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minor updates to urdf spec
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@RussTedrake
RussTedrake committed Jun 25, 2014
1 parent 50f0650 commit b2fa9a9
Showing 1 changed file with 50 additions and 48 deletions.
98 changes: 50 additions & 48 deletions doc/drakeURDF.xsd
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Original file line number Diff line number Diff line change
Expand Up @@ -77,14 +77,14 @@ produced by a propeller on an airplane, or thrusters on the hands and
feet of an Atlas robot to make Iron Man.</xs:documentation>
</xs:annotation>
</xs:element>
<xs:element name="added_mass" type="added_mass">
<xs:element name="added_mass" type="added_mass">
<xs:annotation>
<xs:documentation> Places added-mass coefficients on a point on the parent body. Added-mass forces act like a 'drag' that is proportional to the acceleration of the body, rather than the velocity. Important when the body is comparable in mass to the surrounding fluid, or if rapid motions are needed.

These forces are represented by a 6x6 matrix 'Ma' similar to a mass matrix, where the force is F=-Ma*a (+coriolis terms). Each matrix element is refered as 'mij', where 'i' and 'j' are the rows and columns of the matrix. As is standard in the oceanographic literature, rows 123 are the linear accelerations, and 456 are the angular accelerations [note this is opposite of Featherstone's notation] </xs:documentation>
</xs:annotation>
</xs:element>
<xs:element name="buoyancy" type="buoyancy">
<xs:element name="buoyancy" type="buoyancy">
<xs:annotation>
<xs:documentation> Adds a buoyancy force to the parent body, placed at a defined center of buoyancy. </xs:documentation>
</xs:annotation>
Expand Down Expand Up @@ -145,24 +145,26 @@ of the spring/damper with an (optional) pose specified relative to the coordinat
</xs:complexType>

<xs:complexType name="torsional_spring_damper">
<xs:annotation>
<xs:documentation>currently only supported for continuous and rotational joints. </xs:documentation>
</xs:annotation>
<xs:all>
<xs:element name="joint" type="joint_reference" >
<xs:element name="joint" type="joint_reference">
<xs:annotation>
<xs:documentation>String naming the link on one side
of the spring/damper with an (optional) pose specified relative to the coordinate system on the link</xs:documentation>
</xs:annotation>
</xs:element>
</xs:all>
<xs:attribute default="0" name="rest_length" type="xs:double"/>
<xs:attribute default="0" name="stiffness" type="xs:double">
<xs:attribute default="0" name="rest_angle" type="xs:double">
<xs:annotation>
<xs:documentation>in Newtons per meter
</xs:documentation>
<xs:documentation>in radians</xs:documentation>
</xs:annotation>
</xs:attribute>
<xs:attribute default="0" name="damping" type="xs:double">
<xs:attribute default="0" name="stiffness" type="xs:double">
<xs:annotation>
<xs:documentation>in Newton seconds per meter. positive values resist motion.</xs:documentation>
<xs:documentation>in Newtons per meter
</xs:documentation>
</xs:annotation>
</xs:attribute>
</xs:complexType>
Expand Down Expand Up @@ -255,7 +257,7 @@ input to Newtons of force.</xs:documentation>
</xs:attribute>
</xs:complexType>

<xs:complexType name="added_mass">
<xs:complexType name="added_mass">
<xs:all>
<xs:element name="parent" type="link_reference">
<xs:annotation>
Expand All @@ -270,44 +272,44 @@ this added-mass is attached.</xs:documentation>
</xs:element>
</xs:all>
<xs:attribute name="m11" type="xs:double" default="0"/>
<xs:attribute name="m12" type="xs:double" default="0"/>
<xs:attribute name="m13" type="xs:double" default="0"/>
<xs:attribute name="m14" type="xs:double" default="0"/>
<xs:attribute name="m15" type="xs:double" default="0"/>
<xs:attribute name="m16" type="xs:double" default="0"/>
<xs:attribute name="m21" type="xs:double" default="0"/>
<xs:attribute name="m22" type="xs:double" default="0"/>
<xs:attribute name="m23" type="xs:double" default="0"/>
<xs:attribute name="m24" type="xs:double" default="0"/>
<xs:attribute name="m25" type="xs:double" default="0"/>
<xs:attribute name="m26" type="xs:double" default="0"/>
<xs:attribute name="m31" type="xs:double" default="0"/>
<xs:attribute name="m32" type="xs:double" default="0"/>
<xs:attribute name="m33" type="xs:double" default="0"/>
<xs:attribute name="m34" type="xs:double" default="0"/>
<xs:attribute name="m35" type="xs:double" default="0"/>
<xs:attribute name="m36" type="xs:double" default="0"/>
<xs:attribute name="m12" type="xs:double" default="0"/>
<xs:attribute name="m13" type="xs:double" default="0"/>
<xs:attribute name="m14" type="xs:double" default="0"/>
<xs:attribute name="m15" type="xs:double" default="0"/>
<xs:attribute name="m16" type="xs:double" default="0"/>
<xs:attribute name="m21" type="xs:double" default="0"/>
<xs:attribute name="m22" type="xs:double" default="0"/>
<xs:attribute name="m23" type="xs:double" default="0"/>
<xs:attribute name="m24" type="xs:double" default="0"/>
<xs:attribute name="m25" type="xs:double" default="0"/>
<xs:attribute name="m26" type="xs:double" default="0"/>
<xs:attribute name="m31" type="xs:double" default="0"/>
<xs:attribute name="m32" type="xs:double" default="0"/>
<xs:attribute name="m33" type="xs:double" default="0"/>
<xs:attribute name="m34" type="xs:double" default="0"/>
<xs:attribute name="m35" type="xs:double" default="0"/>
<xs:attribute name="m36" type="xs:double" default="0"/>
<xs:attribute name="m41" type="xs:double" default="0"/>
<xs:attribute name="m42" type="xs:double" default="0"/>
<xs:attribute name="m43" type="xs:double" default="0"/>
<xs:attribute name="m44" type="xs:double" default="0"/>
<xs:attribute name="m45" type="xs:double" default="0"/>
<xs:attribute name="m46" type="xs:double" default="0"/>
<xs:attribute name="m51" type="xs:double" default="0"/>
<xs:attribute name="m52" type="xs:double" default="0"/>
<xs:attribute name="m53" type="xs:double" default="0"/>
<xs:attribute name="m54" type="xs:double" default="0"/>
<xs:attribute name="m55" type="xs:double" default="0"/>
<xs:attribute name="m56" type="xs:double" default="0"/>
<xs:attribute name="m61" type="xs:double" default="0"/>
<xs:attribute name="m62" type="xs:double" default="0"/>
<xs:attribute name="m63" type="xs:double" default="0"/>
<xs:attribute name="m64" type="xs:double" default="0"/>
<xs:attribute name="m65" type="xs:double" default="0"/>
<xs:attribute name="m66" type="xs:double" default="0"/>
</xs:complexType>

<xs:complexType name="buoyancy">
<xs:attribute name="m42" type="xs:double" default="0"/>
<xs:attribute name="m43" type="xs:double" default="0"/>
<xs:attribute name="m44" type="xs:double" default="0"/>
<xs:attribute name="m45" type="xs:double" default="0"/>
<xs:attribute name="m46" type="xs:double" default="0"/>
<xs:attribute name="m51" type="xs:double" default="0"/>
<xs:attribute name="m52" type="xs:double" default="0"/>
<xs:attribute name="m53" type="xs:double" default="0"/>
<xs:attribute name="m54" type="xs:double" default="0"/>
<xs:attribute name="m55" type="xs:double" default="0"/>
<xs:attribute name="m56" type="xs:double" default="0"/>
<xs:attribute name="m61" type="xs:double" default="0"/>
<xs:attribute name="m62" type="xs:double" default="0"/>
<xs:attribute name="m63" type="xs:double" default="0"/>
<xs:attribute name="m64" type="xs:double" default="0"/>
<xs:attribute name="m65" type="xs:double" default="0"/>
<xs:attribute name="m66" type="xs:double" default="0"/>
</xs:complexType>

<xs:complexType name="buoyancy">
<xs:all>
<xs:element name="parent" type="link_reference">
<xs:annotation>
Expand All @@ -326,7 +328,7 @@ this buoyancy is attached.</xs:documentation>
<xs:documentation>Volume of the body</xs:documentation>
</xs:annotation>
</xs:attribute>
<xs:attribute name="rho" type="xs:double" default="1">
<xs:attribute name="rho" type="xs:double" default="1">
<xs:annotation>
<xs:documentation>Density of the fluid</xs:documentation>
</xs:annotation>
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