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Commit 5caf5012 authored by vahrenkamp's avatar vahrenkamp
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File format descriptions. 

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@232 042f3d55-54a8-47e9-b7fb-15903f145c44
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doc/file_format/CollisionModel.pdf 0 → 100644
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doc/file_format/EEF.pdf 0 → 100644
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doc/file_format/EEF_open.pdf 0 → 100644
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doc/file_format/Joint.pdf 0 → 100644
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doc/file_format/Joint_open.pdf 0 → 100644
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doc/file_format/Physics.pdf 0 → 100644
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doc/file_format/Robot.pdf 0 → 100644
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doc/file_format/RobotNode.pdf 0 → 100644
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doc/file_format/RobotNodeSet.pdf 0 → 100644
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doc/file_format/Visualization.pdf 0 → 100644
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doc/file_format/readme.txt 0 → 100644
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Here you find the description for the simox XML file format.
The xsd file contains the XML Schema describing the structure of the XML documents.
The pdfs conatin an automatically generated view of the xsd structure.
doc/file_format/simox_robot.xsd 0 → 100644
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<?xml version="1.0" encoding="UTF-8"?>
<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema">
<xs:simpleType name="Joint-Type">
<xs:restriction base="xs:string">
<xs:enumeration value="fixed"/>
<xs:enumeration value="revolute"/>
<xs:enumeration value="prismatic"/>
</xs:restriction>
</xs:simpleType>
<xs:simpleType name="Coord-Location-Type">
<xs:restriction base="xs:string">
<xs:enumeration value="joint"/>
<xs:enumeration value="VisualizationBBoxCenter"/>
</xs:restriction>
</xs:simpleType>
<xs:simpleType name="EEFActorCollision-Type">
<xs:restriction base="xs:string">
<xs:enumeration value="None"/>
<xs:enumeration value="Actors"/>
<xs:enumeration value="Static"/>
<xs:enumeration value="All"/>
</xs:restriction>
</xs:simpleType>
<xs:simpleType name="FileLocation-Type">
<xs:restriction base="xs:string">
<xs:enumeration value="relative"/>
<xs:enumeration value="absolute"/>
</xs:restriction>
</xs:simpleType>
<xs:simpleType name="Unit-Length-Type">
<xs:restriction base="xs:string">
<xs:enumeration value="m"/>
<xs:enumeration value="mm"/>
<xs:enumeration value="meter"/>
<xs:enumeration value="millimeter"/>
</xs:restriction>
</xs:simpleType>
<xs:simpleType name="Unit-Time-Type">
<xs:restriction base="xs:string">
<xs:enumeration value="s"/>
<xs:enumeration value="sec"/>
<xs:enumeration value="second"/>
<xs:enumeration value="min"/>
<xs:enumeration value="minute"/>
<xs:enumeration value="h"/>
<xs:enumeration value="hour"/>
</xs:restriction>
</xs:simpleType>
<xs:simpleType name="Unit-Weight-Type">
<xs:restriction base="xs:string">
<xs:enumeration value="g"/>
<xs:enumeration value="kg"/>
<xs:enumeration value="t"/>
<xs:enumeration value="gram"/>
<xs:enumeration value="kilogram"/>
<xs:enumeration value="ton"/>
</xs:restriction>
</xs:simpleType>
<xs:simpleType name="Unit-Angle-Type">
<xs:restriction base="xs:string">
<xs:enumeration value="rad"/>
<xs:enumeration value="radian"/>
<xs:enumeration value="deg"/>
<xs:enumeration value="degree"/>
</xs:restriction>
</xs:simpleType>
<xs:complexType name="Com-Type">
<xs:attribute name="location" type="Coord-Location-Type" default="joint"/>
<xs:attribute name="x" type="xs:decimal" default="0"/>
<xs:attribute name="y" type="xs:decimal" default="0"/>
<xs:attribute name="z" type="xs:decimal" default="0"/>
<xs:attribute name="unit" type="Unit-Length-Type" default="m"/>
</xs:complexType>
<xs:complexType name="Matrix3x3Row-Type">
<xs:attribute name="c1" type="xs:decimal" default="0"/>
<xs:attribute name="c2" type="xs:decimal" default="0"/>
<xs:attribute name="c3" type="xs:decimal" default="0"/>
</xs:complexType>
<xs:complexType name="Matrix3x3-Type">
<xs:sequence>
<xs:element name="row1" type="Matrix3x3Row-Type" minOccurs="1"/>
<xs:element name="row2" type="Matrix3x3Row-Type" minOccurs="1"/>
<xs:element name="row3" type="Matrix3x3Row-Type" minOccurs="1"/>
</xs:sequence>
</xs:complexType>
<xs:complexType name="InertiaMatrix-Type">
<xs:complexContent>
<xs:extension base="Matrix3x3-Type">
<xs:attribute name="unitsLength" type="Unit-Length-Type" default="m"/>
<xs:attribute name="unitsWeight" type="Unit-Weight-Type" default="kg"/>
</xs:extension>
</xs:complexContent>
</xs:complexType>
<xs:complexType name="Matrix4x4Row-Type">
<xs:attribute name="c1" type="xs:decimal" default="0"/>
<xs:attribute name="c2" type="xs:decimal" default="0"/>
<xs:attribute name="c3" type="xs:decimal" default="0"/>
<xs:attribute name="c4" type="xs:decimal" default="0"/>
</xs:complexType>
<xs:complexType name="Matrix4x4-Type">
<xs:sequence>
<xs:element name="row1" type="Matrix4x4Row-Type" minOccurs="1"/>
<xs:element name="row2" type="Matrix4x4Row-Type" minOccurs="1"/>
<xs:element name="row3" type="Matrix4x4Row-Type" minOccurs="1"/>
<xs:element name="row4" type="Matrix4x4Row-Type" minOccurs="1"/>
</xs:sequence>
<xs:attribute name="unitsLength" type="Unit-Length-Type" default="mm"/>
</xs:complexType>
<xs:complexType name="RollPitchYaw-Type">
<xs:attribute name="roll" type="xs:decimal" use="required"/>
<xs:attribute name="pitch" type="xs:decimal" use="required"/>
<xs:attribute name="yaw" type="xs:decimal" use="required"/>
<xs:attribute name="unitsAngle" type="Unit-Angle-Type" default="radian"/>
</xs:complexType>
<xs:complexType name="Quaternion-Type">
<xs:attribute name="x" type="xs:decimal" use="required"/>
<xs:attribute name="y" type="xs:decimal" use="required"/>
<xs:attribute name="z" type="xs:decimal" use="required"/>
<xs:attribute name="w" type="xs:decimal" use="required"/>
</xs:complexType>
<xs:complexType name="Translation-Type">
<xs:attribute name="x" type="xs:decimal" use="required"/>
<xs:attribute name="y" type="xs:decimal" use="required"/>
<xs:attribute name="z" type="xs:decimal" use="required"/>
<xs:attribute name="unitsLength" type="Unit-Length-Type" default="mm"/>
</xs:complexType>
<xs:complexType name="Velocity-Type">
<xs:attribute name="value" type="xs:decimal" default="0"/>
<xs:attribute name="unitsLength" type="Unit-Length-Type" default="m"/>
<xs:attribute name="unitsTime" type="Unit-Time-Type" default="sec"/>
</xs:complexType>
<xs:complexType name="Acceleration-Type">
<xs:attribute name="value" type="xs:decimal" default="0"/>
<xs:attribute name="unitsLength" type="Unit-Length-Type" default="m"/>
<xs:attribute name="unitsTime" type="Unit-Time-Type" default="sec"/>
</xs:complexType>
<xs:complexType name="Torque-Type">
<xs:attribute name="value" type="xs:decimal" default="0"/>
<xs:attribute name="unitsLength" type="Unit-Length-Type" default="m"/>
</xs:complexType>
<xs:complexType name="Limits-Type">
<xs:attribute name="lo" type="xs:decimal" default="-3.14"/>
<xs:attribute name="hi" type="xs:decimal" default="3.14"/>
<xs:attribute name="unitsAngle" type="Unit-Angle-Type" default="rad"/>
<xs:attribute name="unitsLength" type="Unit-Length-Type" default="mm"/>
</xs:complexType>
<xs:complexType name="DH-Type">
<xs:attribute name="a" type="xs:decimal" default="0"/>
<xs:attribute name="d" type="xs:decimal" default="0"/>
<xs:attribute name="alpha" type="xs:decimal" default="0"/>
<xs:attribute name="theta" type="xs:decimal" default="0"/>
<xs:attribute name="unitsAngle" type="Unit-Angle-Type" default="rad"/>
<xs:attribute name="unitsLength" type="Unit-Length-Type" default="mm"/>
</xs:complexType>
<xs:complexType name="Transform-Type">
<xs:all>
<xs:element name="matrix4x4" type="Matrix4x4-Type" minOccurs="0"/>
<xs:element name="matrix3x3" type="Matrix3x3-Type" minOccurs="0"/>
<xs:element name="rollpitchyaw" type="RollPitchYaw-Type" minOccurs="0"/>
<xs:element name="quaternion" type="Quaternion-Type" minOccurs="0"/>
<xs:element name="translation" type="Translation-Type" minOccurs="0"/>
</xs:all>
</xs:complexType>
<xs:complexType name="File-Type">
<xs:all>
<xs:element name="file" type="xs:string" minOccurs="1"/>
</xs:all>
<xs:attribute name="type" type="xs:string" default="Inventor"/>
<xs:attribute name="path" type="FileLocation-Type" default="relative"/>
</xs:complexType>
<xs:complexType name="Col-File-Type">
<xs:complexContent>
<xs:extension base="File-Type">
<xs:attribute name="BoundingBox" type="xs:boolean" default="false"/>
</xs:extension>
</xs:complexContent>
</xs:complexType>
<xs:complexType name="Coordinate-Type">
<xs:attribute name="enale" type="xs:boolean" default="true"/>
<xs:attribute name="scaling" type="xs:decimal" default="1.0"/>
<xs:attribute name="text" type="xs:string" default=""/>
</xs:complexType>
<xs:complexType name="JointElement">
<xs:all>
<xs:element name="dh" type="DH-Type" minOccurs="0"/>
<xs:element name="limits" type="Limits-Type" minOccurs="1"/>
<xs:element name="prejointtransform" type="Transform-Type" minOccurs="1"/>
<xs:element name="axis" type="Translation-Type" minOccurs="1"/>
<xs:element name="translationdirection" type="Translation-Type" minOccurs="1"/>
<xs:element name="postjointtransform" type="Transform-Type" minOccurs="1"/>
<xs:element name="maxvelocity" type="Velocity-Type" minOccurs="1"/>
<xs:element name="maxacceleration" type="Acceleration-Type" minOccurs="1"/>
<xs:element name="maxtorque" type="Torque-Type" minOccurs="1"/>
</xs:all>
<xs:attribute name="type" type="Joint-Type" default="fixed"/>
</xs:complexType>
<xs:complexType name="PhysicsElement">
<xs:all>
<xs:element name="Mass" type="xs:decimal" minOccurs="1" maxOccurs="1"/>
<xs:element name="CoM" type="Com-Type" minOccurs="0" maxOccurs="1"/>
<xs:element name="IntertiaMatrix" type="InertiaMatrix-Type" minOccurs="0" maxOccurs="1"/>
</xs:all>
</xs:complexType>
<xs:complexType name="VisualizationElement">
<xs:all>
<xs:element name="File" type="File-Type" minOccurs="0" maxOccurs="1"/>
<xs:element name="CoordinateAxis" type="Coordinate-Type" minOccurs="0" maxOccurs="1"/>
</xs:all>
<xs:attribute name="enable" type="xs:boolean" default="true"/>
<xs:attribute name="useAsCollisionModel" type="xs:boolean" default="false"/>
</xs:complexType>
<xs:complexType name="CollisionElement">
<xs:all>
<xs:element name="File" type="Col-File-Type" minOccurs="0" maxOccurs="1"/>
</xs:all>
<xs:attribute name="enable" type="xs:boolean" default="true"/>
</xs:complexType>
<xs:complexType name="NodeListElement">
<xs:attribute name="name" type="xs:string" use="required"/>
</xs:complexType>
<xs:complexType name="ActorNodeListElement">
<xs:attribute name="name" type="xs:string" use="required"/>
<xs:attribute name="considercollisions" type="EEFActorCollision-Type" default="All"/>
<xs:attribute name="direction" type="xs:float" default="1.0"/>
</xs:complexType>
<xs:complexType name="ConfigurationNodeListElement">
<xs:attribute name="name" type="xs:string" use="required"/>
<xs:attribute name="unitsAngle" type="Unit-Angle-Type" default="radian"/>
<xs:attribute name="value" type="xs:float" default="0"/>
</xs:complexType>
<xs:complexType name="RobotNodeElement">
<xs:choice>
<xs:element name="Joint" type="JointElement" minOccurs="0"/>
<xs:element name="Physics" type="PhysicsElement" minOccurs="0"/>
<xs:element name="Visualization" type="VisualizationElement" minOccurs="0"/>
<xs:element name="CollisionModel" type="CollisionElement" minOccurs="0"/>
<xs:element name="Child" minOccurs="0" maxOccurs="unbounded">
<xs:complexType>
<xs:attribute name="name" type="xs:string" use="required"/>
</xs:complexType>
</xs:element>
<xs:element name="ChildFromRobot" minOccurs="0" maxOccurs="unbounded">
<xs:complexType>
<xs:all>
<xs:element name="file" type="File-Type" minOccurs="1" maxOccurs="1"/>
</xs:all>
<xs:attribute name="importEEF" type="xs:boolean" default="true"/>
</xs:complexType>
</xs:element>
</xs:choice>
<xs:attribute name="name" type="xs:string"/>
</xs:complexType>
<xs:complexType name="RobotNodeSetElement">
<xs:choice>
<xs:element name="Node" type="NodeListElement" minOccurs="0" maxOccurs="unbounded"/>
</xs:choice>
<xs:attribute name="name" type="xs:string"/>
<xs:attribute name="tcp" type="xs:string"/>
<xs:attribute name="kinematicroot" type="xs:string"/>
</xs:complexType>
<xs:complexType name="EEFStaticElement">
<xs:choice>
<xs:element name="Node" type="NodeListElement" minOccurs="0" maxOccurs="unbounded"/>
</xs:choice>
</xs:complexType>
<xs:complexType name="EEFPreshapeElement">
<xs:choice>
<xs:element name="Node" type="ConfigurationNodeListElement" minOccurs="0" maxOccurs="unbounded"/>
</xs:choice>
<xs:attribute name="name" type="xs:string" use="required"/>
</xs:complexType>
<xs:complexType name="EEFActorElement">
<xs:choice>
<xs:element name="Node" type="ActorNodeListElement" minOccurs="0" maxOccurs="unbounded"/>
</xs:choice>
<xs:attribute name="name" type="xs:string" use="required"/>
</xs:complexType>
<xs:complexType name="EndEffectorElement">
<xs:choice>
<xs:element name="Actor" type="EEFActorElement" minOccurs="1" maxOccurs="unbounded"/>
<xs:element name="Static" type="EEFStaticElement" minOccurs="0" maxOccurs="1"/>
<xs:element name="Preshape" type="EEFPreshapeElement" minOccurs="0" maxOccurs="unbounded"/>
</xs:choice>
<xs:attribute name="name" type="xs:string"/>
<xs:attribute name="tcp" type="xs:string"/>
<xs:attribute name="gcp" type="xs:string"/>
<xs:attribute name="base" type="xs:string"/>
</xs:complexType>
<xs:element name="Robot">
<xs:complexType>
<xs:choice>
<xs:element name="RobotNode" type="RobotNodeElement" minOccurs="1" maxOccurs="unbounded"/>
<xs:element name="RobotNodeSet" type="RobotNodeSetElement" minOccurs="0" maxOccurs="unbounded"/>
<xs:element name="EndEffector" type="EndEffectorElement" minOccurs="0" maxOccurs="unbounded"/>
</xs:choice>
<xs:attribute name="Type" type="xs:string"/>
<xs:attribute name="RootNode" type="xs:string"/>
</xs:complexType>
</xs:element>
</xs:schema>
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