code: def get_model(self, mode="mujoco_py"):
          
  
          available_modes = ["mujoco_py"]
          with io.StringIO() as string:
              string.write(ET.tostring(self.root, encoding="unicode"))
              if mode == "mujoco_py":
                  from mujoco_py import load_model_from_xml
  
                  model = load_model_from_xml(string.getvalue())
                  return model
              raise ValueError(
                  "Unkown model mode: {}. Available options are: {}".format(
                      mode, ",".join(available_modes)
                  )
              )
docs: Returns a MjModel instance from the current xml tree.