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Consistent whitespace in XSD #227

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262 changes: 153 additions & 109 deletions xsd/urdf.xsd
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Original file line number Diff line number Diff line change
Expand Up @@ -7,19 +7,20 @@
format. It supports PR2 extensions (transmission) but not the
Gazebo ones.

-->
<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema"
elementFormDefault="unqualified">

-->
<xs:schema
xmlns:xs="http://www.w3.org/2001/XMLSchema"
elementFormDefault="unqualified"
>
<!-- data type definitions -->
<xs:simpleType name="JointType">
<xs:restriction base="xs:string">
<xs:enumeration value="revolute"/>
<xs:enumeration value="continuous"/>
<xs:enumeration value="prismatic"/>
<xs:enumeration value="fixed"/>
<xs:enumeration value="floating"/>
<xs:enumeration value="planar"/>
<xs:enumeration value="revolute" />
<xs:enumeration value="continuous" />
<xs:enumeration value="prismatic" />
<xs:enumeration value="fixed" />
<xs:enumeration value="floating" />
<xs:enumeration value="planar" />
</xs:restriction>
</xs:simpleType>

Expand All @@ -44,7 +45,6 @@
<xs:attribute name="name" type="xs:string" />
</xs:complexType>


<!-- mass node type -->
<xs:complexType name="mass">
<!-- FIXME: is value optional? -->
Expand All @@ -65,12 +65,9 @@
<!-- 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: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>

Expand Down Expand Up @@ -129,28 +126,21 @@
<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: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: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>
<xs:attribute name="name" type="xs:string" />
</xs:complexType>
Expand All @@ -168,7 +158,6 @@
<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" />
Expand All @@ -186,9 +175,9 @@

<!-- 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: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 -->
Expand Down Expand Up @@ -250,24 +239,55 @@
<!-- 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
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:element>
<xs:element name="mechanicalReduction" type="xs:double"
minOccurs="0" maxOccurs="1" />
<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" />
Expand All @@ -289,77 +309,78 @@
<!-- camera node type -->
<xs:complexType name="camera">
<xs:sequence>
<xs:element name="image"
type="image" minOccurs="0" maxOccurs="1" />
<xs:element name="image" type="image" minOccurs="0" maxOccurs="1" />
</xs:sequence>
</xs:complexType>

<!-- horizontal ray node type -->
<xs:complexType name="LaserRay">
<xs:attribute name="samples" type="xs:unsignedInt" default="1" />
<xs:attribute name="resolution" type="xs:unsignedInt" default="1"/>
<xs:attribute name="resolution" type="xs:unsignedInt" default="1" />
<xs:attribute name="min_angle" type="xs:double" default="0" />
<xs:attribute name="max_angle" type="xs:double" default="0" />
</xs:complexType>

<!-- ray node type -->
<xs:complexType name="ray">
<xs:sequence>
<xs:element name="horizontal"
type="LaserRay" minOccurs="0" maxOccurs="1" />
<xs:element name="vertical"
type="LaserRay" minOccurs="0" maxOccurs="1" />
<xs:element
name="horizontal"
type="LaserRay"
minOccurs="0"
maxOccurs="1"
/>
<xs:element name="vertical" type="LaserRay" minOccurs="0" maxOccurs="1" />
</xs:sequence>
</xs:complexType>

<!-- sensor node type -->
<xs:complexType name="sensor">
<xs:sequence>
<xs:element name="origin"
type="pose" minOccurs="0" maxOccurs="1" />
<xs:element name="parent"
type="parent" minOccurs="1" maxOccurs="1" />
<xs:element name="origin" type="pose" minOccurs="0" maxOccurs="1" />
<xs:element name="parent" type="parent" minOccurs="1" maxOccurs="1" />
<xs:choice>
<xs:element name="camera" type="camera" minOccurs="0" maxOccurs="1"/>
<xs:element name="camera" type="camera" minOccurs="0" maxOccurs="1" />
<xs:element name="ray" type="ray" minOccurs="0" maxOccurs="1" />
</xs:choice>
</xs:sequence>
<xs:attribute name="name" type="xs:string" use="required" />
<xs:attribute name="update_rate" type="xs:string" />
</xs:complexType>

<xs:complexType name="gazebo">
<!-- Allow any content within gazebo -->
<!-- for Gazebo Classic:
<xs:complexType name="gazebo">
<!-- Allow any content within gazebo -->
<!-- for Gazebo Classic:
https://classic.gazebosim.org/tutorials?tut=ros_urdf&cat=connect_ros -->
<!-- for newest Gazebo:
<!-- for newest Gazebo:
http://sdformat.org/tutorials?tut=sdformat_urdf_extensions&cat=specification&-->
<xs:sequence>
<xs:any minOccurs="0" maxOccurs="unbounded" processContents="lax" />
</xs:sequence>
</xs:complexType>
<xs:sequence>
<xs:any minOccurs="0" maxOccurs="unbounded" processContents="lax" />
</xs:sequence>
</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: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="JointType" use="required" />
Expand All @@ -369,26 +390,49 @@
<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:element name="gazebo"
type="gazebo" minOccurs="0" maxOccurs="unbounded" />

<xs:element name="sensor"
type="sensor" 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:element
name="gazebo"
type="gazebo"
minOccurs="0"
maxOccurs="unbounded"
/>

<xs:element
name="sensor"
type="sensor"
minOccurs="0"
maxOccurs="unbounded"
/>
</xs:sequence>
<xs:attribute name="name" type="xs:string" use="required" />

Expand Down