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EzraBrooksEzraBrooks
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Consistent whitespace in XSD
Signed-off-by: Ezra Brooks <[email protected]>
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‎xsd/urdf.xsd‎

Lines changed: 153 additions & 109 deletions
Original file line numberDiff line numberDiff line change
@@ -7,19 +7,20 @@
77
format. It supports PR2 extensions (transmission) but not the
88
Gazebo ones.
99
10-
-->
11-
<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema"
12-
elementFormDefault="unqualified">
13-
10+
-->
11+
<xs:schema
12+
xmlns:xs="http://www.w3.org/2001/XMLSchema"
13+
elementFormDefault="unqualified"
14+
>
1415
<!-- data type definitions -->
1516
<xs:simpleType name="JointType">
1617
<xs:restriction base="xs:string">
17-
<xs:enumeration value="revolute"/>
18-
<xs:enumeration value="continuous"/>
19-
<xs:enumeration value="prismatic"/>
20-
<xs:enumeration value="fixed"/>
21-
<xs:enumeration value="floating"/>
22-
<xs:enumeration value="planar"/>
18+
<xs:enumeration value="revolute" />
19+
<xs:enumeration value="continuous" />
20+
<xs:enumeration value="prismatic" />
21+
<xs:enumeration value="fixed" />
22+
<xs:enumeration value="floating" />
23+
<xs:enumeration value="planar" />
2324
</xs:restriction>
2425
</xs:simpleType>
2526

@@ -44,7 +45,6 @@
4445
<xs:attribute name="name" type="xs:string" />
4546
</xs:complexType>
4647

47-
4848
<!-- mass node type -->
4949
<xs:complexType name="mass">
5050
<!-- FIXME: is value optional? -->
@@ -65,12 +65,9 @@
6565
<!-- inertial node type -->
6666
<xs:complexType name="inertial">
6767
<xs:all>
68-
<xs:element name="origin"
69-
type="pose" minOccurs="0" maxOccurs="1" />
70-
<xs:element name="mass"
71-
type="mass" minOccurs="0" maxOccurs="1" />
72-
<xs:element name="inertia"
73-
type="inertia" minOccurs="0" maxOccurs="1" />
68+
<xs:element name="origin" type="pose" minOccurs="0" maxOccurs="1" />
69+
<xs:element name="mass" type="mass" minOccurs="0" maxOccurs="1" />
70+
<xs:element name="inertia" type="inertia" minOccurs="0" maxOccurs="1" />
7471
</xs:all>
7572
</xs:complexType>
7673

@@ -129,28 +126,21 @@
129126
<xs:attribute name="name" type="xs:string" use="required" />
130127
</xs:complexType>
131128

132-
133129
<!-- visual node type -->
134130
<xs:complexType name="visual">
135131
<xs:sequence>
136-
<xs:element name="origin"
137-
type="pose" minOccurs="0" maxOccurs="1" />
138-
<xs:element name="geometry"
139-
type="geometry" minOccurs="1" maxOccurs="1" />
140-
<xs:element name="material"
141-
type="material" minOccurs="0" maxOccurs="1" />
132+
<xs:element name="origin" type="pose" minOccurs="0" maxOccurs="1" />
133+
<xs:element name="geometry" type="geometry" minOccurs="1" maxOccurs="1" />
134+
<xs:element name="material" type="material" minOccurs="0" maxOccurs="1" />
142135
</xs:sequence>
143136
</xs:complexType>
144137

145138
<!-- collision node type -->
146139
<xs:complexType name="collision">
147140
<xs:sequence>
148-
<xs:element name="origin"
149-
type="pose" minOccurs="0" maxOccurs="1" />
150-
<xs:element name="geometry"
151-
type="geometry" minOccurs="1" maxOccurs="1" />
152-
<xs:element name="verbose"
153-
type="verbose" minOccurs="0" maxOccurs="1" />
141+
<xs:element name="origin" type="pose" minOccurs="0" maxOccurs="1" />
142+
<xs:element name="geometry" type="geometry" minOccurs="1" maxOccurs="1" />
143+
<xs:element name="verbose" type="verbose" minOccurs="0" maxOccurs="1" />
154144
</xs:sequence>
155145
<xs:attribute name="name" type="xs:string" />
156146
</xs:complexType>
@@ -168,7 +158,6 @@
168158
<xs:attribute name="type" type="xs:string" />
169159
</xs:complexType>
170160

171-
172161
<!-- parent node type -->
173162
<xs:complexType name="parent">
174163
<xs:attribute name="link" type="xs:string" use="required" />
@@ -186,9 +175,9 @@
186175

187176
<!-- calibration node type -->
188177
<xs:complexType name="calibration">
189-
<xs:attribute name="reference_position" type="xs:double"/>
190-
<xs:attribute name="rising" type="xs:double"/>
191-
<xs:attribute name="falling" type="xs:double"/>
178+
<xs:attribute name="reference_position" type="xs:double" />
179+
<xs:attribute name="rising" type="xs:double" />
180+
<xs:attribute name="falling" type="xs:double" />
192181
</xs:complexType>
193182

194183
<!-- dynamics node type -->
@@ -250,24 +239,55 @@
250239
<!-- transmission node type -->
251240
<xs:complexType name="transmission">
252241
<xs:sequence minOccurs="0" maxOccurs="unbounded">
253-
<xs:element name="leftActuator"
254-
type="actuator_transmission" minOccurs="0" maxOccurs="1" />
255-
<xs:element name="rightActuator"
256-
type="actuator_transmission" minOccurs="0" maxOccurs="1" />
257-
<xs:element name="flexJoint"
258-
type="actuator_transmission" minOccurs="0" maxOccurs="1" />
259-
<xs:element name="rollJoint"
260-
type="actuator_transmission" minOccurs="0" maxOccurs="1" />
261-
<xs:element name="gap_joint"
262-
type="gap_joint_transmission" minOccurs="0" maxOccurs="1" />
263-
<xs:element name="passive_joint"
264-
type="passive_joint_transmission" minOccurs="0" maxOccurs="unbounded" />
265-
<xs:element name="use_simulated_gripper_joint" minOccurs="0" maxOccurs="1">
266-
<xs:complexType>
267-
</xs:complexType>
242+
<xs:element
243+
name="leftActuator"
244+
type="actuator_transmission"
245+
minOccurs="0"
246+
maxOccurs="1"
247+
/>
248+
<xs:element
249+
name="rightActuator"
250+
type="actuator_transmission"
251+
minOccurs="0"
252+
maxOccurs="1"
253+
/>
254+
<xs:element
255+
name="flexJoint"
256+
type="actuator_transmission"
257+
minOccurs="0"
258+
maxOccurs="1"
259+
/>
260+
<xs:element
261+
name="rollJoint"
262+
type="actuator_transmission"
263+
minOccurs="0"
264+
maxOccurs="1"
265+
/>
266+
<xs:element
267+
name="gap_joint"
268+
type="gap_joint_transmission"
269+
minOccurs="0"
270+
maxOccurs="1"
271+
/>
272+
<xs:element
273+
name="passive_joint"
274+
type="passive_joint_transmission"
275+
minOccurs="0"
276+
maxOccurs="unbounded"
277+
/>
278+
<xs:element
279+
name="use_simulated_gripper_joint"
280+
minOccurs="0"
281+
maxOccurs="1"
282+
>
283+
<xs:complexType />
268284
</xs:element>
269-
<xs:element name="mechanicalReduction" type="xs:double"
270-
minOccurs="0" maxOccurs="1" />
285+
<xs:element
286+
name="mechanicalReduction"
287+
type="xs:double"
288+
minOccurs="0"
289+
maxOccurs="1"
290+
/>
271291

272292
<xs:element name="actuator" type="name" minOccurs="0" maxOccurs="1" />
273293
<xs:element name="joint" type="name" minOccurs="0" maxOccurs="1" />
@@ -289,77 +309,78 @@
289309
<!-- camera node type -->
290310
<xs:complexType name="camera">
291311
<xs:sequence>
292-
<xs:element name="image"
293-
type="image" minOccurs="0" maxOccurs="1" />
312+
<xs:element name="image" type="image" minOccurs="0" maxOccurs="1" />
294313
</xs:sequence>
295314
</xs:complexType>
296315

297316
<!-- horizontal ray node type -->
298317
<xs:complexType name="LaserRay">
299318
<xs:attribute name="samples" type="xs:unsignedInt" default="1" />
300-
<xs:attribute name="resolution" type="xs:unsignedInt" default="1"/>
319+
<xs:attribute name="resolution" type="xs:unsignedInt" default="1" />
301320
<xs:attribute name="min_angle" type="xs:double" default="0" />
302321
<xs:attribute name="max_angle" type="xs:double" default="0" />
303322
</xs:complexType>
304323

305324
<!-- ray node type -->
306325
<xs:complexType name="ray">
307326
<xs:sequence>
308-
<xs:element name="horizontal"
309-
type="LaserRay" minOccurs="0" maxOccurs="1" />
310-
<xs:element name="vertical"
311-
type="LaserRay" minOccurs="0" maxOccurs="1" />
327+
<xs:element
328+
name="horizontal"
329+
type="LaserRay"
330+
minOccurs="0"
331+
maxOccurs="1"
332+
/>
333+
<xs:element name="vertical" type="LaserRay" minOccurs="0" maxOccurs="1" />
312334
</xs:sequence>
313335
</xs:complexType>
314336

315337
<!-- sensor node type -->
316338
<xs:complexType name="sensor">
317339
<xs:sequence>
318-
<xs:element name="origin"
319-
type="pose" minOccurs="0" maxOccurs="1" />
320-
<xs:element name="parent"
321-
type="parent" minOccurs="1" maxOccurs="1" />
340+
<xs:element name="origin" type="pose" minOccurs="0" maxOccurs="1" />
341+
<xs:element name="parent" type="parent" minOccurs="1" maxOccurs="1" />
322342
<xs:choice>
323-
<xs:element name="camera" type="camera" minOccurs="0" maxOccurs="1"/>
343+
<xs:element name="camera" type="camera" minOccurs="0" maxOccurs="1" />
324344
<xs:element name="ray" type="ray" minOccurs="0" maxOccurs="1" />
325345
</xs:choice>
326346
</xs:sequence>
327347
<xs:attribute name="name" type="xs:string" use="required" />
328348
<xs:attribute name="update_rate" type="xs:string" />
329349
</xs:complexType>
330350

331-
<xs:complexType name="gazebo">
332-
<!-- Allow any content within gazebo -->
333-
<!-- for Gazebo Classic:
351+
<xs:complexType name="gazebo">
352+
<!-- Allow any content within gazebo -->
353+
<!-- for Gazebo Classic:
334354
https://classic.gazebosim.org/tutorials?tut=ros_urdf&cat=connect_ros -->
335-
<!-- for newest Gazebo:
355+
<!-- for newest Gazebo:
336356
http://sdformat.org/tutorials?tut=sdformat_urdf_extensions&cat=specification&-->
337-
<xs:sequence>
338-
<xs:any minOccurs="0" maxOccurs="unbounded" processContents="lax" />
339-
</xs:sequence>
340-
</xs:complexType>
357+
<xs:sequence>
358+
<xs:any minOccurs="0" maxOccurs="unbounded" processContents="lax" />
359+
</xs:sequence>
360+
</xs:complexType>
341361

342362
<!-- joint node type -->
343363
<xs:complexType name="joint">
344364
<xs:all>
345-
<xs:element name="origin"
346-
type="pose" minOccurs="0" maxOccurs="1" />
347-
<xs:element name="parent"
348-
type="parent" minOccurs="1" maxOccurs="1" />
349-
<xs:element name="child"
350-
type="child" minOccurs="1" maxOccurs="1" />
351-
<xs:element name="axis"
352-
type="axis" minOccurs="0" maxOccurs="1" />
353-
<xs:element name="calibration"
354-
type="calibration" minOccurs="0" maxOccurs="1" />
355-
<xs:element name="dynamics"
356-
type="dynamics" minOccurs="0" maxOccurs="1" />
357-
<xs:element name="limit"
358-
type="limit" minOccurs="0" maxOccurs="1" />
359-
<xs:element name="safety_controller"
360-
type="safety_controller" minOccurs="0" maxOccurs="1" />
361-
<xs:element name="mimic"
362-
type="mimic" minOccurs="0" maxOccurs="1" />
365+
<xs:element name="origin" type="pose" minOccurs="0" maxOccurs="1" />
366+
<xs:element name="parent" type="parent" minOccurs="1" maxOccurs="1" />
367+
<xs:element name="child" type="child" minOccurs="1" maxOccurs="1" />
368+
<xs:element name="axis" type="axis" minOccurs="0" maxOccurs="1" />
369+
<xs:element
370+
name="calibration"
371+
type="calibration"
372+
minOccurs="0"
373+
maxOccurs="1"
374+
/>
375+
<xs:element name="dynamics" type="dynamics" minOccurs="0" maxOccurs="1" />
376+
<xs:element name="limit" type="limit" minOccurs="0" maxOccurs="1" />
377+
<xs:element
378+
name="safety_controller"
379+
type="safety_controller"
380+
minOccurs="0"
381+
maxOccurs="1"
382+
/>
383+
<xs:element name="mimic" type="mimic" minOccurs="0" maxOccurs="1" />
363384
</xs:all>
364385
<xs:attribute name="name" type="xs:string" use="required" />
365386
<xs:attribute name="type" type="JointType" use="required" />
@@ -369,26 +390,49 @@
369390
<xs:element name="robot">
370391
<xs:complexType>
371392
<xs:sequence minOccurs="0" maxOccurs="unbounded">
372-
<xs:element name="joint"
373-
type="joint" minOccurs="0" maxOccurs="unbounded" />
374-
<xs:element name="link"
375-
type="link" minOccurs="0" maxOccurs="unbounded" />
376-
377-
<!-- FIXME: this is used but undocumented -->
378-
<xs:element name="material"
379-
type="material_global" minOccurs="0" maxOccurs="unbounded" />
380-
381-
<!-- FIXME: this is used but undocumented -->
382-
<xs:element name="transmission"
383-
type="transmission" minOccurs="0" maxOccurs="unbounded" />
384-
385-
<!-- FIXME: gazebo extension not supported -->
386-
<xs:element name="gazebo"
387-
type="gazebo" minOccurs="0" maxOccurs="unbounded" />
388-
389-
<xs:element name="sensor"
390-
type="sensor" minOccurs="0" maxOccurs="unbounded" />
391-
393+
<xs:element
394+
name="joint"
395+
type="joint"
396+
minOccurs="0"
397+
maxOccurs="unbounded"
398+
/>
399+
<xs:element
400+
name="link"
401+
type="link"
402+
minOccurs="0"
403+
maxOccurs="unbounded"
404+
/>
405+
406+
<!-- FIXME: this is used but undocumented -->
407+
<xs:element
408+
name="material"
409+
type="material_global"
410+
minOccurs="0"
411+
maxOccurs="unbounded"
412+
/>
413+
414+
<!-- FIXME: this is used but undocumented -->
415+
<xs:element
416+
name="transmission"
417+
type="transmission"
418+
minOccurs="0"
419+
maxOccurs="unbounded"
420+
/>
421+
422+
<!-- FIXME: gazebo extension not supported -->
423+
<xs:element
424+
name="gazebo"
425+
type="gazebo"
426+
minOccurs="0"
427+
maxOccurs="unbounded"
428+
/>
429+
430+
<xs:element
431+
name="sensor"
432+
type="sensor"
433+
minOccurs="0"
434+
maxOccurs="unbounded"
435+
/>
392436
</xs:sequence>
393437
<xs:attribute name="name" type="xs:string" use="required" />
394438

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