Yuval Tassa
2f1843f4a7
The dcmotor input block is any subset of the canonical list [pos, vel, ff, voltage], selected with input="pos vel ff voltage" and recorded as mjtCtrlInput bits in actuator_ctrlspec like pid. Tokens are required in canonical order: the attribute denotes a set, the block always packs canonically, and accepting permutations invites reading the string as a layout choice. The mode flag in gainprm[8] is retired (reserved, written 0). Controller gains are now in torque space, as for pid: the controller commands tau = kp*(q*-l) + kd*(v*-ldot) + ki*x_I + tau_ff over the present inputs (absent setpoints frozen at zero) and converts to drive voltage V = R/K * tau + K*ldot. The second term compensates back-EMF, as the current loop of a real torque-mode driver does (torque commands are current commands): commanded torque is delivered exactly until a limit binds, and the torque-speed envelope emerges from the Vmax clamp. The map uses the nameplate R: thermal resistance growth is not compensated, so a hot motor under-delivers by R/R(T). A stateless setpoint dcmotor now matches <pid> exactly, for any K and R; the old back-EMF droop remains available as the physical behavior of the raw voltage path. Voltage-space datasheet gains convert by K/R. Controller inputs require a positive motor constant (the map divides by K), and controller gains require a controller input. ff and voltage are distinct inputs, different in kind: ff is a torque feedforward added to the controller output, uniform with pid's ff (feedforward in the actuator's output space), while voltage is the raw terminal voltage of the physical device, injected downstream of the controller and its Vmax clamp, unclamped (ctrlrange bounds it if desired). input="voltage" is the default: the plain voltage-commanded motor, whose behavior is unchanged by this commit. The integrator always accumulates position error; the old velocity mode's integral term, ki*(int(u)dt - theta), which tracked the integral of the velocity command, is retired without replacement, keeping ki mode-independent -- commanded integrated velocity belongs to an integrator activation state, not to controller gains. slewmax rate-limits the first controller input -- position setpoint (rad/s), velocity setpoint (rad/s^2) or torque feedforward (N*m/s), each a real driver feature (reference ramping, ramped-velocity and ramped-torque input modes); the raw voltage input is never rate-limited and slewmax requires a controller input. input="none" selects the empty signature: the actuator owns no controls at all (nu = 0 is now legal with actuators present) and is purely passive -- LuGre friction, cogging and back-EMF braking as passive joint forces. This exists because auxiliary dynamic states (the LuGre bristle) attach to actuators, not joints. The terminal voltage is identically zero, i.e. a shorted motor (dynamic braking); motorconst=0 decouples the electrical branch. mjINPUT_NONE is a distinct enum value because ctrlspec = 0 means "unset, use the type default". History and delay require an input; the controller voltage override and input read in mj_fwdActuation are gated on a nonempty block. The analytic velocity derivative of the controller becomes dV/dw = -kd*R/K + K, whose second term cancels the back-EMF bias exactly: the net damping of an unclipped torque-mode motor is -kd, and of a voltage-mode or passive motor -K^2/R. Viewers label inputs via mj_actuatorInputName: pos, vel, ff, voltage. The dcmotor LaTeX design doc is updated accordingly: torque-space units, the tau->V map and its saturation-generated envelope, the input-block pipeline figure, and a Passive Operation section. PiperOrigin-RevId: 965795351 Change-Id: Ibc308ca21bd6bad014e77f950ee08feaad449b73
4102 lines
178 KiB
XML
4102 lines
178 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<!-- Generated by generate_xsd.py from mjcf.schema.
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Do not edit by hand; see test/doc/doc_test.py.
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This schema is deliberately permissive: it never
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rejects a legal model, but accepts some models the
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parser rejects. Child cardinality and attribute
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presence constraints are carried as documentation
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annotations. -->
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<xs:documentation>whole-attribute keyword: the empty signature</xs:documentation>
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<xs:restriction base="xs:string">
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<xs:simpleType name="kw_inputbit">
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<xs:documentation>bitflags: tokens combine bitwise, canonical order enforced</xs:documentation>
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<xs:documentation>object kinds with a spatial frame</xs:documentation>
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<xs:restriction base="xs:string">
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<xs:annotation>
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<xs:documentation>bitflags: keywords combine bitwise</xs:documentation>
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<xs:documentation>bitflags: keywords combine bitwise</xs:documentation>
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<xs:annotation>
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<xs:documentation>bitflags: keywords combine bitwise</xs:documentation>
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<xs:enumeration value="grid"/>
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<xs:enumeration value="rope"/>
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<xs:enumeration value="cable"/>
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<xs:enumeration value="cloth"/>
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</xs:simpleType>
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<xs:simpleType name="kw_jkind">
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<xs:annotation>
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<xs:documentation>vestigial: composite pruning left a single kind</xs:documentation>
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</xs:annotation>
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<xs:restriction base="xs:string">
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<xs:enumeration value="main"/>
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</xs:restriction>
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<xs:simpleType name="kw_shape">
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<xs:restriction base="xs:string">
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<xs:enumeration value="s"/>
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<xs:enumeration value="cos(s)"/>
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<xs:enumeration value="sin(s)"/>
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<xs:enumeration value="0"/>
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<xs:simpleType name="kw_meshinertia">
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<xs:restriction base="xs:string">
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<xs:enumeration value="convex"/>
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<xs:enumeration value="legacy"/>
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<xs:enumeration value="shell"/>
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<xs:simpleType name="kw_meshbuiltin">
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<xs:restriction base="xs:string">
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<xs:enumeration value="none"/>
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<xs:enumeration value="sphere"/>
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<xs:enumeration value="hemisphere"/>
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<xs:enumeration value="cone"/>
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<xs:enumeration value="supertorus"/>
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<xs:enumeration value="supersphere"/>
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<xs:enumeration value="wedge"/>
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<xs:enumeration value="plate"/>
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</xs:simpleType>
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<xs:simpleType name="kw_fcomp">
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<xs:restriction base="xs:string">
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<xs:enumeration value="grid"/>
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<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="int1to3">
|
|
<xs:restriction>
|
|
<xs:simpleType>
|
|
<xs:list itemType="xs:int"/>
|
|
</xs:simpleType>
|
|
<xs:minLength value="1"/>
|
|
<xs:maxLength value="3"/>
|
|
</xs:restriction>
|
|
</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" default="true"/>
|
|
<xs:attribute name="boundmass" type="xs:double"/>
|
|
<xs:attribute name="boundinertia" type="xs:double"/>
|
|
<xs:attribute name="settotalmass" type="xs:double" default="-1"/>
|
|
<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" default="degree"/>
|
|
<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" default="true"/>
|
|
<xs:attribute name="fusestatic" type="kw_bool"/>
|
|
<xs:attribute name="inertiafromgeom" type="kw_FalseTrueAuto" default="auto"/>
|
|
<xs:attribute name="inertiagrouprange" type="int2" default="0 5"/>
|
|
<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" default="0.02 1"/>
|
|
<xs:attribute name="o_solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
|
|
<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" default="-1">
|
|
<xs:annotation>
|
|
<xs:documentation>range/exclusivity checks</xs:documentation>
|
|
</xs:annotation>
|
|
</xs:attribute>
|
|
<xs:attribute name="nconmax" type="xs:int" default="-1">
|
|
<xs:annotation>
|
|
<xs:documentation>range check</xs:documentation>
|
|
</xs:annotation>
|
|
</xs:attribute>
|
|
<xs:attribute name="nstack" type="xs:int" default="-1">
|
|
<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" default="-1">
|
|
<xs:simpleType>
|
|
<xs:restriction base="xs:int">
|
|
<xs:minInclusive value="-1"/>
|
|
</xs:restriction>
|
|
</xs:simpleType>
|
|
</xs:attribute>
|
|
<xs:attribute name="nuser_jnt" default="-1">
|
|
<xs:simpleType>
|
|
<xs:restriction base="xs:int">
|
|
<xs:minInclusive value="-1"/>
|
|
</xs:restriction>
|
|
</xs:simpleType>
|
|
</xs:attribute>
|
|
<xs:attribute name="nuser_geom" default="-1">
|
|
<xs:simpleType>
|
|
<xs:restriction base="xs:int">
|
|
<xs:minInclusive value="-1"/>
|
|
</xs:restriction>
|
|
</xs:simpleType>
|
|
</xs:attribute>
|
|
<xs:attribute name="nuser_site" default="-1">
|
|
<xs:simpleType>
|
|
<xs:restriction base="xs:int">
|
|
<xs:minInclusive value="-1"/>
|
|
</xs:restriction>
|
|
</xs:simpleType>
|
|
</xs:attribute>
|
|
<xs:attribute name="nuser_cam" default="-1">
|
|
<xs:simpleType>
|
|
<xs:restriction base="xs:int">
|
|
<xs:minInclusive value="-1"/>
|
|
</xs:restriction>
|
|
</xs:simpleType>
|
|
</xs:attribute>
|
|
<xs:attribute name="nuser_tendon" default="-1">
|
|
<xs:simpleType>
|
|
<xs:restriction base="xs:int">
|
|
<xs:minInclusive value="-1"/>
|
|
</xs:restriction>
|
|
</xs:simpleType>
|
|
</xs:attribute>
|
|
<xs:attribute name="nuser_actuator" default="-1">
|
|
<xs:simpleType>
|
|
<xs:restriction base="xs:int">
|
|
<xs:minInclusive value="-1"/>
|
|
</xs:restriction>
|
|
</xs:simpleType>
|
|
</xs:attribute>
|
|
<xs:attribute name="nuser_sensor" default="-1">
|
|
<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" default="muscle"/>
|
|
<xs:attribute name="useexisting" type="kw_bool" default="true"/>
|
|
<xs:attribute name="uselimit" type="kw_bool"/>
|
|
<xs:attribute name="accel" type="xs:double" default="20"/>
|
|
<xs:attribute name="maxforce" type="xs:double"/>
|
|
<xs:attribute name="timeconst" type="xs:double" default="1"/>
|
|
<xs:attribute name="timestep" type="xs:double" default="0.01"/>
|
|
<xs:attribute name="inttotal" type="xs:double" default="10"/>
|
|
<xs:attribute name="interval" type="xs:double" default="2"/>
|
|
<xs:attribute name="tolrange" type="xs:double" default="0.05"/>
|
|
</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="false"/>
|
|
</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" default="0 0 0 1"/>
|
|
<xs:attribute name="haze" type="float4" default="1 1 1 1"/>
|
|
<xs:attribute name="force" type="float4" default="1 0.5 0.5 1"/>
|
|
<xs:attribute name="inertia" type="float4" default="0.8 0.2 0.2 0.6"/>
|
|
<xs:attribute name="joint" type="float4" default="0.2 0.6 0.8 1"/>
|
|
<xs:attribute name="actuator" type="float4" default="0.2 0.25 0.2 1"/>
|
|
<xs:attribute name="actuatornegative" type="float4" default="0.2 0.6 0.9 1"/>
|
|
<xs:attribute name="actuatorpositive" type="float4" default="0.9 0.4 0.2 1"/>
|
|
<xs:attribute name="com" type="float4" default="0.9 0.9 0.9 1"/>
|
|
<xs:attribute name="camera" type="float4" default="0.6 0.9 0.6 1"/>
|
|
<xs:attribute name="light" type="float4" default="0.6 0.6 0.9 1"/>
|
|
<xs:attribute name="selectpoint" type="float4" default="0.9 0.9 0.1 1"/>
|
|
<xs:attribute name="connect" type="float4" default="0.2 0.2 0.8 1"/>
|
|
<xs:attribute name="contactpoint" type="float4" default="0.9 0.6 0.2 1"/>
|
|
<xs:attribute name="contactforce" type="float4" default="0.7 0.9 0.9 1"/>
|
|
<xs:attribute name="contactfriction" type="float4" default="0.9 0.8 0.4 1"/>
|
|
<xs:attribute name="contacttorque" type="float4" default="0.9 0.7 0.9 1"/>
|
|
<xs:attribute name="contactgap" type="float4" default="0.5 0.8 0.9 1"/>
|
|
<xs:attribute name="rangefinder" type="float4" default="1 1 0.1 1"/>
|
|
<xs:attribute name="constraint" type="float4" default="0.9 0 0 1"/>
|
|
<xs:attribute name="slidercrank" type="float4" default="0.5 0.3 0.8 1"/>
|
|
<xs:attribute name="crankbroken" type="float4" default="0.9 0 0 1"/>
|
|
<xs:attribute name="frustum" type="float4" default="1 1 0 0.2"/>
|
|
<xs:attribute name="bv" type="float4" default="0 1 0 0.5"/>
|
|
<xs:attribute name="bvactive" type="float4" default="1 0 0 0.5"/>
|
|
</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" default="auto">
|
|
<xs:annotation>
|
|
<xs:documentation>saved unless free</xs:documentation>
|
|
</xs:annotation>
|
|
</xs:attribute>
|
|
<xs:attribute name="actuatorfrclimited" type="kw_FalseTrueAuto" default="auto">
|
|
<xs:annotation>
|
|
<xs:documentation>saved for slide/hinge</xs:documentation>
|
|
</xs:annotation>
|
|
</xs:attribute>
|
|
<xs:attribute name="solreflimit" type="double1to2" default="0.02 1"/>
|
|
<xs:attribute name="solimplimit" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
|
|
<xs:attribute name="solreffriction" type="double1to2" default="0.02 1"/>
|
|
<xs:attribute name="solimpfriction" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
|
|
<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" default="0.5 0.25 1.5 1 1"/>
|
|
<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="softness" type="xs:float" default="0.2"/>
|
|
<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" default="auto"/>
|
|
<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="double1to3"/>
|
|
<xs:attribute name="damping" type="double1to3"/>
|
|
<xs:attribute name="rgba" type="float4"/>
|
|
<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" default="auto"/>
|
|
<xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<xs:attribute name="actlimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<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" default="auto"/>
|
|
<xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<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" default="auto"/>
|
|
<xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<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" default="auto"/>
|
|
<xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<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" default="auto"/>
|
|
<xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<xs:attribute name="actlimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<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" default="auto"/>
|
|
<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" default="auto"/>
|
|
<xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<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" default="auto"/>
|
|
<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" default="auto"/>
|
|
<xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<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" default="auto"/>
|
|
<xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<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="double2"/>
|
|
<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" default="auto"/>
|
|
<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" default="auto"/>
|
|
<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="kwlist_inputbit">
|
|
<xs:annotation>
|
|
<xs:documentation>token subset, or the none keyword</xs:documentation>
|
|
</xs:annotation>
|
|
</xs:attribute>
|
|
</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" default="0.5 0.25 1.5 1 1"/>
|
|
<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="softness" type="xs:float" default="0.2"/>
|
|
<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="int1to3"/>
|
|
<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="int3"/>
|
|
<xs:attribute name="cellcount" type="int3"/>
|
|
<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="float4"/>
|
|
<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" default="2"/>
|
|
<xs:attribute name="radius" type="xs:double" default="0.005"/>
|
|
<xs:attribute name="material" type="xs:string"/>
|
|
<xs:attribute name="rgba" type="float4" default="0.5 0.5 0.5 1"/>
|
|
<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="nodecoord" type="doublelist">
|
|
<xs:annotation>
|
|
<xs:documentation>node positions within body frames</xs:documentation>
|
|
</xs:annotation>
|
|
</xs:attribute>
|
|
<xs:attribute name="cellcount" type="int3" default="1 1 1">
|
|
<xs:annotation>
|
|
<xs:documentation>seeded 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" default="auto"/>
|
|
<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" default="0.02 1"/>
|
|
<xs:attribute name="solimplimit" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
|
|
<xs:attribute name="solreffriction" type="double1to2" default="0.02 1"/>
|
|
<xs:attribute name="solimpfriction" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
|
|
<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" default="auto"/>
|
|
<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" default="0.02 1"/>
|
|
<xs:attribute name="solimplimit" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
|
|
<xs:attribute name="solreffriction" type="double1to2" default="0.02 1"/>
|
|
<xs:attribute name="solimpfriction" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
|
|
<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" default="auto"/>
|
|
<xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<xs:attribute name="actlimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<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" default="auto"/>
|
|
<xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<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" default="auto"/>
|
|
<xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<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" default="auto"/>
|
|
<xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<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" default="auto"/>
|
|
<xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<xs:attribute name="actlimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<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" default="auto"/>
|
|
<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" default="auto"/>
|
|
<xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<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" default="auto"/>
|
|
<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" default="auto"/>
|
|
<xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<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" default="auto"/>
|
|
<xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<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="double2"/>
|
|
<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" default="auto"/>
|
|
<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" default="auto"/>
|
|
<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="kwlist_inputbit">
|
|
<xs:annotation>
|
|
<xs:documentation>token subset, or the none keyword</xs:documentation>
|
|
</xs:annotation>
|
|
</xs:attribute>
|
|
</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" default="auto"/>
|
|
<xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<xs:attribute name="actlimited" type="kw_FalseTrueAuto" default="auto"/>
|
|
<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="intlist"/>
|
|
<xs:attribute name="vertweight" type="floatlist"/>
|
|
</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" default="1 0 0 0"/>
|
|
<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" default="auto">
|
|
<xs:annotation>
|
|
<xs:documentation>saved unless free</xs:documentation>
|
|
</xs:annotation>
|
|
</xs:attribute>
|
|
<xs:attribute name="actuatorfrclimited" type="kw_FalseTrueAuto" default="auto">
|
|
<xs:annotation>
|
|
<xs:documentation>saved for slide/hinge</xs:documentation>
|
|
</xs:annotation>
|
|
</xs:attribute>
|
|
<xs:attribute name="solreflimit" type="double1to2" default="0.02 1"/>
|
|
<xs:attribute name="solimplimit" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
|
|
<xs:attribute name="solreffriction" type="double1to2" default="0.02 1"/>
|
|
<xs:attribute name="solimpfriction" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
|
|
<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" default="auto"/>
|
|
<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="float4"/>
|
|
<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="float4"/>
|
|
<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="float4"/>
|
|
</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" default="-1"/>
|
|
<xs:attribute name="elastic2d" type="kw_elastic2d"/>
|
|
</xs:complexType>
|
|
|
|
<xs:complexType name="flexcomp_contact">
|
|
<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="priority" type="xs:int"/>
|
|
<xs:attribute name="friction" type="double1to3" default="1 0.005 0.0001"/>
|
|
<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="internal" type="kw_bool"/>
|
|
<xs:attribute name="selfcollide" type="kw_flexself" default="auto"/>
|
|
<xs:attribute name="activelayers" type="xs:int" default="1"/>
|
|
<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>
|