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<?xml version="1.0" ?>
<!--
XML Schema for URDF v1.0
This is a proposal XML Schema to validate the original URDF file
format. It supports PR2 extensions (transmission) but not the
Gazebo ones.
-->
<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema"
targetNamespace="http://www.ros.org"
xmlns="http://www.ros.org"
elementFormDefault="qualified">
<!-- pose node type -->
<xs:complexType name="pose">
<xs:attribute name="xyz" type="xs:string" default="0 0 0" />
<xs:attribute name="rpy" type="xs:string" default="0 0 0" />
</xs:complexType>
<!-- pose node type -->
<xs:complexType name="color">
<xs:attribute name="rgba" type="xs:string" default="0 0 0 0" />
</xs:complexType>
<!-- verbose node type -->
<xs:complexType name="verbose">
<xs:attribute name="value" type="xs:string" />
</xs:complexType>
<!-- name only node type -->
<xs:complexType name="name">
<xs:attribute name="name" type="xs:string" />
</xs:complexType>
<!-- mass node type -->
<xs:complexType name="mass">
<!-- FIXME: is value optional? -->
<xs:attribute name="value" type="xs:double" default="0" />
</xs:complexType>
<!-- inertia node type -->
<xs:complexType name="inertia">
<!-- FIXME: is it optional? default value? -->
<xs:attribute name="ixx" type="xs:double" default="0" />
<xs:attribute name="ixy" type="xs:double" default="0" />
<xs:attribute name="ixz" type="xs:double" default="0" />
<xs:attribute name="iyy" type="xs:double" default="0" />
<xs:attribute name="iyz" type="xs:double" default="0" />
<xs:attribute name="izz" type="xs:double" default="0" />
</xs:complexType>
<!-- inertial node type -->
<xs:complexType name="inertial">
<xs:all>
<xs:element name="origin"
type="pose" minOccurs="0" maxOccurs="1" />
<xs:element name="mass"
type="mass" minOccurs="0" maxOccurs="1" />
<xs:element name="inertia"
type="inertia" minOccurs="0" maxOccurs="1" />
</xs:all>
</xs:complexType>
<!-- box node type -->
<xs:complexType name="box">
<xs:attribute name="size" type="xs:string" default="0 0 0" />
</xs:complexType>
<!-- cylinder node type -->
<xs:complexType name="cylinder">
<xs:attribute name="radius" type="xs:double" use="required" />
<xs:attribute name="length" type="xs:double" use="required" />
</xs:complexType>
<!-- sphere node type -->
<xs:complexType name="sphere">
<xs:attribute name="radius" type="xs:double" use="required" />
</xs:complexType>
<!-- mesh node type -->
<xs:complexType name="mesh">
<xs:attribute name="filename" type="xs:anyURI" use="required" />
<xs:attribute name="scale" type="xs:string" default="1 1 1" />
</xs:complexType>
<!-- geometry node type -->
<xs:complexType name="geometry">
<xs:choice>
<xs:element name="box" type="box" />
<xs:element name="cylinder" type="cylinder" />
<xs:element name="sphere" type="sphere" />
<xs:element name="mesh" type="mesh" />
</xs:choice>
</xs:complexType>
<!-- texture node type -->
<xs:complexType name="texture">
<xs:attribute name="filename" type="xs:anyURI" />
</xs:complexType>
<!-- material node type -->
<xs:complexType name="material">
<xs:sequence>
<xs:element name="color" type="color" minOccurs="0" maxOccurs="1" />
<xs:element name="texture" type="texture" minOccurs="0" maxOccurs="1" />
</xs:sequence>
<xs:attribute name="name" type="xs:string" />
</xs:complexType>
<!-- material (global) node type -->
<xs:complexType name="material_global">
<xs:sequence>
<xs:element name="color" type="color" minOccurs="0" maxOccurs="1" />
<xs:element name="texture" type="texture" minOccurs="0" maxOccurs="1" />
</xs:sequence>
<xs:attribute name="name" type="xs:string" use="required" />
</xs:complexType>
<!-- visual node type -->
<xs:complexType name="visual">
<xs:sequence>
<xs:element name="origin"
type="pose" minOccurs="0" maxOccurs="1" />
<xs:element name="geometry"
type="geometry" minOccurs="1" maxOccurs="1" />
<xs:element name="material"
type="material" minOccurs="0" maxOccurs="1" />
</xs:sequence>
</xs:complexType>
<!-- collision node type -->
<xs:complexType name="collision">
<xs:sequence>
<xs:element name="origin"
type="pose" minOccurs="0" maxOccurs="1" />
<xs:element name="geometry"
type="geometry" minOccurs="1" maxOccurs="1" />
<xs:element name="verbose"
type="verbose" minOccurs="0" maxOccurs="1" />
</xs:sequence>
<!-- FIXME: used but not documented -->
<xs:attribute name="name" type="xs:string" />
</xs:complexType>
<!-- link node type -->
<xs:complexType name="link">
<xs:all>
<xs:element name="inertial"
type="inertial" minOccurs="0" maxOccurs="1" />
<xs:element name="visual"
type="visual" minOccurs="0" maxOccurs="unbounded" />
<xs:element name="collision"
type="collision" minOccurs="0" maxOccurs="unbounded" />
</xs:all>
<xs:attribute name="name" type="xs:string" use="required" />
<!-- FIXME: undocumented but used by PR2 -->
<xs:attribute name="type" type="xs:string" />
</xs:complexType>
<!-- parent node type -->
<xs:complexType name="parent">
<xs:attribute name="link" type="xs:string" use="required" />
</xs:complexType>
<!-- child node type -->
<xs:complexType name="child">
<xs:attribute name="link" type="xs:string" use="required" />
</xs:complexType>
<!-- axis node type -->
<xs:complexType name="axis">
<xs:attribute name="xyz" type="xs:string" default="1 0 0" />
</xs:complexType>
<!-- calibration node type -->
<xs:complexType name="calibration">
<xs:attribute name="reference_position" type="xs:double"/>
<xs:attribute name="rising" type="xs:double"/>
<xs:attribute name="falling" type="xs:double"/>
</xs:complexType>
<!-- dynamics node type -->
<xs:complexType name="dynamics">
<xs:attribute name="damping" type="xs:double" default="0" />
<xs:attribute name="friction" type="xs:double" default="0" />
</xs:complexType>
<!-- limit node type -->
<xs:complexType name="limit">
<xs:attribute name="lower" type="xs:double" default="0" />
<xs:attribute name="upper" type="xs:double" default="0" />
<xs:attribute name="effort" type="xs:double" default="0" />
<xs:attribute name="velocity" type="xs:double" default="0" />
</xs:complexType>
<!-- safety controller node type -->
<xs:complexType name="safety_controller">
<xs:attribute name="soft_lower_limit" type="xs:double" default="0" />
<xs:attribute name="soft_upper_limit" type="xs:double" default="0" />
<xs:attribute name="k_position" type="xs:double" default="0" />
<xs:attribute name="k_velocity" type="xs:double" use="required" />
</xs:complexType>
<!-- mimic node type -->
<xs:complexType name="mimic">
<xs:attribute name="joint" type="xs:string" use="required" />
<xs:attribute name="multiplier" type="xs:double" default="1" />
<xs:attribute name="offset" type="xs:double" default="0" />
</xs:complexType>
<!-- actuator transmission node type -->
<xs:complexType name="actuator_transmission">
<xs:attribute name="mechanicalReduction" type="xs:double" use="required" />
<xs:attribute name="name" type="xs:string" use="required" />
</xs:complexType>
<!-- gap joint transmission node type -->
<xs:complexType name="gap_joint_transmission">
<xs:attribute name="L0" type="xs:double" use="required" />
<xs:attribute name="a" type="xs:double" use="required" />
<xs:attribute name="b" type="xs:double" use="required" />
<xs:attribute name="gear_ratio" type="xs:double" use="required" />
<xs:attribute name="h" type="xs:double" use="required" />
<xs:attribute name="mechanical_reduction" type="xs:double" use="required" />
<xs:attribute name="name" type="xs:string" use="required" />
<xs:attribute name="phi0" type="xs:double" use="required" />
<xs:attribute name="r" type="xs:double" use="required" />
<xs:attribute name="screw_reduction" type="xs:double" use="required" />
<xs:attribute name="t0" type="xs:double" use="required" />
<xs:attribute name="theta0" type="xs:double" use="required" />
</xs:complexType>
<!-- passive joint transmission node type -->
<xs:complexType name="passive_joint_transmission">
<xs:attribute name="name" type="xs:string" use="required" />
</xs:complexType>
<!-- transmission node type -->
<xs:complexType name="transmission">
<xs:sequence minOccurs="0" maxOccurs="unbounded">
<xs:element name="leftActuator"
type="actuator_transmission" minOccurs="0" maxOccurs="1" />
<xs:element name="rightActuator"
type="actuator_transmission" minOccurs="0" maxOccurs="1" />
<xs:element name="flexJoint"
type="actuator_transmission" minOccurs="0" maxOccurs="1" />
<xs:element name="rollJoint"
type="actuator_transmission" minOccurs="0" maxOccurs="1" />
<xs:element name="gap_joint"
type="gap_joint_transmission" minOccurs="0" maxOccurs="1" />
<xs:element name="passive_joint"
type="passive_joint_transmission" minOccurs="0" maxOccurs="unbounded" />
<xs:element name="use_simulated_gripper_joint" minOccurs="0" maxOccurs="1">
<xs:complexType>
</xs:complexType>
</xs:element>
<xs:element name="mechanicalReduction" type="xs:double"
minOccurs="0" maxOccurs="1" />
<xs:element name="actuator" type="name" minOccurs="0" maxOccurs="1" />
<xs:element name="joint" type="name" minOccurs="0" maxOccurs="1" />
</xs:sequence>
<xs:attribute name="name" type="xs:string" use="required" />
<xs:attribute name="type" type="xs:string" use="required" />
</xs:complexType>
<!-- joint node type -->
<xs:complexType name="joint">
<xs:all>
<xs:element name="origin"
type="pose" minOccurs="0" maxOccurs="1" />
<xs:element name="parent"
type="parent" minOccurs="1" maxOccurs="1" />
<xs:element name="child"
type="child" minOccurs="1" maxOccurs="1" />
<xs:element name="axis"
type="axis" minOccurs="0" maxOccurs="1" />
<xs:element name="calibration"
type="calibration" minOccurs="0" maxOccurs="1" />
<xs:element name="dynamics"
type="dynamics" minOccurs="0" maxOccurs="1" />
<xs:element name="limit"
type="limit" minOccurs="0" maxOccurs="1" />
<xs:element name="safety_controller"
type="safety_controller" minOccurs="0" maxOccurs="1" />
<xs:element name="mimic"
type="mimic" minOccurs="0" maxOccurs="1" />
</xs:all>
<xs:attribute name="name" type="xs:string" use="required" />
<xs:attribute name="type" type="xs:string" use="required" />
</xs:complexType>
<!-- root node is always robot -->
<xs:element name="robot">
<xs:complexType>
<xs:sequence minOccurs="0" maxOccurs="unbounded">
<xs:element name="joint"
type="joint" minOccurs="0" maxOccurs="unbounded" />
<xs:element name="link"
type="link" minOccurs="0" maxOccurs="unbounded" />
<!-- FIXME: this is used but undocumented -->
<xs:element name="material"
type="material_global" minOccurs="0" maxOccurs="unbounded" />
<!-- FIXME: this is used but undocumented -->
<xs:element name="transmission"
type="transmission" minOccurs="0" maxOccurs="unbounded" />
<!-- FIXME: gazebo extension not supported -->
</xs:sequence>
<xs:attribute name="name" type="xs:string" use="required" />
<!-- TM: I suggest adding the following attribute. -->
<xs:attribute name="version" type="xs:string" default="1.0" />
</xs:complexType>
</xs:element>
</xs:schema>
|