Hi there, When I started using MuJoCo, I looked for an XML schema for MJCF. Indeeds, XML schemas ease the development of XML files following specific syntactic rules, like the MJCF syntax. Unfortunately, I had found no available schema (of course, I may have missed something: don't hesitate to share a link in the comments). I ended up developing my own schema. It is based on MuJoCo's XML reference and relies on XSD. It is available here: https://github.com/ronansgd/xml-schema-mjcf.git Basically, if that schema is linked with an XML plugin, it will allow autocomplete for MJCF elements/attributes. It will also check nesting rules and types of attributes. Of course that schema is far from being perfect, and any comment/improvement is welcome! Again, I'm interested in previous solutions that I may have missed… Best, Ronan