 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+"""Generates the published XML Schema (mjcf.xsd) from mjcf.schema.
+
+The XSD is deliberately permissive: it must never reject a legal model.
+XSD 1.0 cannot express MJCF's order-insensitive children with per-child
+cardinality (xs:all forbids maxOccurs > 1), so every content model is an
+unbounded xs:choice, and presence constraints (exclusive/together/requires/
+oneof) are not expressible at all. Both are carried as xs:documentation
+annotations.
+
+Element tags repeat across contexts with different content (e.g. joint under
+body, default and equality), so every element is declared locally inside its
+parent's complexType; the named complexTypes carry the schema element names.
+Inside <default>, children use projected types (attributes minus name/class
+minus nodefault), mirroring the grammar-table projection.
+
+The generated file is checked in as src/xml/generated/mjcf.xsd and gated by
+test/doc/doc_test.py, which regenerates it from the schema and diffs.
+"""
+
+import os
+import re
+import sys
+from xml.sax.saxutils import escape
+
+_SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
+sys.path.insert(0, _SCRIPT_DIR)
+import mjcf_schema
+_REPO_ROOT = os.path.dirname(os.path.dirname(_SCRIPT_DIR))
+SCHEMA_PATH = os.path.join(_REPO_ROOT, 'src', 'xml', 'mjcf.schema')
+MJMODEL_H_PATH = os.path.join(_REPO_ROOT, 'include', 'mujoco', 'mjmodel.h')
+
+# schema scalar type -> XSD base type
+SCALAR_XSD = {'int': 'xs:int', 'double': 'xs:double', 'float': 'xs:float',
+              'string': 'xs:string', 'file': 'xs:string'}
+
+_CONSTRAINT_TEXT = {
+    'exclusive': 'at most one of',
+    'together': 'together or absent',
+    'requires': 'first requires second',
+    'oneof': 'at least one of',
+}
+
+
+def parse_dims():
+  """Return {name: value} for the mjN* dimension macros in mjmodel.h."""
+  with open(MJMODEL_H_PATH, encoding='utf-8') as f:
+    text = f.read()
+  return {m.group(1): int(m.group(2))
+          for m in re.finditer(r'^#define\s+(mjN\w+)\s+(\d+)', text, re.M)}
+
+
+def _num(value):
+  """Format a numeric default the shortest exact way: 2.0 -> '2'."""
+  if isinstance(value, float) and value == int(value) and abs(value) < 1e15:
+    return str(int(value))
+  return repr(value)
+
+
+def _default_str(attr):
+  """Return the attribute default as an XSD default string, or None."""
+  d = attr.default
+  if d is None:
+    return None
+  if isinstance(d, tuple):
+    return ' '.join(_num(v) for v in d)
+  if isinstance(d, (int, float)):
+    return _num(d)
+  return str(d)
+
+
+class _Emitter:
+  """Accumulates the XSD document with shared simple types deduped."""
+
+  def __init__(self, schema):
+    self.schema = schema
+    self.dims = parse_dims()
+    self.lines = []
+    self.vector_types = {}   # type name -> definition lines
+    self.emitted = set()     # (element name, projected) complexTypes emitted
+    self.pending = []
+
+  def out(self, indent, text):
+    """Appends a line of text at the specified indentation level."""
+    self.lines.append(' ' * indent + text)
+
+  def doc(self, indent, texts):
+    """Emit an annotation block for the given documentation lines."""
+    texts = [t for t in texts if t]
+    if not texts:
+      return
+    self.out(indent, '<xs:annotation>')
+    for t in texts:
+      self.out(indent + 2, f'<xs:documentation>{escape(t)}</xs:documentation>')
+    self.out(indent, '</xs:annotation>')
+
+  def resolve(self, bound):
+    """Resolve an arity bound: int, mjN* macro name, or None."""
+    if isinstance(bound, str):
+      return self.dims[bound]
+    return bound
+
+  def vector_type(self, base, lo, hi):
+    """Return (and register) the named list type for a vector attribute."""
+    if hi is None:
+      name = f'{base}list'
+    elif lo == hi:
+      name = f'{base}{hi}'
+    else:
+      name = f'{base}{lo}to{hi}'
+    if name not in self.vector_types:
+      lines = [f'<xs:simpleType name="{name}">']
+      if hi is None and lo <= 1:
+        lines += [f'  <xs:list itemType="{SCALAR_XSD[base]}"/>']
+      else:
+        lines += ['  <xs:restriction>',
+                  '    <xs:simpleType>',
+                  f'      <xs:list itemType="{SCALAR_XSD[base]}"/>',
+                  '    </xs:simpleType>']
+        if lo == hi:
+          lines += [f'    <xs:length value="{hi}"/>']
+        else:
+          if lo > 0:
+            lines += [f'    <xs:minLength value="{lo}"/>']
+          if hi is not None:
+            lines += [f'    <xs:maxLength value="{hi}"/>']
+        lines += ['  </xs:restriction>']
+      lines += ['</xs:simpleType>']
+      self.vector_types[name] = lines
+    return name
+
+  def attr_type(self, attr, ctx):
+    """Return (type name or None, inline restriction lines) for an attribute.
+
+    A None type name with inline lines means the attribute carries an
+    anonymous simpleType restriction.
+    """
+    numeric_facets = [f for f in ('min', 'max', 'positive')
+                      if f in attr.facets or attr.facets.get(f)]
+    if attr.type == 'bool':
+      return 'kw_bool', []
+    if attr.type == 'enum':
+      return f'kw_{attr.target}', []
+    if attr.type == 'flags':
+      return f'kwlist_{attr.target}', []
+    if attr.type in ('string', 'file', 'ref', 'id'):
+      return 'xs:string', []
+    if attr.type == 'chars':
+      lo, hi = attr.arity.lo, attr.arity.hi
+      lines = ['<xs:simpleType>', '  <xs:restriction base="xs:string">']
+      if 'pattern' in attr.facets:
+        lines += [f'    <xs:pattern value="{escape(attr.facets["pattern"])}"/>']
+      elif lo == hi:
+        lines += [f'    <xs:length value="{hi}"/>']
+      else:
+        lines += [f'    <xs:minLength value="{lo}"/>',
+                  f'    <xs:maxLength value="{hi}"/>']
+      lines += ['  </xs:restriction>', '</xs:simpleType>']
+      return None, lines
+    # numeric scalars and vectors
+    base = SCALAR_XSD[attr.type]
+    lo, hi = attr.arity.lo, self.resolve(attr.arity.hi)
+    if (lo, hi) == (1, 1):
+      if not numeric_facets:
+        return base, []
+      lines = ['<xs:simpleType>', f'  <xs:restriction base="{base}">']
+      if 'min' in attr.facets:
+        lines += [f'    <xs:minInclusive value="{_num(attr.facets["min"])}"/>']
+      if 'max' in attr.facets:
+        lines += [f'    <xs:maxInclusive value="{_num(attr.facets["max"])}"/>']
+      if attr.facets.get('positive'):
+        lines += ['    <xs:minExclusive value="0"/>']
+      lines += ['  </xs:restriction>', '</xs:simpleType>']
+      return None, lines
+    if numeric_facets:
+      raise ValueError(f'{ctx}.{attr.name}: numeric facets on a vector '
+                       'attribute are not supported by the XSD emitter')
+    return self.vector_type(attr.type, lo, hi), []
+
+  def emit_attr(self, indent, attr, ctx):
+    """Emit one xs:attribute."""
+    tname, inline = self.attr_type(attr, ctx)
+    parts = [f'name="{attr.name}"']
+    if tname:
+      parts.append(f'type="{tname}"')
+    if attr.facets.get('required'):
+      parts.append('use="required"')
+    default = _default_str(attr)
+    if default is not None:
+      parts.append(f'default="{escape(default)}"')
+    head = f'<xs:attribute {" ".join(parts)}'
+    if not inline and not attr.doc:
+      self.out(indent, head + '/>')
+      return
+    self.out(indent, head + '>')
+    self.doc(indent + 2, [attr.doc])
+    for line in inline:
+      self.out(indent + 2, line)
+    self.out(indent, '</xs:attribute>')
+
+  def type_name(self, element_name, projected):
+    return f'default_{element_name}' if projected else element_name
+
+  def constraint_docs(self, element):
+    """Presence constraints as documentation lines (not XSD-expressible)."""
+    import generate_mjcf_table
+    docs = []
+    for con in generate_mjcf_table._element_constraints(self.schema, element):
+      bundles = ['+'.join(b) for b in con.bundles]
+      docs.append(f'constraint: {_CONSTRAINT_TEXT[con.kind]}: '
+                  f'{", ".join(bundles)}')
+    return docs
+
+  def emit_complex_type(self, name, projected):
+    """Emit the complexType for one schema element (possibly projected)."""
+    element = self.schema.elements[name]
+    tname = self.type_name(name, projected)
+    self.out(2, f'<xs:complexType name="{tname}">')
+    docs = [element.doc] if not projected else []
+    docs += self.constraint_docs(element)
+    cards = [f'{c.name} ({c.card})' for c in element.children()]
+    if cards:
+      docs.append('children, with cardinality the XSD cannot enforce '
+                  '(? at most one, ! exactly one, * any number, R recursive): '
+                  + ', '.join(cards))
+    self.doc(4, docs)
+
+    children = list(element.children())
+    if projected:
+      children = [c for c in children if c.name != 'plugin']
+    if children:
+      self.out(4, '<xs:choice minOccurs="0" maxOccurs="unbounded">')
+      for child in children:
+        target = self.schema.elements[child.name]
+        tag = target.xml_name()
+        if name == 'mujoco' and child.name == 'body':
+          # the top-level body is spelled worldbody (mjXSchema::NameMatch)
+          target = self.schema.elements['worldbody']
+          tag = 'worldbody'
+        child_projected = (projected or
+                           (name == 'default' and
+                            not child.name.startswith('default_') and
+                            child.name != 'default'))
+        ctype = self.type_name(target.name, child_projected)
+        self.out(6, f'<xs:element name="{tag}" type="{ctype}"/>')
+        self.queue(target.name, child_projected)
+      # the include directive is spliced before parsing and may appear
+      # anywhere; admit it in every content model
+      self.out(6, '<xs:element name="include" type="include"/>')
+      self.out(4, '</xs:choice>')
+
+    attrs = self.schema.expanded_attrs(element)
+    if projected:
+      attrs = [a for a in attrs
+               if a.name not in ('name', 'class')
+               and not a.facets.get('nodefault')]
+    for attr in attrs:
+      self.emit_attr(4, attr, tname)
+    self.out(2, '</xs:complexType>')
+    self.out(0, '')
+
+  def queue(self, name, projected):
+    """Enqueues an element name and projection flag for processing."""
+    self.pending.append((name, projected))
+
+  def generate(self):
+    """Return the complete XSD document as a string."""
+    schema = self.schema
+    self.out(0, '<?xml version="1.0" encoding="UTF-8"?>')
+    self.out(0, '<!-- Generated by generate_xsd.py from mjcf.schema.')
+    self.out(0, '     Do not edit by hand; see test/doc/doc_test.py.')
+    self.out(0, '')
+    self.out(0, '     This schema is deliberately permissive: it never')
+    self.out(0, '     rejects a legal model, but accepts some models the')
+    self.out(0, '     parser rejects. Child cardinality and attribute')
+    self.out(0, '     presence constraints are carried as documentation')
+    self.out(0, '     annotations. -->')
+    self.out(0, '<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema">')
+    self.out(0, '')
+
+    # keyword simple types: bool, then one per schema enum
+    self.out(2, '<xs:simpleType name="kw_bool">')
+    self.out(4, '<xs:restriction base="xs:string">')
+    for kw in ('false', 'true'):
+      self.out(6, f'<xs:enumeration value="{kw}"/>')
+    self.out(4, '</xs:restriction>')
+    self.out(2, '</xs:simpleType>')
+    self.out(0, '')
+    flags_targets = set()
+    for element in schema.elements.values():
+      for attr in schema.expanded_attrs(element):
+        if attr.type == 'flags':
+          flags_targets.add(attr.target)
+    for enum in schema.enums.values():
+      self.out(2, f'<xs:simpleType name="kw_{enum.name}">')
+      self.doc(4, [enum.doc])
+      self.out(4, '<xs:restriction base="xs:string">')
+      for kw, _ in enum.items:
+        self.out(6, f'<xs:enumeration value="{escape(kw)}"/>')
+      self.out(4, '</xs:restriction>')
+      self.out(2, '</xs:simpleType>')
+      if enum.name in flags_targets:
+        self.out(2, f'<xs:simpleType name="kwlist_{enum.name}">')
+        self.out(4, f'<xs:list itemType="kw_{enum.name}"/>')
+        self.out(2, '</xs:simpleType>')
+      self.out(0, '')
+
+    # complexTypes, walked from the root so projections are discovered;
+    # vector simple types are collected on the way and emitted after
+    body_mark = len(self.lines)
+    self.pending = [('mujoco', False)]
+    while self.pending:
+      name, projected = self.pending.pop(0)
+      if (name, projected) in self.emitted:
+        continue
+      self.emitted.add((name, projected))
+      self.emit_complex_type(name, projected)
+
+    unreached = set(schema.elements) - {n for n, _ in self.emitted}
+    if unreached:
+      raise ValueError(f'elements unreachable from mujoco: {unreached}')
+
+    # the include directive: spliced before parsing, not part of mjcf.schema
+    self.out(2, '<xs:complexType name="include">')
+    self.doc(4, ['includes another MJCF file; resolved before parsing'])
+    self.out(4, '<xs:attribute name="file" type="xs:string" use="required"/>')
+    self.out(2, '</xs:complexType>')
+    self.out(0, '')
+
+    vec_lines = []
+    for tname in sorted(self.vector_types):
+      for line in self.vector_types[tname]:
+        vec_lines.append('  ' + line)
+      vec_lines.append('')
+    self.lines[body_mark:body_mark] = vec_lines
+
+    self.out(2, '<xs:element name="mujoco" type="mujoco"/>')
+    self.out(0, '</xs:schema>')
+    return '\n'.join(self.lines) + '\n'
+
+
+def generate():
+  """Generate the mjcf.xsd content as a string."""
+  schema = mjcf_schema.parse_file(SCHEMA_PATH)
+  return _Emitter(schema).generate()
+
+
+def main():
+  """CLI entry point: generate mjcf.xsd to stdout or a file."""
+  if len(sys.argv) > 2:
+    sys.exit('usage: generate_xsd.py [output.xsd]')
+  text = generate()
+  if len(sys.argv) == 2:
+    with open(sys.argv[1], 'w', encoding='utf-8') as f:
+      f.write(text)
+  else:
+    sys.stdout.write(text)
+  return 0
+
+
+if __name__ == '__main__':
+  sys.exit(main())
diff --git a/src/xml/generated/mjcf.xsd b/src/xml/generated/mjcf.xsd
new file mode 100644
index 00000000..02ff7965
--- /dev/null
+++ b/src/xml/generated/mjcf.xsd
@@ -0,0 +1,4074 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!-- Generated by generate_xsd.py from mjcf.schema.
+     Do not edit by hand; see test/doc/doc_test.py.
+
+     This schema is deliberately permissive: it never
+     rejects a legal model, but accepts some models the
+     parser rejects. Child cardinality and attribute
+     presence constraints are carried as documentation
+     annotations. -->
+<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema">
+
+  <xs:simpleType name="kw_bool">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="false"/>
+      <xs:enumeration value="true"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_coordinate">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="local"/>
+      <xs:enumeration value="global"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_angle">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="radian"/>
+      <xs:enumeration value="degree"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_fluidshape">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="none"/>
+      <xs:enumeration value="ellipsoid"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_enable">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="disable"/>
+      <xs:enumeration value="enable"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_FalseTrueAuto">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="false"/>
+      <xs:enumeration value="true"/>
+      <xs:enumeration value="auto"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_FalseAuto">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="false"/>
+      <xs:enumeration value="auto"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_bodysleep">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="auto"/>
+      <xs:enumeration value="never"/>
+      <xs:enumeration value="allowed"/>
+      <xs:enumeration value="init"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_jointtype">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="free"/>
+      <xs:enumeration value="ball"/>
+      <xs:enumeration value="slide"/>
+      <xs:enumeration value="hinge"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_geomtype">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="plane"/>
+      <xs:enumeration value="hfield"/>
+      <xs:enumeration value="sphere"/>
+      <xs:enumeration value="capsule"/>
+      <xs:enumeration value="ellipsoid"/>
+      <xs:enumeration value="cylinder"/>
+      <xs:enumeration value="box"/>
+      <xs:enumeration value="mesh"/>
+      <xs:enumeration value="sdf"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_projection">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="perspective"/>
+      <xs:enumeration value="orthographic"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_camlight">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="fixed"/>
+      <xs:enumeration value="track"/>
+      <xs:enumeration value="trackcom"/>
+      <xs:enumeration value="targetbody"/>
+      <xs:enumeration value="targetbodycom"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_lighttype">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="spot"/>
+      <xs:enumeration value="directional"/>
+      <xs:enumeration value="point"/>
+      <xs:enumeration value="image"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_texrole">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="rgb"/>
+      <xs:enumeration value="occlusion"/>
+      <xs:enumeration value="roughness"/>
+      <xs:enumeration value="metallic"/>
+      <xs:enumeration value="normal"/>
+      <xs:enumeration value="opacity"/>
+      <xs:enumeration value="emissive"/>
+      <xs:enumeration value="rgba"/>
+      <xs:enumeration value="orm"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_integrator">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="Euler"/>
+      <xs:enumeration value="RK4"/>
+      <xs:enumeration value="implicit"/>
+      <xs:enumeration value="implicitfast"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_cone">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="pyramidal"/>
+      <xs:enumeration value="elliptic"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_jacobian">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="dense"/>
+      <xs:enumeration value="sparse"/>
+      <xs:enumeration value="auto"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_solver">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="PGS"/>
+      <xs:enumeration value="CG"/>
+      <xs:enumeration value="Newton"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_equality">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="connect"/>
+      <xs:enumeration value="weld"/>
+      <xs:enumeration value="joint"/>
+      <xs:enumeration value="tendon"/>
+      <xs:enumeration value="flex"/>
+      <xs:enumeration value="flexvert"/>
+      <xs:enumeration value="flexstrain"/>
+      <xs:enumeration value="distance"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_texture">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="2d"/>
+      <xs:enumeration value="cube"/>
+      <xs:enumeration value="skybox"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_colorspace">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="auto"/>
+      <xs:enumeration value="linear"/>
+      <xs:enumeration value="sRGB"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_builtin">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="none"/>
+      <xs:enumeration value="gradient"/>
+      <xs:enumeration value="checker"/>
+      <xs:enumeration value="flat"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_mark">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="none"/>
+      <xs:enumeration value="edge"/>
+      <xs:enumeration value="cross"/>
+      <xs:enumeration value="random"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_dyn">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="none"/>
+      <xs:enumeration value="integrator"/>
+      <xs:enumeration value="filter"/>
+      <xs:enumeration value="filterexact"/>
+      <xs:enumeration value="muscle"/>
+      <xs:enumeration value="dcmotor"/>
+      <xs:enumeration value="pid"/>
+      <xs:enumeration value="user"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_dcmotorinput">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="voltage"/>
+      <xs:enumeration value="position"/>
+      <xs:enumeration value="velocity"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_gain">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="fixed"/>
+      <xs:enumeration value="affine"/>
+      <xs:enumeration value="muscle"/>
+      <xs:enumeration value="dcmotor"/>
+      <xs:enumeration value="so3"/>
+      <xs:enumeration value="pid"/>
+      <xs:enumeration value="user"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_inputchart">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="expmap"/>
+      <xs:enumeration value="quat"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_inputbit">
+    <xs:annotation>
+      <xs:documentation>bitflags: keywords combine bitwise</xs:documentation>
+    </xs:annotation>
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="pos"/>
+      <xs:enumeration value="vel"/>
+      <xs:enumeration value="ff"/>
+    </xs:restriction>
+  </xs:simpleType>
+  <xs:simpleType name="kwlist_inputbit">
+    <xs:list itemType="kw_inputbit"/>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_bias">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="none"/>
+      <xs:enumeration value="affine"/>
+      <xs:enumeration value="muscle"/>
+      <xs:enumeration value="dcmotor"/>
+      <xs:enumeration value="so3"/>
+      <xs:enumeration value="user"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_interp">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="zoh"/>
+      <xs:enumeration value="linear"/>
+      <xs:enumeration value="cubic"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_stage">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="none"/>
+      <xs:enumeration value="pos"/>
+      <xs:enumeration value="vel"/>
+      <xs:enumeration value="acc"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_datatype">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="real"/>
+      <xs:enumeration value="positive"/>
+      <xs:enumeration value="axis"/>
+      <xs:enumeration value="quaternion"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_frameobj">
+    <xs:annotation>
+      <xs:documentation>object kinds with a spatial frame</xs:documentation>
+    </xs:annotation>
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="body"/>
+      <xs:enumeration value="xbody"/>
+      <xs:enumeration value="geom"/>
+      <xs:enumeration value="site"/>
+      <xs:enumeration value="camera"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_condata">
+    <xs:annotation>
+      <xs:documentation>bitflags: keywords combine bitwise</xs:documentation>
+    </xs:annotation>
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="found"/>
+      <xs:enumeration value="force"/>
+      <xs:enumeration value="torque"/>
+      <xs:enumeration value="dist"/>
+      <xs:enumeration value="pos"/>
+      <xs:enumeration value="normal"/>
+      <xs:enumeration value="tangent"/>
+    </xs:restriction>
+  </xs:simpleType>
+  <xs:simpleType name="kwlist_condata">
+    <xs:list itemType="kw_condata"/>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_raydata">
+    <xs:annotation>
+      <xs:documentation>bitflags: keywords combine bitwise</xs:documentation>
+    </xs:annotation>
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="dist"/>
+      <xs:enumeration value="dir"/>
+      <xs:enumeration value="origin"/>
+      <xs:enumeration value="point"/>
+      <xs:enumeration value="normal"/>
+      <xs:enumeration value="depth"/>
+    </xs:restriction>
+  </xs:simpleType>
+  <xs:simpleType name="kwlist_raydata">
+    <xs:list itemType="kw_raydata"/>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_camout">
+    <xs:annotation>
+      <xs:documentation>bitflags: keywords combine bitwise</xs:documentation>
+    </xs:annotation>
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="rgb"/>
+      <xs:enumeration value="depth"/>
+      <xs:enumeration value="distance"/>
+      <xs:enumeration value="normal"/>
+      <xs:enumeration value="segmentation"/>
+    </xs:restriction>
+  </xs:simpleType>
+  <xs:simpleType name="kwlist_camout">
+    <xs:list itemType="kw_camout"/>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_reduce">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="none"/>
+      <xs:enumeration value="mindist"/>
+      <xs:enumeration value="maxforce"/>
+      <xs:enumeration value="netforce"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_conflict">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="warning"/>
+      <xs:enumeration value="merge"/>
+      <xs:enumeration value="error"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_lrmode">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="none"/>
+      <xs:enumeration value="muscle"/>
+      <xs:enumeration value="muscleuser"/>
+      <xs:enumeration value="all"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_comp">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="particle"/>
+      <xs:enumeration value="grid"/>
+      <xs:enumeration value="rope"/>
+      <xs:enumeration value="loop"/>
+      <xs:enumeration value="cable"/>
+      <xs:enumeration value="cloth"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_jkind">
+    <xs:annotation>
+      <xs:documentation>vestigial: composite pruning left a single kind</xs:documentation>
+    </xs:annotation>
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="main"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_shape">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="s"/>
+      <xs:enumeration value="cos(s)"/>
+      <xs:enumeration value="sin(s)"/>
+      <xs:enumeration value="0"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_meshinertia">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="convex"/>
+      <xs:enumeration value="legacy"/>
+      <xs:enumeration value="exact"/>
+      <xs:enumeration value="shell"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_meshbuiltin">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="none"/>
+      <xs:enumeration value="sphere"/>
+      <xs:enumeration value="hemisphere"/>
+      <xs:enumeration value="cone"/>
+      <xs:enumeration value="supertorus"/>
+      <xs:enumeration value="supersphere"/>
+      <xs:enumeration value="wedge"/>
+      <xs:enumeration value="plate"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_fcomp">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="grid"/>
+      <xs:enumeration value="box"/>
+      <xs:enumeration value="cylinder"/>
+      <xs:enumeration value="ellipsoid"/>
+      <xs:enumeration value="square"/>
+      <xs:enumeration value="disc"/>
+      <xs:enumeration value="circle"/>
+      <xs:enumeration value="mesh"/>
+      <xs:enumeration value="gmsh"/>
+      <xs:enumeration value="direct"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_fdof">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="full"/>
+      <xs:enumeration value="radial"/>
+      <xs:enumeration value="trilinear"/>
+      <xs:enumeration value="quadratic"/>
+      <xs:enumeration value="2d"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_flexself">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="none"/>
+      <xs:enumeration value="narrow"/>
+      <xs:enumeration value="bvh"/>
+      <xs:enumeration value="sap"/>
+      <xs:enumeration value="auto"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_elastic2d">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="none"/>
+      <xs:enumeration value="bend"/>
+      <xs:enumeration value="stretch"/>
+      <xs:enumeration value="both"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="kw_flexeq">
+    <xs:restriction base="xs:string">
+      <xs:enumeration value="false"/>
+      <xs:enumeration value="true"/>
+      <xs:enumeration value="vert"/>
+      <xs:enumeration value="strain"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="double1to10">
+    <xs:restriction>
+      <xs:simpleType>
+        <xs:list itemType="xs:double"/>
+      </xs:simpleType>
+      <xs:minLength value="1"/>
+      <xs:maxLength value="10"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="double1to2">
+    <xs:restriction>
+      <xs:simpleType>
+        <xs:list itemType="xs:double"/>
+      </xs:simpleType>
+      <xs:minLength value="1"/>
+      <xs:maxLength value="2"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="double1to3">
+    <xs:restriction>
+      <xs:simpleType>
+        <xs:list itemType="xs:double"/>
+      </xs:simpleType>
+      <xs:minLength value="1"/>
+      <xs:maxLength value="3"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="double1to5">
+    <xs:restriction>
+      <xs:simpleType>
+        <xs:list itemType="xs:double"/>
+      </xs:simpleType>
+      <xs:minLength value="1"/>
+      <xs:maxLength value="5"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="double1to6">
+    <xs:restriction>
+      <xs:simpleType>
+        <xs:list itemType="xs:double"/>
+      </xs:simpleType>
+      <xs:minLength value="1"/>
+      <xs:maxLength value="6"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="double2">
+    <xs:restriction>
+      <xs:simpleType>
+        <xs:list itemType="xs:double"/>
+      </xs:simpleType>
+      <xs:length value="2"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="double3">
+    <xs:restriction>
+      <xs:simpleType>
+        <xs:list itemType="xs:double"/>
+      </xs:simpleType>
+      <xs:length value="3"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="double4">
+    <xs:restriction>
+      <xs:simpleType>
+        <xs:list itemType="xs:double"/>
+      </xs:simpleType>
+      <xs:length value="4"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="double6">
+    <xs:restriction>
+      <xs:simpleType>
+        <xs:list itemType="xs:double"/>
+      </xs:simpleType>
+      <xs:length value="6"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="double7">
+    <xs:restriction>
+      <xs:simpleType>
+        <xs:list itemType="xs:double"/>
+      </xs:simpleType>
+      <xs:length value="7"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="doublelist">
+    <xs:list itemType="xs:double"/>
+  </xs:simpleType>
+
+  <xs:simpleType name="float2">
+    <xs:restriction>
+      <xs:simpleType>
+        <xs:list itemType="xs:float"/>
+      </xs:simpleType>
+      <xs:length value="2"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="float3">
+    <xs:restriction>
+      <xs:simpleType>
+        <xs:list itemType="xs:float"/>
+      </xs:simpleType>
+      <xs:length value="3"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="float4">
+    <xs:restriction>
+      <xs:simpleType>
+        <xs:list itemType="xs:float"/>
+      </xs:simpleType>
+      <xs:length value="4"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="floatlist">
+    <xs:list itemType="xs:float"/>
+  </xs:simpleType>
+
+  <xs:simpleType name="int2">
+    <xs:restriction>
+      <xs:simpleType>
+        <xs:list itemType="xs:int"/>
+      </xs:simpleType>
+      <xs:length value="2"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="int3">
+    <xs:restriction>
+      <xs:simpleType>
+        <xs:list itemType="xs:int"/>
+      </xs:simpleType>
+      <xs:length value="3"/>
+    </xs:restriction>
+  </xs:simpleType>
+
+  <xs:simpleType name="intlist">
+    <xs:list itemType="xs:int"/>
+  </xs:simpleType>
+
+  <xs:complexType name="mujoco">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): compiler (*), option (*), size (*), statistic (*), visual (*), default (R), extension (*), asset (*), body (R), deformable (*), contact (*), tendon (*), equality (*), actuator (*), sensor (*), custom (*), keyframe (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="compiler" type="compiler"/>
+      <xs:element name="option" type="option"/>
+      <xs:element name="size" type="size"/>
+      <xs:element name="statistic" type="statistic"/>
+      <xs:element name="visual" type="visual"/>
+      <xs:element name="default" type="default"/>
+      <xs:element name="extension" type="extension"/>
+      <xs:element name="asset" type="asset"/>
+      <xs:element name="worldbody" type="worldbody"/>
+      <xs:element name="deformable" type="deformable"/>
+      <xs:element name="contact" type="contact"/>
+      <xs:element name="tendon" type="tendon"/>
+      <xs:element name="equality" type="equality"/>
+      <xs:element name="actuator" type="actuator"/>
+      <xs:element name="sensor" type="sensor"/>
+      <xs:element name="custom" type="custom"/>
+      <xs:element name="keyframe" type="keyframe"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="model" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="compiler">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): lengthrange (?)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="lengthrange" type="lengthrange"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="autolimits" type="kw_bool"/>
+    <xs:attribute name="boundmass" type="xs:double"/>
+    <xs:attribute name="boundinertia" type="xs:double"/>
+    <xs:attribute name="settotalmass" type="xs:double"/>
+    <xs:attribute name="balanceinertia" type="kw_bool"/>
+    <xs:attribute name="strippath" type="kw_bool">
+      <xs:annotation>
+        <xs:documentation>stored on the spec</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="coordinate" type="kw_coordinate">
+      <xs:annotation>
+        <xs:documentation>deprecation error</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="angle" type="kw_angle"/>
+    <xs:attribute name="fitaabb" type="kw_bool"/>
+    <xs:attribute name="eulerseq">
+      <xs:simpleType>
+        <xs:restriction base="xs:string">
+          <xs:pattern value="[xyzXYZ]{3}"/>
+        </xs:restriction>
+      </xs:simpleType>
+    </xs:attribute>
+    <xs:attribute name="meshdir" type="xs:string"/>
+    <xs:attribute name="texturedir" type="xs:string"/>
+    <xs:attribute name="discardvisual" type="kw_bool"/>
+    <xs:attribute name="usethread" type="kw_bool"/>
+    <xs:attribute name="fusestatic" type="kw_bool"/>
+    <xs:attribute name="inertiafromgeom" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="inertiagrouprange" type="int2"/>
+    <xs:attribute name="saveinertial" type="kw_bool"/>
+    <xs:attribute name="assetdir" type="xs:string">
+      <xs:annotation>
+        <xs:documentation>fans out to mesh/texturedir</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="alignfree" type="kw_bool"/>
+    <xs:attribute name="conflict" type="kw_conflict"/>
+  </xs:complexType>
+
+  <xs:complexType name="option">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): flag (?)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="flag" type="flag"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="timestep" type="xs:double" default="0.002"/>
+    <xs:attribute name="impratio" type="xs:double" default="1"/>
+    <xs:attribute name="tolerance" type="xs:double" default="1e-08"/>
+    <xs:attribute name="ls_tolerance" type="xs:double" default="0.01"/>
+    <xs:attribute name="noslip_tolerance" type="xs:double" default="1e-06"/>
+    <xs:attribute name="ccd_tolerance" type="xs:double" default="1e-06"/>
+    <xs:attribute name="sleep_tolerance" type="xs:double" default="0.001"/>
+    <xs:attribute name="gravity" type="double3" default="0 0 -9.81"/>
+    <xs:attribute name="wind" type="double3" default="0 0 0"/>
+    <xs:attribute name="magnetic" type="double3" default="0 -0.5 0"/>
+    <xs:attribute name="density" type="xs:double"/>
+    <xs:attribute name="viscosity" type="xs:double"/>
+    <xs:attribute name="o_margin" type="xs:double"/>
+    <xs:attribute name="o_solref" type="double1to2"/>
+    <xs:attribute name="o_solimp" type="double1to5"/>
+    <xs:attribute name="o_friction" type="double1to5" default="1 1 0.005 0.0001 0.0001"/>
+    <xs:attribute name="integrator" type="kw_integrator" default="Euler"/>
+    <xs:attribute name="cone" type="kw_cone" default="pyramidal"/>
+    <xs:attribute name="jacobian" type="kw_jacobian" default="auto"/>
+    <xs:attribute name="solver" type="kw_solver" default="Newton"/>
+    <xs:attribute name="iterations" type="xs:int" default="100"/>
+    <xs:attribute name="ls_iterations" type="xs:int" default="50"/>
+    <xs:attribute name="noslip_iterations" type="xs:int"/>
+    <xs:attribute name="ccd_iterations" type="xs:int" default="35"/>
+    <xs:attribute name="sdf_iterations" type="xs:int" default="10"/>
+    <xs:attribute name="sdf_initpoints" type="xs:int" default="40"/>
+    <xs:attribute name="actuatorgroupdisable" type="intlist">
+      <xs:annotation>
+        <xs:documentation>bits of disableactuator</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+  </xs:complexType>
+
+  <xs:complexType name="size">
+    <xs:annotation>
+      <xs:documentation>constraint: at most one of: memory, nstack</xs:documentation>
+      <xs:documentation>constraint: at most one of: memory, njmax</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="memory" type="xs:string">
+      <xs:annotation>
+        <xs:documentation>suffixed byte count</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="njmax" type="xs:int">
+      <xs:annotation>
+        <xs:documentation>range/exclusivity checks</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="nconmax" type="xs:int">
+      <xs:annotation>
+        <xs:documentation>range check</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="nstack" type="xs:int">
+      <xs:annotation>
+        <xs:documentation>range/exclusivity checks</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="nuserdata">
+      <xs:simpleType>
+        <xs:restriction base="xs:int">
+          <xs:minInclusive value="-1"/>
+        </xs:restriction>
+      </xs:simpleType>
+    </xs:attribute>
+    <xs:attribute name="nkey">
+      <xs:simpleType>
+        <xs:restriction base="xs:int">
+          <xs:minInclusive value="-1"/>
+        </xs:restriction>
+      </xs:simpleType>
+    </xs:attribute>
+    <xs:attribute name="nuser_body">
+      <xs:simpleType>
+        <xs:restriction base="xs:int">
+          <xs:minInclusive value="-1"/>
+        </xs:restriction>
+      </xs:simpleType>
+    </xs:attribute>
+    <xs:attribute name="nuser_jnt">
+      <xs:simpleType>
+        <xs:restriction base="xs:int">
+          <xs:minInclusive value="-1"/>
+        </xs:restriction>
+      </xs:simpleType>
+    </xs:attribute>
+    <xs:attribute name="nuser_geom">
+      <xs:simpleType>
+        <xs:restriction base="xs:int">
+          <xs:minInclusive value="-1"/>
+        </xs:restriction>
+      </xs:simpleType>
+    </xs:attribute>
+    <xs:attribute name="nuser_site">
+      <xs:simpleType>
+        <xs:restriction base="xs:int">
+          <xs:minInclusive value="-1"/>
+        </xs:restriction>
+      </xs:simpleType>
+    </xs:attribute>
+    <xs:attribute name="nuser_cam">
+      <xs:simpleType>
+        <xs:restriction base="xs:int">
+          <xs:minInclusive value="-1"/>
+        </xs:restriction>
+      </xs:simpleType>
+    </xs:attribute>
+    <xs:attribute name="nuser_tendon">
+      <xs:simpleType>
+        <xs:restriction base="xs:int">
+          <xs:minInclusive value="-1"/>
+        </xs:restriction>
+      </xs:simpleType>
+    </xs:attribute>
+    <xs:attribute name="nuser_actuator">
+      <xs:simpleType>
+        <xs:restriction base="xs:int">
+          <xs:minInclusive value="-1"/>
+        </xs:restriction>
+      </xs:simpleType>
+    </xs:attribute>
+    <xs:attribute name="nuser_sensor">
+      <xs:simpleType>
+        <xs:restriction base="xs:int">
+          <xs:minInclusive value="-1"/>
+        </xs:restriction>
+      </xs:simpleType>
+    </xs:attribute>
+  </xs:complexType>
+
+  <xs:complexType name="statistic">
+    <xs:attribute name="meaninertia" type="xs:double"/>
+    <xs:attribute name="meanmass" type="xs:double"/>
+    <xs:attribute name="meansize" type="xs:double"/>
+    <xs:attribute name="extent">
+      <xs:annotation>
+        <xs:documentation>when defined</xs:documentation>
+      </xs:annotation>
+      <xs:simpleType>
+        <xs:restriction base="xs:double">
+          <xs:minExclusive value="0"/>
+        </xs:restriction>
+      </xs:simpleType>
+    </xs:attribute>
+    <xs:attribute name="center" type="double3"/>
+  </xs:complexType>
+
+  <xs:complexType name="visual">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): global (?), quality (?), headlight (?), map (?), scale (?), rgba (?)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="global" type="global"/>
+      <xs:element name="quality" type="quality"/>
+      <xs:element name="headlight" type="headlight"/>
+      <xs:element name="map" type="map"/>
+      <xs:element name="scale" type="scale"/>
+      <xs:element name="rgba" type="rgba"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+  </xs:complexType>
+
+  <xs:complexType name="default">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): default (R), mesh (?), material (?), joint (?), geom (?), site (?), camera (?), light (?), pair (?), default_equality (?), default_tendon (?), general (?), motor (?), position (?), velocity (?), intvelocity (?), orientation (?), pid (?), damper (?), cylinder (?), muscle (?), adhesion (?), dcmotor (?)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="default" type="default"/>
+      <xs:element name="mesh" type="default_mesh"/>
+      <xs:element name="material" type="default_material"/>
+      <xs:element name="joint" type="default_joint"/>
+      <xs:element name="geom" type="default_geom"/>
+      <xs:element name="site" type="default_site"/>
+      <xs:element name="camera" type="default_camera"/>
+      <xs:element name="light" type="default_light"/>
+      <xs:element name="pair" type="default_pair"/>
+      <xs:element name="equality" type="default_equality"/>
+      <xs:element name="tendon" type="default_tendon"/>
+      <xs:element name="general" type="default_general"/>
+      <xs:element name="motor" type="default_motor"/>
+      <xs:element name="position" type="default_position"/>
+      <xs:element name="velocity" type="default_velocity"/>
+      <xs:element name="intvelocity" type="default_intvelocity"/>
+      <xs:element name="orientation" type="default_orientation"/>
+      <xs:element name="pid" type="default_pid"/>
+      <xs:element name="damper" type="default_damper"/>
+      <xs:element name="cylinder" type="default_cylinder"/>
+      <xs:element name="muscle" type="default_muscle"/>
+      <xs:element name="adhesion" type="default_adhesion"/>
+      <xs:element name="dcmotor" type="default_dcmotor"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="class" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="extension">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): extension_plugin (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="plugin" type="extension_plugin"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+  </xs:complexType>
+
+  <xs:complexType name="asset">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): mesh (*), hfield (*), skin (*), texture (*), material (*), model (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="mesh" type="mesh"/>
+      <xs:element name="hfield" type="hfield"/>
+      <xs:element name="skin" type="skin"/>
+      <xs:element name="texture" type="texture"/>
+      <xs:element name="material" type="material"/>
+      <xs:element name="model" type="model"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+  </xs:complexType>
+
+  <xs:complexType name="worldbody">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): body (*), frame (*), replicate (*), geom (*), attach (*), site (*), camera (*), light (*), plugin (*), composite (*), flexcomp (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="body" type="body"/>
+      <xs:element name="frame" type="frame"/>
+      <xs:element name="replicate" type="replicate"/>
+      <xs:element name="geom" type="geom"/>
+      <xs:element name="attach" type="attach"/>
+      <xs:element name="site" type="site"/>
+      <xs:element name="camera" type="camera"/>
+      <xs:element name="light" type="light"/>
+      <xs:element name="plugin" type="plugin"/>
+      <xs:element name="composite" type="composite"/>
+      <xs:element name="flexcomp" type="flexcomp"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+  </xs:complexType>
+
+  <xs:complexType name="deformable">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): flex (*), skin (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="flex" type="flex"/>
+      <xs:element name="skin" type="skin"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+  </xs:complexType>
+
+  <xs:complexType name="contact">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): pair (*), exclude (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="pair" type="pair"/>
+      <xs:element name="exclude" type="exclude"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+  </xs:complexType>
+
+  <xs:complexType name="tendon">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): spatial (*), fixed (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="spatial" type="spatial"/>
+      <xs:element name="fixed" type="fixed"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+  </xs:complexType>
+
+  <xs:complexType name="equality">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): connect (*), weld (*), equality_joint (*), equality_tendon (*), equality_flex (*), flexvert (*), flexstrain (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="connect" type="connect"/>
+      <xs:element name="weld" type="weld"/>
+      <xs:element name="joint" type="equality_joint"/>
+      <xs:element name="tendon" type="equality_tendon"/>
+      <xs:element name="flex" type="equality_flex"/>
+      <xs:element name="flexvert" type="flexvert"/>
+      <xs:element name="flexstrain" type="flexstrain"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+  </xs:complexType>
+
+  <xs:complexType name="actuator">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): general (*), motor (*), position (*), velocity (*), intvelocity (*), orientation (*), pid (*), damper (*), cylinder (*), muscle (*), adhesion (*), dcmotor (*), actuator_plugin (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="general" type="general"/>
+      <xs:element name="motor" type="motor"/>
+      <xs:element name="position" type="position"/>
+      <xs:element name="velocity" type="velocity"/>
+      <xs:element name="intvelocity" type="intvelocity"/>
+      <xs:element name="orientation" type="orientation"/>
+      <xs:element name="pid" type="pid"/>
+      <xs:element name="damper" type="damper"/>
+      <xs:element name="cylinder" type="cylinder"/>
+      <xs:element name="muscle" type="muscle"/>
+      <xs:element name="adhesion" type="adhesion"/>
+      <xs:element name="dcmotor" type="dcmotor"/>
+      <xs:element name="plugin" type="actuator_plugin"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+  </xs:complexType>
+
+  <xs:complexType name="sensor">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): touch (*), accelerometer (*), velocimeter (*), gyro (*), force (*), torque (*), magnetometer (*), camprojection (*), rangefinder (*), jointpos (*), jointvel (*), tendonpos (*), tendonvel (*), actuatorpos (*), actuatorvel (*), actuatorfrc (*), jointactuatorfrc (*), tendonactuatorfrc (*), ballquat (*), ballangvel (*), jointlimitpos (*), jointlimitvel (*), jointlimitfrc (*), tendonlimitpos (*), tendonlimitvel (*), tendonlimitfrc (*), framepos (*), framequat (*), framexaxis (*), frameyaxis (*), framezaxis (*), framelinvel (*), frameangvel (*), framelinacc (*), frameangacc (*), subtreecom (*), subtreelinvel (*), subtreeangmom (*), insidesite (*), distance (*), normal (*), fromto (*), sensor_contact (*), e_potential (*), e_kinetic (*), clock (*), tactile (*), user (*), sensor_plugin (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="touch" type="touch"/>
+      <xs:element name="accelerometer" type="accelerometer"/>
+      <xs:element name="velocimeter" type="velocimeter"/>
+      <xs:element name="gyro" type="gyro"/>
+      <xs:element name="force" type="force"/>
+      <xs:element name="torque" type="torque"/>
+      <xs:element name="magnetometer" type="magnetometer"/>
+      <xs:element name="camprojection" type="camprojection"/>
+      <xs:element name="rangefinder" type="rangefinder"/>
+      <xs:element name="jointpos" type="jointpos"/>
+      <xs:element name="jointvel" type="jointvel"/>
+      <xs:element name="tendonpos" type="tendonpos"/>
+      <xs:element name="tendonvel" type="tendonvel"/>
+      <xs:element name="actuatorpos" type="actuatorpos"/>
+      <xs:element name="actuatorvel" type="actuatorvel"/>
+      <xs:element name="actuatorfrc" type="actuatorfrc"/>
+      <xs:element name="jointactuatorfrc" type="jointactuatorfrc"/>
+      <xs:element name="tendonactuatorfrc" type="tendonactuatorfrc"/>
+      <xs:element name="ballquat" type="ballquat"/>
+      <xs:element name="ballangvel" type="ballangvel"/>
+      <xs:element name="jointlimitpos" type="jointlimitpos"/>
+      <xs:element name="jointlimitvel" type="jointlimitvel"/>
+      <xs:element name="jointlimitfrc" type="jointlimitfrc"/>
+      <xs:element name="tendonlimitpos" type="tendonlimitpos"/>
+      <xs:element name="tendonlimitvel" type="tendonlimitvel"/>
+      <xs:element name="tendonlimitfrc" type="tendonlimitfrc"/>
+      <xs:element name="framepos" type="framepos"/>
+      <xs:element name="framequat" type="framequat"/>
+      <xs:element name="framexaxis" type="framexaxis"/>
+      <xs:element name="frameyaxis" type="frameyaxis"/>
+      <xs:element name="framezaxis" type="framezaxis"/>
+      <xs:element name="framelinvel" type="framelinvel"/>
+      <xs:element name="frameangvel" type="frameangvel"/>
+      <xs:element name="framelinacc" type="framelinacc"/>
+      <xs:element name="frameangacc" type="frameangacc"/>
+      <xs:element name="subtreecom" type="subtreecom"/>
+      <xs:element name="subtreelinvel" type="subtreelinvel"/>
+      <xs:element name="subtreeangmom" type="subtreeangmom"/>
+      <xs:element name="insidesite" type="insidesite"/>
+      <xs:element name="distance" type="distance"/>
+      <xs:element name="normal" type="normal"/>
+      <xs:element name="fromto" type="fromto"/>
+      <xs:element name="contact" type="sensor_contact"/>
+      <xs:element name="e_potential" type="e_potential"/>
+      <xs:element name="e_kinetic" type="e_kinetic"/>
+      <xs:element name="clock" type="clock"/>
+      <xs:element name="tactile" type="tactile"/>
+      <xs:element name="user" type="user"/>
+      <xs:element name="plugin" type="sensor_plugin"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+  </xs:complexType>
+
+  <xs:complexType name="custom">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): numeric (*), text (*), tuple (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="numeric" type="numeric"/>
+      <xs:element name="text" type="text"/>
+      <xs:element name="tuple" type="tuple"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+  </xs:complexType>
+
+  <xs:complexType name="keyframe">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): key (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="key" type="key"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+  </xs:complexType>
+
+  <xs:complexType name="lengthrange">
+    <xs:attribute name="mode" type="kw_lrmode"/>
+    <xs:attribute name="useexisting" type="kw_bool"/>
+    <xs:attribute name="uselimit" type="kw_bool"/>
+    <xs:attribute name="accel" type="xs:double"/>
+    <xs:attribute name="maxforce" type="xs:double"/>
+    <xs:attribute name="timeconst" type="xs:double"/>
+    <xs:attribute name="timestep" type="xs:double"/>
+    <xs:attribute name="inttotal" type="xs:double"/>
+    <xs:attribute name="interval" type="xs:double"/>
+    <xs:attribute name="tolrange" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="flag">
+    <xs:attribute name="constraint" type="kw_enable" default="enable"/>
+    <xs:attribute name="equality" type="kw_enable" default="enable"/>
+    <xs:attribute name="frictionloss" type="kw_enable" default="enable"/>
+    <xs:attribute name="limit" type="kw_enable" default="enable"/>
+    <xs:attribute name="contact" type="kw_enable" default="enable"/>
+    <xs:attribute name="spring" type="kw_enable" default="enable"/>
+    <xs:attribute name="damper" type="kw_enable" default="enable"/>
+    <xs:attribute name="gravity" type="kw_enable" default="enable"/>
+    <xs:attribute name="clampctrl" type="kw_enable" default="enable"/>
+    <xs:attribute name="warmstart" type="kw_enable" default="enable"/>
+    <xs:attribute name="filterparent" type="kw_enable" default="enable"/>
+    <xs:attribute name="actuation" type="kw_enable" default="enable"/>
+    <xs:attribute name="refsafe" type="kw_enable" default="enable"/>
+    <xs:attribute name="sensor" type="kw_enable" default="enable"/>
+    <xs:attribute name="midphase" type="kw_enable" default="enable"/>
+    <xs:attribute name="eulerdamp" type="kw_enable" default="enable"/>
+    <xs:attribute name="autoreset" type="kw_enable" default="enable"/>
+    <xs:attribute name="nativeccd" type="kw_enable" default="enable"/>
+    <xs:attribute name="island" type="kw_enable" default="enable"/>
+    <xs:attribute name="multiccd" type="kw_enable" default="enable"/>
+    <xs:attribute name="override" type="kw_enable" default="disable"/>
+    <xs:attribute name="energy" type="kw_enable" default="disable"/>
+    <xs:attribute name="fwdinv" type="kw_enable" default="disable"/>
+    <xs:attribute name="invdiscrete" type="kw_enable" default="disable"/>
+    <xs:attribute name="sleep" type="kw_enable" default="disable"/>
+    <xs:attribute name="diagexact" type="kw_enable" default="disable"/>
+  </xs:complexType>
+
+  <xs:complexType name="global">
+    <xs:attribute name="cameraid" type="xs:int" default="-1"/>
+    <xs:attribute name="orthographic" type="kw_bool" default="false"/>
+    <xs:attribute name="fovy" type="xs:float" default="45"/>
+    <xs:attribute name="ipd" type="xs:float" default="0.068"/>
+    <xs:attribute name="azimuth" type="xs:float" default="90"/>
+    <xs:attribute name="elevation" type="xs:float" default="-45"/>
+    <xs:attribute name="linewidth" type="xs:float" default="1"/>
+    <xs:attribute name="glow" type="xs:float" default="0.3"/>
+    <xs:attribute name="offwidth" type="xs:int" default="640"/>
+    <xs:attribute name="offheight" type="xs:int" default="480"/>
+    <xs:attribute name="realtime" default="1">
+      <xs:simpleType>
+        <xs:restriction base="xs:float">
+          <xs:minExclusive value="0"/>
+        </xs:restriction>
+      </xs:simpleType>
+    </xs:attribute>
+    <xs:attribute name="ellipsoidinertia" type="kw_bool" default="false"/>
+    <xs:attribute name="bvactive" type="kw_bool" default="true"/>
+  </xs:complexType>
+
+  <xs:complexType name="quality">
+    <xs:attribute name="shadowsize" type="xs:int" default="4096"/>
+    <xs:attribute name="offsamples" type="xs:int" default="4"/>
+    <xs:attribute name="numslices" type="xs:int" default="28"/>
+    <xs:attribute name="numstacks" type="xs:int" default="16"/>
+    <xs:attribute name="numquads" type="xs:int" default="4"/>
+  </xs:complexType>
+
+  <xs:complexType name="headlight">
+    <xs:attribute name="ambient" type="float3" default="0.1 0.1 0.1"/>
+    <xs:attribute name="diffuse" type="float3" default="0.4 0.4 0.4"/>
+    <xs:attribute name="specular" type="float3" default="0.5 0.5 0.5"/>
+    <xs:attribute name="active" type="xs:int" default="1"/>
+  </xs:complexType>
+
+  <xs:complexType name="map">
+    <xs:attribute name="stiffness" type="xs:float" default="100"/>
+    <xs:attribute name="stiffnessrot" type="xs:float" default="500"/>
+    <xs:attribute name="force" type="xs:float" default="0.005"/>
+    <xs:attribute name="torque" type="xs:float" default="0.1"/>
+    <xs:attribute name="alpha" type="xs:float" default="0.3"/>
+    <xs:attribute name="fogstart" type="xs:float" default="3"/>
+    <xs:attribute name="fogend" type="xs:float" default="10"/>
+    <xs:attribute name="znear" default="0.01">
+      <xs:simpleType>
+        <xs:restriction base="xs:float">
+          <xs:minExclusive value="0"/>
+        </xs:restriction>
+      </xs:simpleType>
+    </xs:attribute>
+    <xs:attribute name="zfar" type="xs:float" default="50"/>
+    <xs:attribute name="haze" type="xs:float" default="0.3"/>
+    <xs:attribute name="shadowclip" type="xs:float" default="1"/>
+    <xs:attribute name="shadowscale" type="xs:float" default="0.6"/>
+    <xs:attribute name="actuatortendon" type="xs:float" default="2"/>
+  </xs:complexType>
+
+  <xs:complexType name="scale">
+    <xs:attribute name="forcewidth" type="xs:float" default="0.1"/>
+    <xs:attribute name="contactwidth" type="xs:float" default="0.3"/>
+    <xs:attribute name="contactheight" type="xs:float" default="0.1"/>
+    <xs:attribute name="connect" type="xs:float" default="0.2"/>
+    <xs:attribute name="com" type="xs:float" default="0.4"/>
+    <xs:attribute name="camera" type="xs:float" default="0.3"/>
+    <xs:attribute name="light" type="xs:float" default="0.3"/>
+    <xs:attribute name="selectpoint" type="xs:float" default="0.2"/>
+    <xs:attribute name="jointlength" type="xs:float" default="1"/>
+    <xs:attribute name="jointwidth" type="xs:float" default="0.1"/>
+    <xs:attribute name="actuatorlength" type="xs:float" default="0.7"/>
+    <xs:attribute name="actuatorwidth" type="xs:float" default="0.2"/>
+    <xs:attribute name="framelength" type="xs:float" default="1"/>
+    <xs:attribute name="framewidth" type="xs:float" default="0.1"/>
+    <xs:attribute name="constraint" type="xs:float" default="0.1"/>
+    <xs:attribute name="slidercrank" type="xs:float" default="0.2"/>
+    <xs:attribute name="frustum" type="xs:float" default="10"/>
+  </xs:complexType>
+
+  <xs:complexType name="rgba">
+    <xs:attribute name="fog" type="float4"/>
+    <xs:attribute name="haze" type="float4"/>
+    <xs:attribute name="force" type="float4"/>
+    <xs:attribute name="inertia" type="float4"/>
+    <xs:attribute name="joint" type="float4"/>
+    <xs:attribute name="actuator" type="float4"/>
+    <xs:attribute name="actuatornegative" type="float4"/>
+    <xs:attribute name="actuatorpositive" type="float4"/>
+    <xs:attribute name="com" type="float4"/>
+    <xs:attribute name="camera" type="float4"/>
+    <xs:attribute name="light" type="float4"/>
+    <xs:attribute name="selectpoint" type="float4"/>
+    <xs:attribute name="connect" type="float4"/>
+    <xs:attribute name="contactpoint" type="float4"/>
+    <xs:attribute name="contactforce" type="float4"/>
+    <xs:attribute name="contactfriction" type="float4"/>
+    <xs:attribute name="contacttorque" type="float4"/>
+    <xs:attribute name="contactgap" type="float4"/>
+    <xs:attribute name="rangefinder" type="float4"/>
+    <xs:attribute name="constraint" type="float4"/>
+    <xs:attribute name="slidercrank" type="float4"/>
+    <xs:attribute name="crankbroken" type="float4"/>
+    <xs:attribute name="frustum" type="float4"/>
+    <xs:attribute name="bv" type="float4"/>
+    <xs:attribute name="bvactive" type="float4"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_mesh">
+    <xs:annotation>
+      <xs:documentation>constraint: at most one of: builtin, file</xs:documentation>
+      <xs:documentation>constraint: at most one of: builtin, vertex</xs:documentation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): plugin (*)</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="scale" type="double3" default="1 1 1"/>
+    <xs:attribute name="maxhullvert" type="xs:int" default="-1"/>
+    <xs:attribute name="inertia" type="kw_meshinertia" default="legacy"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_material">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): layer (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="layer" type="default_layer"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="texture" type="xs:string"/>
+    <xs:attribute name="texrepeat" type="float2" default="1 1"/>
+    <xs:attribute name="texuniform" type="kw_bool"/>
+    <xs:attribute name="emission" type="xs:float"/>
+    <xs:attribute name="specular" type="xs:float" default="0.5"/>
+    <xs:attribute name="shininess" type="xs:float" default="0.5"/>
+    <xs:attribute name="reflectance" type="xs:float"/>
+    <xs:attribute name="metallic" type="xs:float" default="-1"/>
+    <xs:attribute name="roughness" type="xs:float" default="-1"/>
+    <xs:attribute name="rgba" type="float4" default="1 1 1 1"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_joint">
+    <xs:attribute name="type" type="kw_jointtype" default="hinge"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="pos" type="double3">
+      <xs:annotation>
+        <xs:documentation>saved unless free</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="axis" type="double3" default="0 0 1">
+      <xs:annotation>
+        <xs:documentation>saved for slide/hinge</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="springdamper" type="double2">
+      <xs:annotation>
+        <xs:documentation>compile directive: saved as stiffness/damping</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="limited" type="kw_FalseTrueAuto">
+      <xs:annotation>
+        <xs:documentation>saved unless free</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="actuatorfrclimited" type="kw_FalseTrueAuto">
+      <xs:annotation>
+        <xs:documentation>saved for slide/hinge</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="solreflimit" type="double1to2"/>
+    <xs:attribute name="solimplimit" type="double1to5"/>
+    <xs:attribute name="solreffriction" type="double1to2"/>
+    <xs:attribute name="solimpfriction" type="double1to5"/>
+    <xs:attribute name="stiffness" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>spring polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="range" type="double2"/>
+    <xs:attribute name="actuatorfrcrange" type="double2"/>
+    <xs:attribute name="actuatorgravcomp" type="kw_bool"/>
+    <xs:attribute name="margin" type="xs:double"/>
+    <xs:attribute name="ref" type="xs:double"/>
+    <xs:attribute name="springref" type="xs:double"/>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="frictionloss" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_geom">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): plugin (*)</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="type" type="kw_geomtype" default="sphere"/>
+    <xs:attribute name="contype" type="xs:int" default="1"/>
+    <xs:attribute name="conaffinity" type="xs:int" default="1"/>
+    <xs:attribute name="condim" type="xs:int" default="3"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="priority" type="xs:int"/>
+    <xs:attribute name="size" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>saved length is type-dependent</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="material" type="xs:string"/>
+    <xs:attribute name="friction" type="double1to3" default="1 0.005 0.0001"/>
+    <xs:attribute name="mass" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>mass/density: one is saved</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="density" type="xs:double" default="1000"/>
+    <xs:attribute name="shellinertia" type="kw_bool">
+      <xs:annotation>
+        <xs:documentation>saved unless mesh</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="solmix" type="xs:double" default="1"/>
+    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
+    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
+    <xs:attribute name="margin" type="xs:double"/>
+    <xs:attribute name="gap" type="xs:double"/>
+    <xs:attribute name="surfacevel" type="double1to6"/>
+    <xs:attribute name="adhesion" type="xs:double"/>
+    <xs:attribute name="fromto" type="double6">
+      <xs:annotation>
+        <xs:documentation>compile directive: saved as pos/quat/size</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="pos" type="double3" default="0 0 0">
+      <xs:annotation>
+        <xs:documentation>saved in the mesh-corrected frame</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="quat" type="double4" default="1 0 0 0"/>
+    <xs:attribute name="axisangle" type="double4"/>
+    <xs:attribute name="xyaxes" type="double6"/>
+    <xs:attribute name="zaxis" type="double3"/>
+    <xs:attribute name="euler" type="double3"/>
+    <xs:attribute name="hfield" type="xs:string"/>
+    <xs:attribute name="mesh" type="xs:string"/>
+    <xs:attribute name="fitscale" type="xs:double" default="1">
+      <xs:annotation>
+        <xs:documentation>compile directive: not saved</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="rgba" type="float4" default="0.5 0.5 0.5 1"/>
+    <xs:attribute name="fluidshape" type="kw_fluidshape"/>
+    <xs:attribute name="fluidcoef" type="double1to5"/>
+    <xs:attribute name="user" type="doublelist"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_site">
+    <xs:attribute name="type" type="kw_geomtype" default="sphere"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="pos" type="double3" default="0 0 0"/>
+    <xs:attribute name="quat" type="double4" default="1 0 0 0"/>
+    <xs:attribute name="axisangle" type="double4"/>
+    <xs:attribute name="xyaxes" type="double6"/>
+    <xs:attribute name="zaxis" type="double3"/>
+    <xs:attribute name="euler" type="double3"/>
+    <xs:attribute name="material" type="xs:string"/>
+    <xs:attribute name="size" type="double1to3" default="0.005 0.005 0.005">
+      <xs:annotation>
+        <xs:documentation>saved length is type-dependent</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="fromto" type="double6">
+      <xs:annotation>
+        <xs:documentation>compile directive: saved as pos/quat/size</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="rgba" type="float4" default="0.5 0.5 0.5 1"/>
+    <xs:attribute name="user" type="doublelist"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_camera">
+    <xs:annotation>
+      <xs:documentation>constraint: at most one of: fovy, sensorsize</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="projection" type="kw_projection"/>
+    <xs:attribute name="fovy" type="xs:double" default="45">
+      <xs:annotation>
+        <xs:documentation>fovy or the intrinsics family is saved</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="ipd" type="xs:double" default="0.068"/>
+    <xs:attribute name="resolution" type="int2" default="1 1"/>
+    <xs:attribute name="output" type="kwlist_camout"/>
+    <xs:attribute name="pos" type="double3" default="0 0 0"/>
+    <xs:attribute name="quat" type="double4" default="1 0 0 0"/>
+    <xs:attribute name="axisangle" type="double4"/>
+    <xs:attribute name="xyaxes" type="double6"/>
+    <xs:attribute name="zaxis" type="double3"/>
+    <xs:attribute name="euler" type="double3"/>
+    <xs:attribute name="mode" type="kw_camlight" default="fixed"/>
+    <xs:attribute name="focal" type="float2"/>
+    <xs:attribute name="focalpixel" type="float2"/>
+    <xs:attribute name="principal" type="float2"/>
+    <xs:attribute name="principalpixel" type="float2"/>
+    <xs:attribute name="sensorsize" type="float2"/>
+    <xs:attribute name="user" type="doublelist"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_light">
+    <xs:annotation>
+      <xs:documentation>constraint: at most one of: directional, type</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="directional" type="kw_bool"/>
+    <xs:attribute name="type" type="kw_lighttype"/>
+    <xs:attribute name="castshadow" type="kw_bool" default="true"/>
+    <xs:attribute name="active" type="kw_bool" default="true"/>
+    <xs:attribute name="pos" type="double3" default="0 0 0"/>
+    <xs:attribute name="dir" type="double3" default="0 0 -1"/>
+    <xs:attribute name="bulbradius" type="xs:float" default="0.02"/>
+    <xs:attribute name="intensity" type="xs:float"/>
+    <xs:attribute name="range" type="xs:float" default="10"/>
+    <xs:attribute name="attenuation" type="float3" default="1 0 0"/>
+    <xs:attribute name="cutoff" type="xs:float" default="45"/>
+    <xs:attribute name="exponent" type="xs:float" default="10"/>
+    <xs:attribute name="ambient" type="float3"/>
+    <xs:attribute name="diffuse" type="float3" default="0.7 0.7 0.7"/>
+    <xs:attribute name="specular" type="float3" default="0.3 0.3 0.3"/>
+    <xs:attribute name="mode" type="kw_camlight" default="fixed"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_pair">
+    <xs:attribute name="condim" type="xs:int" default="3"/>
+    <xs:attribute name="friction" type="double1to5" default="1 1 0.005 0.0001 0.0001"/>
+    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
+    <xs:attribute name="solreffriction" type="double1to2"/>
+    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
+    <xs:attribute name="gap" type="xs:double"/>
+    <xs:attribute name="margin" type="xs:double"/>
+    <xs:attribute name="adhesion" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_equality">
+    <xs:attribute name="active" type="kw_bool"/>
+    <xs:attribute name="solref" type="double1to2"/>
+    <xs:attribute name="solimp" type="double1to5"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_tendon">
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="limited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="range" type="double2"/>
+    <xs:attribute name="solreflimit" type="double1to2"/>
+    <xs:attribute name="solimplimit" type="double1to5"/>
+    <xs:attribute name="solreffriction" type="double1to2"/>
+    <xs:attribute name="solimpfriction" type="double1to5"/>
+    <xs:attribute name="frictionloss" type="xs:double"/>
+    <xs:attribute name="springlength" type="double1to2"/>
+    <xs:attribute name="width" type="xs:double"/>
+    <xs:attribute name="material" type="xs:string"/>
+    <xs:attribute name="margin" type="xs:double"/>
+    <xs:attribute name="stiffness" type="xs:double"/>
+    <xs:attribute name="damping" type="xs:double"/>
+    <xs:attribute name="rgba" type="double4"/>
+    <xs:attribute name="user" type="doublelist"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_general">
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="actlimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="actrange" type="double2"/>
+    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="cranklength" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>slidercrank-only, validated</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="actdim" type="xs:int" default="-1">
+      <xs:annotation>
+        <xs:documentation>saved default depends on dyntype</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="input" type="kw_inputchart">
+      <xs:annotation>
+        <xs:documentation>so3 chart keyword, or servo token subset</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="velrange" type="double2"/>
+    <xs:attribute name="ffrange" type="double2"/>
+    <xs:attribute name="dyntype" type="kw_dyn" default="none"/>
+    <xs:attribute name="gaintype" type="kw_gain" default="fixed">
+      <xs:annotation>
+        <xs:documentation>gain/bias family is not</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="biastype" type="kw_bias" default="none">
+      <xs:annotation>
+        <xs:documentation>saved for plugin actuators</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="dynprm" type="double1to10" default="1"/>
+    <xs:attribute name="gainprm" type="double1to10" default="1"/>
+    <xs:attribute name="biasprm" type="double1to10"/>
+    <xs:attribute name="actearly" type="kw_bool"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_motor">
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="cranklength" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>slidercrank-only, validated</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+  </xs:complexType>
+
+  <xs:complexType name="default_position">
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="inheritrange" type="xs:double"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="cranklength" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>slidercrank-only, validated</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="kp" type="xs:double"/>
+    <xs:attribute name="kv" type="xs:double"/>
+    <xs:attribute name="dampratio" type="xs:double"/>
+    <xs:attribute name="timeconst" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_velocity">
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="cranklength" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>slidercrank-only, validated</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="kv" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_intvelocity">
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="actlimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="actrange" type="double2"/>
+    <xs:attribute name="inheritrange" type="xs:double"/>
+    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="cranklength" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>slidercrank-only, validated</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="kp" type="xs:double"/>
+    <xs:attribute name="kv" type="xs:double"/>
+    <xs:attribute name="dampratio" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_orientation">
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="kp" type="xs:double"/>
+    <xs:attribute name="kv" type="xs:double"/>
+    <xs:attribute name="dampratio" type="xs:double"/>
+    <xs:attribute name="input" type="kw_inputchart"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_pid">
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="posrange" type="double2">
+      <xs:annotation>
+        <xs:documentation>alias: the position-setpoint range</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="velrange" type="double2"/>
+    <xs:attribute name="ffrange" type="double2"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="inheritrange" type="xs:double"/>
+    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="cranklength" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>slidercrank-only, validated</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="kp" type="xs:double"/>
+    <xs:attribute name="kv" type="xs:double"/>
+    <xs:attribute name="dampratio" type="xs:double"/>
+    <xs:attribute name="ki" type="xs:double"/>
+    <xs:attribute name="imax" type="xs:double"/>
+    <xs:attribute name="slewmax" type="xs:double"/>
+    <xs:attribute name="input" type="kwlist_inputbit"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_damper">
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="cranklength" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>slidercrank-only, validated</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="kv" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_cylinder">
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="cranklength" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>slidercrank-only, validated</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="timeconst" type="xs:double"/>
+    <xs:attribute name="area" type="xs:double"/>
+    <xs:attribute name="diameter" type="xs:double"/>
+    <xs:attribute name="bias" type="double3"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_muscle">
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="cranklength" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>slidercrank-only, validated</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="timeconst" type="xs:double"/>
+    <xs:attribute name="range" type="double2"/>
+    <xs:attribute name="force" type="xs:double"/>
+    <xs:attribute name="scale" type="xs:double"/>
+    <xs:attribute name="lmin" type="xs:double"/>
+    <xs:attribute name="lmax" type="xs:double"/>
+    <xs:attribute name="vmax" type="xs:double"/>
+    <xs:attribute name="fpmax" type="xs:double"/>
+    <xs:attribute name="fvmax" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_adhesion">
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="gain" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_dcmotor">
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="cranklength" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>slidercrank-only, validated</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="motorconst" type="double1to2"/>
+    <xs:attribute name="resistance" type="xs:double"/>
+    <xs:attribute name="nominal" type="double1to3"/>
+    <xs:attribute name="saturation" type="double1to3"/>
+    <xs:attribute name="inductance" type="double1to2"/>
+    <xs:attribute name="cogging" type="double1to3"/>
+    <xs:attribute name="controller" type="double1to6"/>
+    <xs:attribute name="thermal" type="double1to6"/>
+    <xs:attribute name="lugre" type="double1to5"/>
+    <xs:attribute name="input" type="kw_dcmotorinput"/>
+  </xs:complexType>
+
+  <xs:complexType name="extension_plugin">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): instance (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="instance" type="instance"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="plugin" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="mesh">
+    <xs:annotation>
+      <xs:documentation>constraint: at most one of: builtin, file</xs:documentation>
+      <xs:documentation>constraint: at most one of: builtin, vertex</xs:documentation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): plugin (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="plugin" type="plugin"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="content_type" type="xs:string"/>
+    <xs:attribute name="file" type="xs:string"/>
+    <xs:attribute name="vertex" type="floatlist"/>
+    <xs:attribute name="normal" type="floatlist"/>
+    <xs:attribute name="texcoord" type="floatlist"/>
+    <xs:attribute name="face" type="intlist"/>
+    <xs:attribute name="refpos" type="double3"/>
+    <xs:attribute name="refquat" type="double4" default="1 0 0 0"/>
+    <xs:attribute name="scale" type="double3" default="1 1 1"/>
+    <xs:attribute name="smoothnormal" type="kw_bool"/>
+    <xs:attribute name="maxhullvert" type="xs:int" default="-1"/>
+    <xs:attribute name="inertia" type="kw_meshinertia" default="legacy"/>
+    <xs:attribute name="builtin" type="kw_meshbuiltin"/>
+    <xs:attribute name="params" type="doublelist"/>
+    <xs:attribute name="material" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="hfield">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="content_type" type="xs:string"/>
+    <xs:attribute name="file" type="xs:string"/>
+    <xs:attribute name="nrow" type="xs:int"/>
+    <xs:attribute name="ncol" type="xs:int"/>
+    <xs:attribute name="size" type="double4" use="required"/>
+    <xs:attribute name="elevation" type="doublelist">
+      <xs:annotation>
+        <xs:documentation>flipped and zero-filled</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+  </xs:complexType>
+
+  <xs:complexType name="skin">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): bone (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="bone" type="bone"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="file" type="xs:string"/>
+    <xs:attribute name="material" type="xs:string"/>
+    <xs:attribute name="rgba" type="float4" default="0.5 0.5 0.5 1"/>
+    <xs:attribute name="inflate" type="xs:float"/>
+    <xs:attribute name="vertex" type="floatlist"/>
+    <xs:attribute name="texcoord" type="floatlist"/>
+    <xs:attribute name="face" type="intlist"/>
+    <xs:attribute name="group">
+      <xs:simpleType>
+        <xs:restriction base="xs:int">
+          <xs:minInclusive value="0"/>
+          <xs:maxInclusive value="5"/>
+        </xs:restriction>
+      </xs:simpleType>
+    </xs:attribute>
+  </xs:complexType>
+
+  <xs:complexType name="texture">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="type" type="kw_texture" default="cube"/>
+    <xs:attribute name="colorspace" type="kw_colorspace" default="auto"/>
+    <xs:attribute name="content_type" type="xs:string"/>
+    <xs:attribute name="file" type="xs:string"/>
+    <xs:attribute name="gridsize" type="int2" default="1 1"/>
+    <xs:attribute name="gridlayout">
+      <xs:annotation>
+        <xs:documentation>length must equal the gridsize product</xs:documentation>
+      </xs:annotation>
+      <xs:simpleType>
+        <xs:restriction base="xs:string">
+          <xs:minLength value="1"/>
+          <xs:maxLength value="12"/>
+        </xs:restriction>
+      </xs:simpleType>
+    </xs:attribute>
+    <xs:attribute name="fileright" type="xs:string"/>
+    <xs:attribute name="fileleft" type="xs:string"/>
+    <xs:attribute name="fileup" type="xs:string"/>
+    <xs:attribute name="filedown" type="xs:string"/>
+    <xs:attribute name="filefront" type="xs:string"/>
+    <xs:attribute name="fileback" type="xs:string"/>
+    <xs:attribute name="builtin" type="kw_builtin"/>
+    <xs:attribute name="rgb1" type="double3" default="0.8 0.8 0.8"/>
+    <xs:attribute name="rgb2" type="double3" default="0.5 0.5 0.5"/>
+    <xs:attribute name="mark" type="kw_mark"/>
+    <xs:attribute name="markrgb" type="double3"/>
+    <xs:attribute name="random" type="xs:double" default="0.01"/>
+    <xs:attribute name="width" type="xs:int"/>
+    <xs:attribute name="height" type="xs:int"/>
+    <xs:attribute name="hflip" type="kw_bool"/>
+    <xs:attribute name="vflip" type="kw_bool"/>
+    <xs:attribute name="nchannel" type="xs:int" default="3"/>
+  </xs:complexType>
+
+  <xs:complexType name="material">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): layer (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="layer" type="layer"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="texture" type="xs:string"/>
+    <xs:attribute name="texrepeat" type="float2" default="1 1"/>
+    <xs:attribute name="texuniform" type="kw_bool"/>
+    <xs:attribute name="emission" type="xs:float"/>
+    <xs:attribute name="specular" type="xs:float" default="0.5"/>
+    <xs:attribute name="shininess" type="xs:float" default="0.5"/>
+    <xs:attribute name="reflectance" type="xs:float"/>
+    <xs:attribute name="metallic" type="xs:float" default="-1"/>
+    <xs:attribute name="roughness" type="xs:float" default="-1"/>
+    <xs:attribute name="rgba" type="float4" default="1 1 1 1"/>
+  </xs:complexType>
+
+  <xs:complexType name="model">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="file" type="xs:string"/>
+    <xs:attribute name="content_type" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="body">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): body (R), frame (R), replicate (*), inertial (?), joint (*), freejoint (*), geom (*), attach (*), site (*), camera (*), light (*), plugin (*), composite (*), flexcomp (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="body" type="body"/>
+      <xs:element name="frame" type="frame"/>
+      <xs:element name="replicate" type="replicate"/>
+      <xs:element name="inertial" type="inertial"/>
+      <xs:element name="joint" type="joint"/>
+      <xs:element name="freejoint" type="freejoint"/>
+      <xs:element name="geom" type="geom"/>
+      <xs:element name="attach" type="attach"/>
+      <xs:element name="site" type="site"/>
+      <xs:element name="camera" type="camera"/>
+      <xs:element name="light" type="light"/>
+      <xs:element name="plugin" type="plugin"/>
+      <xs:element name="composite" type="composite"/>
+      <xs:element name="flexcomp" type="flexcomp"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="childclass" type="xs:string"/>
+    <xs:attribute name="pos" type="double3" default="0 0 0"/>
+    <xs:attribute name="quat" type="double4" default="1 0 0 0"/>
+    <xs:attribute name="axisangle" type="double4"/>
+    <xs:attribute name="xyaxes" type="double6"/>
+    <xs:attribute name="zaxis" type="double3"/>
+    <xs:attribute name="euler" type="double3"/>
+    <xs:attribute name="mocap" type="kw_bool"/>
+    <xs:attribute name="gravcomp" type="xs:double"/>
+    <xs:attribute name="sleep" type="kw_bodysleep"/>
+    <xs:attribute name="simple" type="kw_FalseAuto" default="auto"/>
+    <xs:attribute name="user" type="doublelist"/>
+  </xs:complexType>
+
+  <xs:complexType name="frame">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): body (R), frame (R), replicate (*), inertial (?), joint (*), freejoint (*), geom (*), attach (*), site (*), camera (*), light (*), plugin (*), composite (*), flexcomp (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="body" type="body"/>
+      <xs:element name="frame" type="frame"/>
+      <xs:element name="replicate" type="replicate"/>
+      <xs:element name="inertial" type="inertial"/>
+      <xs:element name="joint" type="joint"/>
+      <xs:element name="freejoint" type="freejoint"/>
+      <xs:element name="geom" type="geom"/>
+      <xs:element name="attach" type="attach"/>
+      <xs:element name="site" type="site"/>
+      <xs:element name="camera" type="camera"/>
+      <xs:element name="light" type="light"/>
+      <xs:element name="plugin" type="plugin"/>
+      <xs:element name="composite" type="composite"/>
+      <xs:element name="flexcomp" type="flexcomp"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="childclass" type="xs:string"/>
+    <xs:attribute name="pos" type="double3"/>
+    <xs:attribute name="quat" type="double4" default="1 0 0 0"/>
+    <xs:attribute name="axisangle" type="double4"/>
+    <xs:attribute name="xyaxes" type="double6"/>
+    <xs:attribute name="zaxis" type="double3"/>
+    <xs:attribute name="euler" type="double3"/>
+  </xs:complexType>
+
+  <xs:complexType name="replicate">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): body (*), frame (*), replicate (R), inertial (?), joint (*), geom (*), attach (*), site (*), camera (*), light (*), plugin (*), composite (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="body" type="body"/>
+      <xs:element name="frame" type="frame"/>
+      <xs:element name="replicate" type="replicate"/>
+      <xs:element name="inertial" type="inertial"/>
+      <xs:element name="joint" type="joint"/>
+      <xs:element name="geom" type="geom"/>
+      <xs:element name="attach" type="attach"/>
+      <xs:element name="site" type="site"/>
+      <xs:element name="camera" type="camera"/>
+      <xs:element name="light" type="light"/>
+      <xs:element name="plugin" type="plugin"/>
+      <xs:element name="composite" type="composite"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="count" type="xs:int" use="required"/>
+    <xs:attribute name="offset" type="double3"/>
+    <xs:attribute name="euler" type="double3"/>
+    <xs:attribute name="sep" type="xs:string"/>
+    <xs:attribute name="childclass" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="geom">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): plugin (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="plugin" type="plugin"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="type" type="kw_geomtype" default="sphere"/>
+    <xs:attribute name="contype" type="xs:int" default="1"/>
+    <xs:attribute name="conaffinity" type="xs:int" default="1"/>
+    <xs:attribute name="condim" type="xs:int" default="3"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="priority" type="xs:int"/>
+    <xs:attribute name="size" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>saved length is type-dependent</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="material" type="xs:string"/>
+    <xs:attribute name="friction" type="double1to3" default="1 0.005 0.0001"/>
+    <xs:attribute name="mass" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>mass/density: one is saved</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="density" type="xs:double" default="1000"/>
+    <xs:attribute name="shellinertia" type="kw_bool">
+      <xs:annotation>
+        <xs:documentation>saved unless mesh</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="solmix" type="xs:double" default="1"/>
+    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
+    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
+    <xs:attribute name="margin" type="xs:double"/>
+    <xs:attribute name="gap" type="xs:double"/>
+    <xs:attribute name="surfacevel" type="double1to6"/>
+    <xs:attribute name="adhesion" type="xs:double"/>
+    <xs:attribute name="fromto" type="double6">
+      <xs:annotation>
+        <xs:documentation>compile directive: saved as pos/quat/size</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="pos" type="double3" default="0 0 0">
+      <xs:annotation>
+        <xs:documentation>saved in the mesh-corrected frame</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="quat" type="double4" default="1 0 0 0"/>
+    <xs:attribute name="axisangle" type="double4"/>
+    <xs:attribute name="xyaxes" type="double6"/>
+    <xs:attribute name="zaxis" type="double3"/>
+    <xs:attribute name="euler" type="double3"/>
+    <xs:attribute name="hfield" type="xs:string"/>
+    <xs:attribute name="mesh" type="xs:string"/>
+    <xs:attribute name="fitscale" type="xs:double" default="1">
+      <xs:annotation>
+        <xs:documentation>compile directive: not saved</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="rgba" type="float4" default="0.5 0.5 0.5 1"/>
+    <xs:attribute name="fluidshape" type="kw_fluidshape"/>
+    <xs:attribute name="fluidcoef" type="double1to5"/>
+    <xs:attribute name="user" type="doublelist"/>
+  </xs:complexType>
+
+  <xs:complexType name="attach">
+    <xs:annotation>
+      <xs:documentation>constraint: at most one of: body, frame</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="model" type="xs:string"/>
+    <xs:attribute name="body" type="xs:string"/>
+    <xs:attribute name="frame" type="xs:string"/>
+    <xs:attribute name="prefix" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="site">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="type" type="kw_geomtype" default="sphere"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="pos" type="double3" default="0 0 0"/>
+    <xs:attribute name="quat" type="double4" default="1 0 0 0"/>
+    <xs:attribute name="axisangle" type="double4"/>
+    <xs:attribute name="xyaxes" type="double6"/>
+    <xs:attribute name="zaxis" type="double3"/>
+    <xs:attribute name="euler" type="double3"/>
+    <xs:attribute name="material" type="xs:string"/>
+    <xs:attribute name="size" type="double1to3" default="0.005 0.005 0.005">
+      <xs:annotation>
+        <xs:documentation>saved length is type-dependent</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="fromto" type="double6">
+      <xs:annotation>
+        <xs:documentation>compile directive: saved as pos/quat/size</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="rgba" type="float4" default="0.5 0.5 0.5 1"/>
+    <xs:attribute name="user" type="doublelist"/>
+  </xs:complexType>
+
+  <xs:complexType name="camera">
+    <xs:annotation>
+      <xs:documentation>constraint: at most one of: fovy, sensorsize</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="projection" type="kw_projection"/>
+    <xs:attribute name="fovy" type="xs:double" default="45">
+      <xs:annotation>
+        <xs:documentation>fovy or the intrinsics family is saved</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="ipd" type="xs:double" default="0.068"/>
+    <xs:attribute name="resolution" type="int2" default="1 1"/>
+    <xs:attribute name="output" type="kwlist_camout"/>
+    <xs:attribute name="pos" type="double3" default="0 0 0"/>
+    <xs:attribute name="quat" type="double4" default="1 0 0 0"/>
+    <xs:attribute name="axisangle" type="double4"/>
+    <xs:attribute name="xyaxes" type="double6"/>
+    <xs:attribute name="zaxis" type="double3"/>
+    <xs:attribute name="euler" type="double3"/>
+    <xs:attribute name="mode" type="kw_camlight" default="fixed"/>
+    <xs:attribute name="target" type="xs:string"/>
+    <xs:attribute name="focal" type="float2"/>
+    <xs:attribute name="focalpixel" type="float2"/>
+    <xs:attribute name="principal" type="float2"/>
+    <xs:attribute name="principalpixel" type="float2"/>
+    <xs:attribute name="sensorsize" type="float2"/>
+    <xs:attribute name="user" type="doublelist"/>
+  </xs:complexType>
+
+  <xs:complexType name="light">
+    <xs:annotation>
+      <xs:documentation>constraint: at most one of: directional, type</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="directional" type="kw_bool"/>
+    <xs:attribute name="type" type="kw_lighttype"/>
+    <xs:attribute name="castshadow" type="kw_bool" default="true"/>
+    <xs:attribute name="active" type="kw_bool" default="true"/>
+    <xs:attribute name="pos" type="double3" default="0 0 0"/>
+    <xs:attribute name="dir" type="double3" default="0 0 -1"/>
+    <xs:attribute name="bulbradius" type="xs:float" default="0.02"/>
+    <xs:attribute name="intensity" type="xs:float"/>
+    <xs:attribute name="range" type="xs:float" default="10"/>
+    <xs:attribute name="attenuation" type="float3" default="1 0 0"/>
+    <xs:attribute name="cutoff" type="xs:float" default="45"/>
+    <xs:attribute name="exponent" type="xs:float" default="10"/>
+    <xs:attribute name="ambient" type="float3"/>
+    <xs:attribute name="diffuse" type="float3" default="0.7 0.7 0.7"/>
+    <xs:attribute name="specular" type="float3" default="0.3 0.3 0.3"/>
+    <xs:attribute name="mode" type="kw_camlight" default="fixed"/>
+    <xs:attribute name="target" type="xs:string"/>
+    <xs:attribute name="texture" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="plugin">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): config (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="config" type="config"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="plugin" type="xs:string"/>
+    <xs:attribute name="instance" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="composite">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): composite_joint (*), composite_skin (?), composite_geom (?), composite_site (?), plugin (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="joint" type="composite_joint"/>
+      <xs:element name="skin" type="composite_skin"/>
+      <xs:element name="geom" type="composite_geom"/>
+      <xs:element name="site" type="composite_site"/>
+      <xs:element name="plugin" type="plugin"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="prefix" type="xs:string"/>
+    <xs:attribute name="type" type="kw_comp" use="required"/>
+    <xs:attribute name="count" type="double1to3"/>
+    <xs:attribute name="offset" type="double3"/>
+    <xs:attribute name="vertex" type="doublelist"/>
+    <xs:attribute name="initial" type="xs:string"/>
+    <xs:attribute name="curve" type="xs:string"/>
+    <xs:attribute name="size" type="double1to3"/>
+    <xs:attribute name="quat" type="double4"/>
+  </xs:complexType>
+
+  <xs:complexType name="flexcomp">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): flexcomp_edge (?), elasticity (?), flexcomp_contact (?), pin (*), plugin (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="edge" type="flexcomp_edge"/>
+      <xs:element name="elasticity" type="elasticity"/>
+      <xs:element name="contact" type="flexcomp_contact"/>
+      <xs:element name="pin" type="pin"/>
+      <xs:element name="plugin" type="plugin"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="name" type="xs:string" use="required"/>
+    <xs:attribute name="type" type="kw_fcomp"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="dim" type="xs:int"/>
+    <xs:attribute name="dof" type="kw_fdof"/>
+    <xs:attribute name="count" type="double3"/>
+    <xs:attribute name="cellcount" type="double3"/>
+    <xs:attribute name="spacing" type="double3"/>
+    <xs:attribute name="radius" type="xs:double"/>
+    <xs:attribute name="rigid" type="kw_bool"/>
+    <xs:attribute name="mass" type="xs:double"/>
+    <xs:attribute name="inertiabox" type="xs:double"/>
+    <xs:attribute name="scale" type="double3"/>
+    <xs:attribute name="file" type="xs:string"/>
+    <xs:attribute name="point" type="doublelist"/>
+    <xs:attribute name="element" type="doublelist"/>
+    <xs:attribute name="texcoord" type="doublelist"/>
+    <xs:attribute name="material" type="xs:string"/>
+    <xs:attribute name="rgba" type="double4"/>
+    <xs:attribute name="flatskin" type="kw_bool"/>
+    <xs:attribute name="pos" type="double3"/>
+    <xs:attribute name="quat" type="double4"/>
+    <xs:attribute name="axisangle" type="double4"/>
+    <xs:attribute name="xyaxes" type="double6"/>
+    <xs:attribute name="zaxis" type="double3"/>
+    <xs:attribute name="euler" type="double3"/>
+    <xs:attribute name="origin" type="double3"/>
+  </xs:complexType>
+
+  <xs:complexType name="flex">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): flexcomp_contact (?), flex_edge (?), elasticity (?)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="contact" type="flexcomp_contact"/>
+      <xs:element name="edge" type="flex_edge"/>
+      <xs:element name="elasticity" type="elasticity"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="dim" type="xs:int"/>
+    <xs:attribute name="radius" type="xs:double"/>
+    <xs:attribute name="material" type="xs:string"/>
+    <xs:attribute name="rgba" type="float4"/>
+    <xs:attribute name="flatskin" type="kw_bool"/>
+    <xs:attribute name="body" type="xs:string" use="required">
+      <xs:annotation>
+        <xs:documentation>space-separated body names</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="vertex" type="doublelist"/>
+    <xs:attribute name="element" type="intlist" use="required"/>
+    <xs:attribute name="texcoord" type="floatlist"/>
+    <xs:attribute name="elemtexcoord" type="intlist"/>
+    <xs:attribute name="node" type="xs:string">
+      <xs:annotation>
+        <xs:documentation>space-separated body names</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="cellcount" type="int3">
+      <xs:annotation>
+        <xs:documentation>seeded to {1,1,1} before reading</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="dof" type="kw_fdof">
+      <xs:annotation>
+        <xs:documentation>lowers to interpolation order</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+  </xs:complexType>
+
+  <xs:complexType name="pair">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="geom1" type="xs:string"/>
+    <xs:attribute name="geom2" type="xs:string"/>
+    <xs:attribute name="condim" type="xs:int" default="3"/>
+    <xs:attribute name="friction" type="double1to5" default="1 1 0.005 0.0001 0.0001"/>
+    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
+    <xs:attribute name="solreffriction" type="double1to2"/>
+    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
+    <xs:attribute name="gap" type="xs:double"/>
+    <xs:attribute name="margin" type="xs:double"/>
+    <xs:attribute name="adhesion" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="exclude">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="body1" type="xs:string" use="required"/>
+    <xs:attribute name="body2" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="spatial">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): spatial_site (*), spatial_geom (*), pulley (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="site" type="spatial_site"/>
+      <xs:element name="geom" type="spatial_geom"/>
+      <xs:element name="pulley" type="pulley"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="limited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="actuatorfrclimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="range" type="double2"/>
+    <xs:attribute name="actuatorfrcrange" type="double2"/>
+    <xs:attribute name="solreflimit" type="double1to2"/>
+    <xs:attribute name="solimplimit" type="double1to5"/>
+    <xs:attribute name="solreffriction" type="double1to2"/>
+    <xs:attribute name="solimpfriction" type="double1to5"/>
+    <xs:attribute name="frictionloss" type="xs:double"/>
+    <xs:attribute name="springlength" type="double1to2" default="-1 -1">
+      <xs:annotation>
+        <xs:documentation>one value: copied to both</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="width" type="xs:double" default="0.003"/>
+    <xs:attribute name="material" type="xs:string"/>
+    <xs:attribute name="margin" type="xs:double"/>
+    <xs:attribute name="stiffness" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>spring polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="rgba" type="float4" default="0.5 0.5 0.5 1"/>
+    <xs:attribute name="user" type="doublelist"/>
+  </xs:complexType>
+
+  <xs:complexType name="fixed">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): fixed_joint (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="joint" type="fixed_joint"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="limited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="actuatorfrclimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="range" type="double2"/>
+    <xs:attribute name="actuatorfrcrange" type="double2"/>
+    <xs:attribute name="solreflimit" type="double1to2"/>
+    <xs:attribute name="solimplimit" type="double1to5"/>
+    <xs:attribute name="solreffriction" type="double1to2"/>
+    <xs:attribute name="solimpfriction" type="double1to5"/>
+    <xs:attribute name="frictionloss" type="xs:double"/>
+    <xs:attribute name="springlength" type="double1to2" default="-1 -1">
+      <xs:annotation>
+        <xs:documentation>one value: copied to both</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="margin" type="xs:double"/>
+    <xs:attribute name="stiffness" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>spring polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+  </xs:complexType>
+
+  <xs:complexType name="connect">
+    <xs:annotation>
+      <xs:documentation>constraint: at most one of: site1+site2, body1+body2+anchor</xs:documentation>
+      <xs:documentation>constraint: at least one of: site1+site2, body1+anchor</xs:documentation>
+      <xs:documentation>constraint: together or absent: site1, site2</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="active" type="kw_bool" default="true"/>
+    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
+    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
+    <xs:attribute name="body1" type="xs:string"/>
+    <xs:attribute name="body2" type="xs:string"/>
+    <xs:attribute name="anchor" type="double3"/>
+    <xs:attribute name="site1" type="xs:string"/>
+    <xs:attribute name="site2" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="weld">
+    <xs:annotation>
+      <xs:documentation>constraint: at most one of: site1+site2, body1+body2+anchor+relpose</xs:documentation>
+      <xs:documentation>constraint: at least one of: site1+site2, body1</xs:documentation>
+      <xs:documentation>constraint: together or absent: site1, site2</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="active" type="kw_bool" default="true"/>
+    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
+    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
+    <xs:attribute name="body1" type="xs:string"/>
+    <xs:attribute name="body2" type="xs:string"/>
+    <xs:attribute name="relpose" type="double7"/>
+    <xs:attribute name="anchor" type="double3"/>
+    <xs:attribute name="site1" type="xs:string"/>
+    <xs:attribute name="site2" type="xs:string"/>
+    <xs:attribute name="torquescale" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="equality_joint">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="active" type="kw_bool" default="true"/>
+    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
+    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
+    <xs:attribute name="joint1" type="xs:string" use="required"/>
+    <xs:attribute name="joint2" type="xs:string"/>
+    <xs:attribute name="polycoef" type="double1to5"/>
+  </xs:complexType>
+
+  <xs:complexType name="equality_tendon">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="active" type="kw_bool" default="true"/>
+    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
+    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
+    <xs:attribute name="tendon1" type="xs:string" use="required"/>
+    <xs:attribute name="tendon2" type="xs:string"/>
+    <xs:attribute name="polycoef" type="double1to5"/>
+  </xs:complexType>
+
+  <xs:complexType name="equality_flex">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="active" type="kw_bool" default="true"/>
+    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
+    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
+    <xs:attribute name="flex" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="flexvert">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="active" type="kw_bool" default="true"/>
+    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
+    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
+    <xs:attribute name="flex" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="flexstrain">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="active" type="kw_bool" default="true"/>
+    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
+    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
+    <xs:attribute name="flex" type="xs:string" use="required"/>
+    <xs:attribute name="cell" type="double3"/>
+  </xs:complexType>
+
+  <xs:complexType name="general">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="actlimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="actrange" type="double2"/>
+    <xs:attribute name="lengthrange" type="double2"/>
+    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="cranklength" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>slidercrank-only, validated</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="joint" type="xs:string"/>
+    <xs:attribute name="jointinparent" type="xs:string"/>
+    <xs:attribute name="tendon" type="xs:string"/>
+    <xs:attribute name="slidersite" type="xs:string"/>
+    <xs:attribute name="cranksite" type="xs:string"/>
+    <xs:attribute name="site" type="xs:string"/>
+    <xs:attribute name="refsite" type="xs:string"/>
+    <xs:attribute name="body" type="xs:string">
+      <xs:annotation>
+        <xs:documentation>transmission target</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="actdim" type="xs:int" default="-1">
+      <xs:annotation>
+        <xs:documentation>saved default depends on dyntype</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="input" type="kw_inputchart">
+      <xs:annotation>
+        <xs:documentation>so3 chart keyword, or servo token subset</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="velrange" type="double2"/>
+    <xs:attribute name="ffrange" type="double2"/>
+    <xs:attribute name="dyntype" type="kw_dyn" default="none"/>
+    <xs:attribute name="gaintype" type="kw_gain" default="fixed">
+      <xs:annotation>
+        <xs:documentation>gain/bias family is not</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="biastype" type="kw_bias" default="none">
+      <xs:annotation>
+        <xs:documentation>saved for plugin actuators</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="dynprm" type="double1to10" default="1"/>
+    <xs:attribute name="gainprm" type="double1to10" default="1"/>
+    <xs:attribute name="biasprm" type="double1to10"/>
+    <xs:attribute name="actearly" type="kw_bool"/>
+  </xs:complexType>
+
+  <xs:complexType name="motor">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="lengthrange" type="double2"/>
+    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="cranklength" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>slidercrank-only, validated</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="joint" type="xs:string"/>
+    <xs:attribute name="jointinparent" type="xs:string"/>
+    <xs:attribute name="tendon" type="xs:string"/>
+    <xs:attribute name="slidersite" type="xs:string"/>
+    <xs:attribute name="cranksite" type="xs:string"/>
+    <xs:attribute name="site" type="xs:string"/>
+    <xs:attribute name="refsite" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="position">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="inheritrange" type="xs:double"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="lengthrange" type="double2"/>
+    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="cranklength" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>slidercrank-only, validated</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="joint" type="xs:string"/>
+    <xs:attribute name="jointinparent" type="xs:string"/>
+    <xs:attribute name="tendon" type="xs:string"/>
+    <xs:attribute name="slidersite" type="xs:string"/>
+    <xs:attribute name="cranksite" type="xs:string"/>
+    <xs:attribute name="site" type="xs:string"/>
+    <xs:attribute name="refsite" type="xs:string"/>
+    <xs:attribute name="kp" type="xs:double"/>
+    <xs:attribute name="kv" type="xs:double"/>
+    <xs:attribute name="dampratio" type="xs:double"/>
+    <xs:attribute name="timeconst" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="velocity">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="lengthrange" type="double2"/>
+    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="cranklength" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>slidercrank-only, validated</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="joint" type="xs:string"/>
+    <xs:attribute name="jointinparent" type="xs:string"/>
+    <xs:attribute name="tendon" type="xs:string"/>
+    <xs:attribute name="slidersite" type="xs:string"/>
+    <xs:attribute name="cranksite" type="xs:string"/>
+    <xs:attribute name="site" type="xs:string"/>
+    <xs:attribute name="refsite" type="xs:string"/>
+    <xs:attribute name="kv" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="intvelocity">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="actlimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="actrange" type="double2"/>
+    <xs:attribute name="inheritrange" type="xs:double"/>
+    <xs:attribute name="lengthrange" type="double2"/>
+    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="cranklength" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>slidercrank-only, validated</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="joint" type="xs:string"/>
+    <xs:attribute name="jointinparent" type="xs:string"/>
+    <xs:attribute name="tendon" type="xs:string"/>
+    <xs:attribute name="slidersite" type="xs:string"/>
+    <xs:attribute name="cranksite" type="xs:string"/>
+    <xs:attribute name="site" type="xs:string"/>
+    <xs:attribute name="refsite" type="xs:string"/>
+    <xs:attribute name="kp" type="xs:double"/>
+    <xs:attribute name="kv" type="xs:double"/>
+    <xs:attribute name="dampratio" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="orientation">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="joint" type="xs:string"/>
+    <xs:attribute name="site" type="xs:string"/>
+    <xs:attribute name="refsite" type="xs:string"/>
+    <xs:attribute name="kp" type="xs:double"/>
+    <xs:attribute name="kv" type="xs:double"/>
+    <xs:attribute name="dampratio" type="xs:double"/>
+    <xs:attribute name="input" type="kw_inputchart"/>
+  </xs:complexType>
+
+  <xs:complexType name="pid">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="posrange" type="double2">
+      <xs:annotation>
+        <xs:documentation>alias: the position-setpoint range</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="velrange" type="double2"/>
+    <xs:attribute name="ffrange" type="double2"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="inheritrange" type="xs:double"/>
+    <xs:attribute name="lengthrange" type="double2"/>
+    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="cranklength" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>slidercrank-only, validated</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="joint" type="xs:string"/>
+    <xs:attribute name="jointinparent" type="xs:string"/>
+    <xs:attribute name="tendon" type="xs:string"/>
+    <xs:attribute name="slidersite" type="xs:string"/>
+    <xs:attribute name="cranksite" type="xs:string"/>
+    <xs:attribute name="site" type="xs:string"/>
+    <xs:attribute name="refsite" type="xs:string"/>
+    <xs:attribute name="kp" type="xs:double"/>
+    <xs:attribute name="kv" type="xs:double"/>
+    <xs:attribute name="dampratio" type="xs:double"/>
+    <xs:attribute name="ki" type="xs:double"/>
+    <xs:attribute name="imax" type="xs:double"/>
+    <xs:attribute name="slewmax" type="xs:double"/>
+    <xs:attribute name="input" type="kwlist_inputbit"/>
+  </xs:complexType>
+
+  <xs:complexType name="damper">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="lengthrange" type="double2"/>
+    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="cranklength" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>slidercrank-only, validated</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="joint" type="xs:string"/>
+    <xs:attribute name="jointinparent" type="xs:string"/>
+    <xs:attribute name="tendon" type="xs:string"/>
+    <xs:attribute name="slidersite" type="xs:string"/>
+    <xs:attribute name="cranksite" type="xs:string"/>
+    <xs:attribute name="site" type="xs:string"/>
+    <xs:attribute name="refsite" type="xs:string"/>
+    <xs:attribute name="kv" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="cylinder">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="lengthrange" type="double2"/>
+    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="cranklength" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>slidercrank-only, validated</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="joint" type="xs:string"/>
+    <xs:attribute name="jointinparent" type="xs:string"/>
+    <xs:attribute name="tendon" type="xs:string"/>
+    <xs:attribute name="slidersite" type="xs:string"/>
+    <xs:attribute name="cranksite" type="xs:string"/>
+    <xs:attribute name="site" type="xs:string"/>
+    <xs:attribute name="refsite" type="xs:string"/>
+    <xs:attribute name="timeconst" type="xs:double"/>
+    <xs:attribute name="area" type="xs:double"/>
+    <xs:attribute name="diameter" type="xs:double"/>
+    <xs:attribute name="bias" type="double3"/>
+  </xs:complexType>
+
+  <xs:complexType name="muscle">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="lengthrange" type="double2"/>
+    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="cranklength" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>slidercrank-only, validated</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="joint" type="xs:string"/>
+    <xs:attribute name="jointinparent" type="xs:string"/>
+    <xs:attribute name="tendon" type="xs:string"/>
+    <xs:attribute name="slidersite" type="xs:string"/>
+    <xs:attribute name="cranksite" type="xs:string"/>
+    <xs:attribute name="timeconst" type="xs:double"/>
+    <xs:attribute name="tausmooth" type="xs:double"/>
+    <xs:attribute name="range" type="double2"/>
+    <xs:attribute name="force" type="xs:double"/>
+    <xs:attribute name="scale" type="xs:double"/>
+    <xs:attribute name="lmin" type="xs:double"/>
+    <xs:attribute name="lmax" type="xs:double"/>
+    <xs:attribute name="vmax" type="xs:double"/>
+    <xs:attribute name="fpmax" type="xs:double"/>
+    <xs:attribute name="fvmax" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="adhesion">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="body" type="xs:string"/>
+    <xs:attribute name="gain" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="dcmotor">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="lengthrange" type="double2"/>
+    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="cranklength" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>slidercrank-only, validated</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="joint" type="xs:string"/>
+    <xs:attribute name="jointinparent" type="xs:string"/>
+    <xs:attribute name="tendon" type="xs:string"/>
+    <xs:attribute name="slidersite" type="xs:string"/>
+    <xs:attribute name="cranksite" type="xs:string"/>
+    <xs:attribute name="site" type="xs:string"/>
+    <xs:attribute name="refsite" type="xs:string"/>
+    <xs:attribute name="motorconst" type="double1to2"/>
+    <xs:attribute name="resistance" type="xs:double"/>
+    <xs:attribute name="nominal" type="double1to3"/>
+    <xs:attribute name="saturation" type="double1to3"/>
+    <xs:attribute name="inductance" type="double1to2"/>
+    <xs:attribute name="cogging" type="double1to3"/>
+    <xs:attribute name="controller" type="double1to6"/>
+    <xs:attribute name="thermal" type="double1to6"/>
+    <xs:attribute name="lugre" type="double1to5"/>
+    <xs:attribute name="input" type="kw_dcmotorinput"/>
+  </xs:complexType>
+
+  <xs:complexType name="actuator_plugin">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): config (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="config" type="config"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="ctrlrange" type="double2"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="plugin" type="xs:string"/>
+    <xs:attribute name="instance" type="xs:string"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="actlimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcerange" type="double2"/>
+    <xs:attribute name="actrange" type="double2"/>
+    <xs:attribute name="lengthrange" type="double2"/>
+    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="cranklength" type="xs:double">
+      <xs:annotation>
+        <xs:documentation>slidercrank-only, validated</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="joint" type="xs:string"/>
+    <xs:attribute name="jointinparent" type="xs:string"/>
+    <xs:attribute name="site" type="xs:string"/>
+    <xs:attribute name="actdim" type="xs:int" default="-1"/>
+    <xs:attribute name="dyntype" type="kw_dyn" default="none"/>
+    <xs:attribute name="dynprm" type="double1to10" default="1"/>
+    <xs:attribute name="tendon" type="xs:string"/>
+    <xs:attribute name="cranksite" type="xs:string"/>
+    <xs:attribute name="slidersite" type="xs:string"/>
+    <xs:attribute name="actearly" type="kw_bool"/>
+  </xs:complexType>
+
+  <xs:complexType name="touch">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="site" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="accelerometer">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="site" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="velocimeter">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="site" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="gyro">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="site" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="force">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="site" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="torque">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="site" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="magnetometer">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="site" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="camprojection">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="site" type="xs:string" use="required"/>
+    <xs:attribute name="camera" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="rangefinder">
+    <xs:annotation>
+      <xs:documentation>constraint: at most one of: site, camera</xs:documentation>
+      <xs:documentation>constraint: at least one of: site, camera</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="site" type="xs:string"/>
+    <xs:attribute name="camera" type="xs:string"/>
+    <xs:attribute name="data" type="kwlist_raydata">
+      <xs:annotation>
+        <xs:documentation>ordering-checked</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+  </xs:complexType>
+
+  <xs:complexType name="jointpos">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="joint" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="jointvel">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="joint" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="tendonpos">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="tendon" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="tendonvel">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="tendon" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="actuatorpos">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="actuator" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="actuatorvel">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="actuator" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="actuatorfrc">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="actuator" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="jointactuatorfrc">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="joint" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="tendonactuatorfrc">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="tendon" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="ballquat">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="joint" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="ballangvel">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="joint" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="jointlimitpos">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="joint" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="jointlimitvel">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="joint" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="jointlimitfrc">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="joint" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="tendonlimitpos">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="tendon" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="tendonlimitvel">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="tendon" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="tendonlimitfrc">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="tendon" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="framepos">
+    <xs:annotation>
+      <xs:documentation>constraint: together or absent: reftype, refname</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="objtype" type="kw_frameobj" use="required"/>
+    <xs:attribute name="objname" type="xs:string" use="required"/>
+    <xs:attribute name="reftype" type="kw_frameobj"/>
+    <xs:attribute name="refname" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="framequat">
+    <xs:annotation>
+      <xs:documentation>constraint: together or absent: reftype, refname</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="objtype" type="kw_frameobj" use="required"/>
+    <xs:attribute name="objname" type="xs:string" use="required"/>
+    <xs:attribute name="reftype" type="kw_frameobj"/>
+    <xs:attribute name="refname" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="framexaxis">
+    <xs:annotation>
+      <xs:documentation>constraint: together or absent: reftype, refname</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="objtype" type="kw_frameobj" use="required"/>
+    <xs:attribute name="objname" type="xs:string" use="required"/>
+    <xs:attribute name="reftype" type="kw_frameobj"/>
+    <xs:attribute name="refname" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="frameyaxis">
+    <xs:annotation>
+      <xs:documentation>constraint: together or absent: reftype, refname</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="objtype" type="kw_frameobj" use="required"/>
+    <xs:attribute name="objname" type="xs:string" use="required"/>
+    <xs:attribute name="reftype" type="kw_frameobj"/>
+    <xs:attribute name="refname" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="framezaxis">
+    <xs:annotation>
+      <xs:documentation>constraint: together or absent: reftype, refname</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="objtype" type="kw_frameobj" use="required"/>
+    <xs:attribute name="objname" type="xs:string" use="required"/>
+    <xs:attribute name="reftype" type="kw_frameobj"/>
+    <xs:attribute name="refname" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="framelinvel">
+    <xs:annotation>
+      <xs:documentation>constraint: together or absent: reftype, refname</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="objtype" type="kw_frameobj" use="required"/>
+    <xs:attribute name="objname" type="xs:string" use="required"/>
+    <xs:attribute name="reftype" type="kw_frameobj"/>
+    <xs:attribute name="refname" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="frameangvel">
+    <xs:annotation>
+      <xs:documentation>constraint: together or absent: reftype, refname</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="objtype" type="kw_frameobj" use="required"/>
+    <xs:attribute name="objname" type="xs:string" use="required"/>
+    <xs:attribute name="reftype" type="kw_frameobj"/>
+    <xs:attribute name="refname" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="framelinacc">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="objtype" type="kw_frameobj" use="required"/>
+    <xs:attribute name="objname" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="frameangacc">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="objtype" type="kw_frameobj" use="required"/>
+    <xs:attribute name="objname" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="subtreecom">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="body" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="subtreelinvel">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="body" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="subtreeangmom">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="body" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="insidesite">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="site" type="xs:string" use="required"/>
+    <xs:attribute name="objtype" type="kw_frameobj" use="required"/>
+    <xs:attribute name="objname" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="distance">
+    <xs:annotation>
+      <xs:documentation>constraint: at most one of: geom1, body1</xs:documentation>
+      <xs:documentation>constraint: at least one of: geom1, body1</xs:documentation>
+      <xs:documentation>constraint: at most one of: geom2, body2</xs:documentation>
+      <xs:documentation>constraint: at least one of: geom2, body2</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="geom1" type="xs:string"/>
+    <xs:attribute name="geom2" type="xs:string"/>
+    <xs:attribute name="body1" type="xs:string"/>
+    <xs:attribute name="body2" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="normal">
+    <xs:annotation>
+      <xs:documentation>constraint: at most one of: geom1, body1</xs:documentation>
+      <xs:documentation>constraint: at least one of: geom1, body1</xs:documentation>
+      <xs:documentation>constraint: at most one of: geom2, body2</xs:documentation>
+      <xs:documentation>constraint: at least one of: geom2, body2</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="geom1" type="xs:string"/>
+    <xs:attribute name="geom2" type="xs:string"/>
+    <xs:attribute name="body1" type="xs:string"/>
+    <xs:attribute name="body2" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="fromto">
+    <xs:annotation>
+      <xs:documentation>constraint: at most one of: geom1, body1</xs:documentation>
+      <xs:documentation>constraint: at least one of: geom1, body1</xs:documentation>
+      <xs:documentation>constraint: at most one of: geom2, body2</xs:documentation>
+      <xs:documentation>constraint: at least one of: geom2, body2</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="geom1" type="xs:string"/>
+    <xs:attribute name="geom2" type="xs:string"/>
+    <xs:attribute name="body1" type="xs:string"/>
+    <xs:attribute name="body2" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="sensor_contact">
+    <xs:annotation>
+      <xs:documentation>constraint: at most one of: geom1, body1, subtree1, site</xs:documentation>
+      <xs:documentation>constraint: at most one of: geom2, body2, subtree2</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+    <xs:attribute name="geom1" type="xs:string"/>
+    <xs:attribute name="geom2" type="xs:string"/>
+    <xs:attribute name="body1" type="xs:string"/>
+    <xs:attribute name="body2" type="xs:string"/>
+    <xs:attribute name="subtree1" type="xs:string"/>
+    <xs:attribute name="subtree2" type="xs:string"/>
+    <xs:attribute name="site" type="xs:string"/>
+    <xs:attribute name="num" type="xs:int"/>
+    <xs:attribute name="data" type="kwlist_condata"/>
+    <xs:attribute name="reduce" type="kw_reduce"/>
+  </xs:complexType>
+
+  <xs:complexType name="e_potential">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+  </xs:complexType>
+
+  <xs:complexType name="e_kinetic">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+  </xs:complexType>
+
+  <xs:complexType name="clock">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+  </xs:complexType>
+
+  <xs:complexType name="tactile">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="geom" type="xs:string" use="required"/>
+    <xs:attribute name="mesh" type="xs:string" use="required"/>
+    <xs:attribute name="nsample" type="xs:int"/>
+    <xs:attribute name="interp" type="kw_interp"/>
+    <xs:attribute name="delay" type="xs:double"/>
+    <xs:attribute name="interval" type="double1to2"/>
+    <xs:attribute name="user" type="doublelist"/>
+  </xs:complexType>
+
+  <xs:complexType name="user">
+    <xs:annotation>
+      <xs:documentation>constraint: together or absent: objtype, objname</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="objtype" type="xs:string"/>
+    <xs:attribute name="objname" type="xs:string"/>
+    <xs:attribute name="datatype" type="kw_datatype" default="real"/>
+    <xs:attribute name="needstage" type="kw_stage" default="acc"/>
+    <xs:attribute name="dim" type="xs:int"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="noise" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+  </xs:complexType>
+
+  <xs:complexType name="sensor_plugin">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): config (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="config" type="config"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="plugin" type="xs:string"/>
+    <xs:attribute name="instance" type="xs:string"/>
+    <xs:attribute name="cutoff" type="xs:double"/>
+    <xs:attribute name="objtype" type="xs:string">
+      <xs:annotation>
+        <xs:documentation>objtype/objname, reftype/refname: pairwise</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="objname" type="xs:string">
+      <xs:annotation>
+        <xs:documentation>co-occurrence enforced by the reader</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="reftype" type="xs:string"/>
+    <xs:attribute name="refname" type="xs:string"/>
+    <xs:attribute name="user" type="doublelist"/>
+  </xs:complexType>
+
+  <xs:complexType name="numeric">
+    <xs:attribute name="name" type="xs:string" use="required"/>
+    <xs:attribute name="size" type="xs:int"/>
+    <xs:attribute name="data" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="text">
+    <xs:attribute name="name" type="xs:string" use="required"/>
+    <xs:attribute name="data" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="tuple">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): element (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="element" type="element"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="name" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="key">
+    <xs:attribute name="name" type="xs:string">
+      <xs:annotation>
+        <xs:documentation>set even when absent</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="time" type="xs:double"/>
+    <xs:attribute name="qpos" type="doublelist"/>
+    <xs:attribute name="qvel" type="doublelist"/>
+    <xs:attribute name="act" type="doublelist"/>
+    <xs:attribute name="mpos" type="doublelist"/>
+    <xs:attribute name="mquat" type="doublelist"/>
+    <xs:attribute name="ctrl" type="doublelist"/>
+  </xs:complexType>
+
+  <xs:complexType name="default_layer">
+    <xs:attribute name="texture" type="xs:string"/>
+    <xs:attribute name="role" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="instance">
+    <xs:annotation>
+      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): config (*)</xs:documentation>
+    </xs:annotation>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="config" type="config"/>
+      <xs:element name="include" type="include"/>
+    </xs:choice>
+    <xs:attribute name="name" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="bone">
+    <xs:attribute name="body" type="xs:string" use="required"/>
+    <xs:attribute name="bindpos" type="double3"/>
+    <xs:attribute name="bindquat" type="double4"/>
+    <xs:attribute name="vertid" type="doublelist"/>
+    <xs:attribute name="vertweight" type="doublelist"/>
+  </xs:complexType>
+
+  <xs:complexType name="layer">
+    <xs:attribute name="texture" type="xs:string"/>
+    <xs:attribute name="role" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="inertial">
+    <xs:annotation>
+      <xs:documentation>projects into the parent body's i-frame</xs:documentation>
+      <xs:documentation>constraint: at most one of: fullinertia, quat, axisangle, xyaxes, zaxis, euler</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="pos" type="double3" use="required"/>
+    <xs:attribute name="quat" type="double4"/>
+    <xs:attribute name="mass" type="xs:double" use="required"/>
+    <xs:attribute name="diaginertia" type="double3"/>
+    <xs:attribute name="axisangle" type="double4"/>
+    <xs:attribute name="xyaxes" type="double6"/>
+    <xs:attribute name="zaxis" type="double3"/>
+    <xs:attribute name="euler" type="double3"/>
+    <xs:attribute name="fullinertia" type="double6"/>
+  </xs:complexType>
+
+  <xs:complexType name="joint">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="class" type="xs:string"/>
+    <xs:attribute name="type" type="kw_jointtype" default="hinge"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="pos" type="double3">
+      <xs:annotation>
+        <xs:documentation>saved unless free</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="axis" type="double3" default="0 0 1">
+      <xs:annotation>
+        <xs:documentation>saved for slide/hinge</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="springdamper" type="double2">
+      <xs:annotation>
+        <xs:documentation>compile directive: saved as stiffness/damping</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="limited" type="kw_FalseTrueAuto">
+      <xs:annotation>
+        <xs:documentation>saved unless free</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="actuatorfrclimited" type="kw_FalseTrueAuto">
+      <xs:annotation>
+        <xs:documentation>saved for slide/hinge</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="solreflimit" type="double1to2"/>
+    <xs:attribute name="solimplimit" type="double1to5"/>
+    <xs:attribute name="solreffriction" type="double1to2"/>
+    <xs:attribute name="solimpfriction" type="double1to5"/>
+    <xs:attribute name="stiffness" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>spring polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="range" type="double2"/>
+    <xs:attribute name="actuatorfrcrange" type="double2"/>
+    <xs:attribute name="actuatorgravcomp" type="kw_bool"/>
+    <xs:attribute name="margin" type="xs:double"/>
+    <xs:attribute name="ref" type="xs:double"/>
+    <xs:attribute name="springref" type="xs:double"/>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="damping" type="double1to3">
+      <xs:annotation>
+        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
+      </xs:annotation>
+    </xs:attribute>
+    <xs:attribute name="frictionloss" type="xs:double"/>
+    <xs:attribute name="user" type="doublelist"/>
+  </xs:complexType>
+
+  <xs:complexType name="freejoint">
+    <xs:attribute name="name" type="xs:string"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="align" type="kw_FalseTrueAuto"/>
+  </xs:complexType>
+
+  <xs:complexType name="config">
+    <xs:attribute name="key" type="xs:string" use="required"/>
+    <xs:attribute name="value" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="composite_joint">
+    <xs:attribute name="kind" type="kw_jkind" use="required"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="stiffness" type="xs:double"/>
+    <xs:attribute name="damping" type="xs:double"/>
+    <xs:attribute name="armature" type="xs:double"/>
+    <xs:attribute name="solreffix" type="double1to2"/>
+    <xs:attribute name="solimpfix" type="double1to5"/>
+    <xs:attribute name="type" type="kw_jointtype"/>
+    <xs:attribute name="axis" type="double3"/>
+    <xs:attribute name="limited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="range" type="double2"/>
+    <xs:attribute name="margin" type="xs:double"/>
+    <xs:attribute name="solreflimit" type="double1to2"/>
+    <xs:attribute name="solimplimit" type="double1to5"/>
+    <xs:attribute name="frictionloss" type="xs:double"/>
+    <xs:attribute name="solreffriction" type="double1to2"/>
+    <xs:attribute name="solimpfriction" type="double1to5"/>
+  </xs:complexType>
+
+  <xs:complexType name="composite_skin">
+    <xs:attribute name="texcoord" type="kw_bool"/>
+    <xs:attribute name="material" type="xs:string"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="rgba" type="double4"/>
+    <xs:attribute name="inflate" type="xs:double"/>
+    <xs:attribute name="subgrid" type="xs:int"/>
+  </xs:complexType>
+
+  <xs:complexType name="composite_geom">
+    <xs:attribute name="type" type="kw_geomtype"/>
+    <xs:attribute name="contype" type="xs:int"/>
+    <xs:attribute name="conaffinity" type="xs:int"/>
+    <xs:attribute name="condim" type="xs:int"/>
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="priority" type="xs:int"/>
+    <xs:attribute name="size" type="double1to3"/>
+    <xs:attribute name="material" type="xs:string"/>
+    <xs:attribute name="rgba" type="double4"/>
+    <xs:attribute name="friction" type="double1to3"/>
+    <xs:attribute name="mass" type="xs:double"/>
+    <xs:attribute name="density" type="xs:double"/>
+    <xs:attribute name="solmix" type="xs:double"/>
+    <xs:attribute name="solref" type="double1to2"/>
+    <xs:attribute name="solimp" type="double1to5"/>
+    <xs:attribute name="margin" type="xs:double"/>
+    <xs:attribute name="gap" type="xs:double"/>
+    <xs:attribute name="surfacevel" type="double1to6"/>
+    <xs:attribute name="adhesion" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="composite_site">
+    <xs:attribute name="group" type="xs:int"/>
+    <xs:attribute name="size" type="double1to3"/>
+    <xs:attribute name="material" type="xs:string"/>
+    <xs:attribute name="rgba" type="double4"/>
+  </xs:complexType>
+
+  <xs:complexType name="flexcomp_edge">
+    <xs:attribute name="equality" type="kw_flexeq"/>
+    <xs:attribute name="solref" type="double1to2"/>
+    <xs:attribute name="solimp" type="double1to5"/>
+    <xs:attribute name="stiffness" type="xs:double"/>
+    <xs:attribute name="damping" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="elasticity">
+    <xs:attribute name="young" type="xs:double"/>
+    <xs:attribute name="poisson" type="xs:double"/>
+    <xs:attribute name="damping" type="xs:double"/>
+    <xs:attribute name="thickness" type="xs:double"/>
+    <xs:attribute name="elastic2d" type="kw_elastic2d"/>
+  </xs:complexType>
+
+  <xs:complexType name="flexcomp_contact">
+    <xs:attribute name="contype" type="xs:int"/>
+    <xs:attribute name="conaffinity" type="xs:int"/>
+    <xs:attribute name="condim" type="xs:int"/>
+    <xs:attribute name="priority" type="xs:int"/>
+    <xs:attribute name="friction" type="double1to3"/>
+    <xs:attribute name="solmix" type="xs:double"/>
+    <xs:attribute name="solref" type="double1to2"/>
+    <xs:attribute name="solimp" type="double1to5"/>
+    <xs:attribute name="margin" type="xs:double"/>
+    <xs:attribute name="gap" type="xs:double"/>
+    <xs:attribute name="internal" type="kw_bool"/>
+    <xs:attribute name="selfcollide" type="kw_flexself"/>
+    <xs:attribute name="activelayers" type="xs:int"/>
+    <xs:attribute name="passive" type="kw_bool"/>
+  </xs:complexType>
+
+  <xs:complexType name="pin">
+    <xs:attribute name="id" type="doublelist"/>
+    <xs:attribute name="range" type="doublelist"/>
+    <xs:attribute name="grid" type="doublelist"/>
+    <xs:attribute name="gridrange" type="doublelist"/>
+  </xs:complexType>
+
+  <xs:complexType name="flex_edge">
+    <xs:attribute name="stiffness" type="xs:double"/>
+    <xs:attribute name="damping" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="spatial_site">
+    <xs:attribute name="site" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="spatial_geom">
+    <xs:attribute name="geom" type="xs:string" use="required"/>
+    <xs:attribute name="sidesite" type="xs:string"/>
+  </xs:complexType>
+
+  <xs:complexType name="pulley">
+    <xs:attribute name="divisor" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="fixed_joint">
+    <xs:attribute name="joint" type="xs:string" use="required"/>
+    <xs:attribute name="coef" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="element">
+    <xs:attribute name="objtype" type="xs:string" use="required"/>
+    <xs:attribute name="objname" type="xs:string" use="required"/>
+    <xs:attribute name="prm" type="xs:double"/>
+  </xs:complexType>
+
+  <xs:complexType name="include">
+    <xs:annotation>
+      <xs:documentation>includes another MJCF file; resolved before parsing</xs:documentation>
+    </xs:annotation>
+    <xs:attribute name="file" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:element name="mujoco" type="mujoco"/>
+</xs:schema>
diff --git a/test/doc/doc_test.py b/test/doc/doc_test.py
index a666bb70..f213c51f 100644
--- a/test/doc/doc_test.py
+++ b/test/doc/doc_test.py
@@ -29,6 +29,7 @@ import generate_mjcf_map
 import generate_mjcf_table
 import generate_read_table
 import generate_schema
+import generate_xsd
 import mjcf_schema
 
 # Functions in headers that are intentionally not in functions.rst.
@@ -128,6 +129,14 @@ class DocTest(googletest.TestCase):
         generate_read_table.generate(),
     )
 
+  def test_xsd(self):
+    """Checks that mjcf.xsd matches the schema-generated output."""
+    _check_up_to_date(
+        self,
+        'src/xml/generated/mjcf.xsd',
+        generate_xsd.generate(),
+    )
+
   def test_read_table_consumed(self):
     """Checks that every generated row array is consumed, and none is stale.