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quagla
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copybara-github
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Add flex to dm_control schema.
PiperOrigin-RevId: 582323853 Change-Id: I4cdf497b33fe12848cc97734d04f0a5e3844fbdc
1 parent cb2edaf commit 8cc69fc

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Lines changed: 224 additions & 4 deletions

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‎dm_control/mjcf/schema.xml‎

Lines changed: 224 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -1072,6 +1072,83 @@
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<attribute name="specular" type="array" array_type="float" array_size="3"/>
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</attributes>
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</element>
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<element name="flexcomp" repeated="true">
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<attributes>
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<attribute name="name" type="identifier"/>
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<attribute name="type" type="keyword" valid_values="grid box cylinder ellipsoid mesh gmsh direct"/>
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<attribute name="count" type="array" array_type="int" array_size="3"/>
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<attribute name="spacing" type="array" array_type="int" array_size="3"/>
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<attribute name="scale" type="array" array_type="int" array_size="3"/>
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<attribute name="radius" type="float"/>
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<attribute name="rigid" type="int"/>
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<attribute name="mass" type="float"/>
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<attribute name="inertiabox" type="float"/>
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<attribute name="file" type="string"/>
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<attribute name="point" type="string"/>
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<attribute name="element" type="string"/>
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<attribute name="texcoord" type="string"/>
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<attribute name="material" type="string"/>
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<attribute name="rgba" type="array" array_type="float" array_size="2"/>
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<attribute name="flatskin" type="int"/>
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<attribute name="pos" type="array" array_type="int" array_size="3"/>
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<attribute name="quat" type="array" array_type="int" array_size="4"/>
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<attribute name="axisangle" type="array" array_type="float" array_size="4"/>
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<attribute name="xyaxis" type="array" array_type="float" array_size="6"/>
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<attribute name="zaxis" type="array" array_type="float" array_size="3"/>
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<attribute name="euler" type="array" array_type="float" array_size="3"/>
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</attributes>
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<children>
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<element name="plugin" repeated="true" namespace="flexcomp">
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<attributes>
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<attribute name="name" type="string"/>
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<attribute name="plugin" type="string"/>
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<attribute name="instance" type="reference" reference_namespace="plugin"/>
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</attributes>
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<children>
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<element name="config" repeated="true">
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<attributes>
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<attribute name="key" type="string"/>
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<attribute name="value" type="string"/>
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</attributes>
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</element>
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</children>
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</element>
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<element name="edge" repeated="true">
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<attributes>
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<attribute name="equality" type="int"/>
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<attribute name="solref" type="array" array_type="float" array_size="2"/>
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<attribute name="solimp" type="array" array_type="float" array_size="5"/>
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<attribute name="stiffness" type="float"/>
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<attribute name="damping" type="float"/>
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</attributes>
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</element>
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<element name="contact" repeated="true">
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<attributes>
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<attribute name="contype" type="int"/>
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<attribute name="conaffinity" type="int"/>
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<attribute name="condim" type="int"/>
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<attribute name="priority" type="int"/>
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<attribute name="friction" type="array" array_type="float" array_size="3"/>
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<attribute name="solmix" type="float"/>
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<attribute name="solref" type="array" array_type="float" array_size="2"/>
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<attribute name="solimp" type="array" array_type="float" array_size="5"/>
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<attribute name="margin" type="float"/>
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<attribute name="gap" type="float"/>
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<attribute name="internal" type="int"/>
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<attribute name="selfcollide" type="int"/>
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<attribute name="activelayers" type="int"/>
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</attributes>
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</element>
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<element name="pin" repeated="true">
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<attributes>
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<attribute name="id" type="string"/>
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<attribute name="range" type="string"/>
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<attribute name="grid" type="string"/>
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<attribute name="gridrange" type="string"/>
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</attributes>
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</element>
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</children>
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</element>
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<element name="composite" repeated="true">
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<attributes>
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<attribute name="prefix" type="identifier"/>
@@ -1380,6 +1457,83 @@
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<attribute name="specular" type="array" array_type="float" array_size="3"/>
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</attributes>
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</element>
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<element name="flexcomp" repeated="true">
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<attributes>
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<attribute name="name" type="identifier"/>
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<attribute name="type" type="keyword" valid_values="grid box cylinder ellipsoid mesh gmsh direct"/>
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<attribute name="count" type="array" array_type="int" array_size="3"/>
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<attribute name="spacing" type="array" array_type="int" array_size="3"/>
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<attribute name="scale" type="array" array_type="int" array_size="3"/>
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<attribute name="radius" type="float"/>
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<attribute name="rigid" type="int"/>
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<attribute name="mass" type="float"/>
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<attribute name="inertiabox" type="float"/>
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<attribute name="file" type="string"/>
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<attribute name="point" type="string"/>
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<attribute name="element" type="string"/>
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<attribute name="texcoord" type="string"/>
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<attribute name="material" type="string"/>
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<attribute name="rgba" type="array" array_type="float" array_size="2"/>
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<attribute name="flatskin" type="int"/>
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<attribute name="pos" type="array" array_type="int" array_size="3"/>
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<attribute name="quat" type="array" array_type="int" array_size="4"/>
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<attribute name="axisangle" type="array" array_type="float" array_size="4"/>
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<attribute name="xyaxis" type="array" array_type="float" array_size="6"/>
1482+
<attribute name="zaxis" type="array" array_type="float" array_size="3"/>
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<attribute name="euler" type="array" array_type="float" array_size="3"/>
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</attributes>
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<children>
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<element name="plugin" repeated="true" namespace="flexcomp">
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<attributes>
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<attribute name="name" type="string"/>
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<attribute name="plugin" type="string"/>
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<attribute name="instance" type="reference" reference_namespace="plugin"/>
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</attributes>
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<children>
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<element name="config" repeated="true">
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<attributes>
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<attribute name="key" type="string"/>
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<attribute name="value" type="string"/>
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</attributes>
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</element>
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</children>
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</element>
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<element name="edge" repeated="true">
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<attributes>
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<attribute name="equality" type="int"/>
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<attribute name="solref" type="array" array_type="float" array_size="2"/>
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<attribute name="solimp" type="array" array_type="float" array_size="5"/>
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<attribute name="stiffness" type="float"/>
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<attribute name="damping" type="float"/>
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</attributes>
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</element>
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<element name="contact" repeated="true">
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<attributes>
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<attribute name="contype" type="int"/>
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<attribute name="conaffinity" type="int"/>
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<attribute name="condim" type="int"/>
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<attribute name="priority" type="int"/>
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<attribute name="friction" type="array" array_type="float" array_size="3"/>
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<attribute name="solmix" type="float"/>
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<attribute name="solref" type="array" array_type="float" array_size="2"/>
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<attribute name="solimp" type="array" array_type="float" array_size="5"/>
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<attribute name="margin" type="float"/>
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<attribute name="gap" type="float"/>
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<attribute name="internal" type="int"/>
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<attribute name="selfcollide" type="int"/>
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<attribute name="activelayers" type="int"/>
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</attributes>
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</element>
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<element name="pin" repeated="true">
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<attributes>
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<attribute name="id" type="string"/>
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<attribute name="range" type="string"/>
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<attribute name="grid" type="string"/>
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<attribute name="gridrange" type="string"/>
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</attributes>
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</element>
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</children>
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</element>
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<element name="composite" repeated="true">
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<attributes>
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<attribute name="prefix" type="identifier"/>
@@ -1504,6 +1658,74 @@
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</element>
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</children>
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</element>
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<element name="deformable">
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<children>
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<element name="flex" repeated="true" namespace="deformable">
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<attributes>
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<attribute name="name" type="identifier"/>
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<attribute name="group" type="reference" reference_namespace="default"/>
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<attribute name="dim" type="reference" required="true" reference_namespace="geom"/>
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<attribute name="radius" type="reference" required="true" reference_namespace="geom"/>
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<attribute name="material" type="int"/>
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<attribute name="rgba" type="array" array_type="float" array_size="5"/>
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<attribute name="flatskin" type="array" array_type="float" array_size="2"/>
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<attribute name="body" type="array" array_type="float" array_size="2"/>
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<attribute name="vertex" type="array" array_type="float" array_size="5"/>
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<attribute name="element" type="float"/>
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<attribute name="texcoord" type="float"/>
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</attributes>
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<children>
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<element name="edge" repeated="true">
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<attributes>
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<attribute name="stiffness" type="float"/>
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<attribute name="damping" type="float"/>
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</attributes>
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</element>
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<element name="contact" repeated="true">
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<attributes>
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<attribute name="contype" type="int"/>
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<attribute name="conaffinity" type="int"/>
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<attribute name="condim" type="int"/>
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<attribute name="priority" type="int"/>
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<attribute name="friction" type="array" array_type="float" array_size="3"/>
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<attribute name="solmix" type="float"/>
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<attribute name="solref" type="array" array_type="float" array_size="2"/>
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<attribute name="solimp" type="array" array_type="float" array_size="5"/>
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<attribute name="margin" type="float"/>
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<attribute name="gap" type="float"/>
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<attribute name="internal" type="int"/>
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<attribute name="selfcollide" type="int"/>
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<attribute name="activelayers" type="int"/>
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</attributes>
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</element>
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</children>
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</element>
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<element name="skin" repeated="true" namespace="deformable">
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<attributes>
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<attribute name="name" type="identifier"/>
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<attribute name="file" type="file" path_namespace="mesh"/>
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<attribute name="vertex" type="array" array_type="float"/>
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<attribute name="texcoord" type="array" array_type="float"/>
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<attribute name="face" type="array" array_type="int"/>
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<attribute name="inflate" type="float"/>
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<attribute name="material" type="reference"/>
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<attribute name="rgba" type="array" array_type="float" array_size="4"/>
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<attribute name="group" type="int"/>
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</attributes>
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<children>
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<element name="bone" repeated="true">
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<attributes>
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<attribute name="body" type="reference" required="true"/>
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<attribute name="bindpos" type="array" array_type="float" array_size="3" required="true"/>
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<attribute name="bindquat" type="array" array_type="float" array_size="4" required="true"/>
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<attribute name="vertid" type="array" array_type="int" required="true"/>
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<attribute name="vertweight" type="array" array_type="float" required="true"/>
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</attributes>
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</element>
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</children>
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</element>
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</children>
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</element>
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<element name="contact">
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<children>
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<element name="pair" repeated="true" namespace="contact">
@@ -1582,16 +1804,14 @@
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<attribute name="polycoef" type="array" array_type="float" array_size="5"/>
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</attributes>
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</element>
1585-
<element name="distance" repeated="true" namespace="equality">
1807+
<element name="flex" repeated="true" namespace="equality">
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<attributes>
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<attribute name="name" type="identifier"/>
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<attribute name="class" type="reference" reference_namespace="default"/>
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<attribute name="active" type="keyword" valid_values="false true"/>
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<attribute name="solref" type="array" array_type="float" array_size="2"/>
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<attribute name="solimp" type="array" array_type="float" array_size="5"/>
1592-
<attribute name="geom1" type="reference" required="true" reference_namespace="geom"/>
1593-
<attribute name="geom2" type="reference" required="true" reference_namespace="geom"/>
1594-
<attribute name="distance" type="float"/>
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<attribute name="flex" type="string"/>
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</attributes>
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</element>
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</children>

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