Examples
Complete HCDF files demonstrating the format's capabilities, from a full 19-device humanoid system to a minimal test file that exercises every element type. Click a section header to expand the code. Large examples show curated excerpts highlighting key features.
Humanoid Mobile Base 2297 lines
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A 19-device humanoid system with dual 802.3dm arms, S32N79 central controller with integrated TSN switch and Intel E810 25G uplinks, AGX Thor for perception/ML, S32J100 base zone controller, SPAD lidars, Cubtek 4D radar, ZLAC8015D differential drive, and MR-BMS771 battery management. 5 separate networks: backbone, left-arm, right-arm, base, power.
Compute component with integrated TSN switch
<comp name="s32n79" role="compute">
<description>NXP S32N79 — central motion control, CNC agent, integrated TSN switch.
Intel E810 on PCIe for 25G uplink to AGX Thor.</description>
<board>nxp-s32n79-evb</board>
<inertial>
<mass>0.8</mass>
<com>0 0 0</com>
</inertial>
<!-- Integrated TSN switch fabric: XFI + QXGMII ports are bridged -->
<switch chip="s32n79-integrated">
<port name="xfi_left" iface="swp0" type="ethernet">
<capabilities>
<speed-tx unit="Mbps">100</speed-tx>
<speed-rx unit="Mbps">10000</speed-rx>
<standard>802.3dm</standard>
<phy role="master"/>
<tsn>
<gptp hw-timestamping="true" gm-capable="true"/>
<qbv traffic-classes="8" hw-queues="8" max-gcl-entries="512"/>
<cbs/>
<preemption min-fragment-size="64"/>
<psfp max-filters="256" max-gates="256" max-meters="128"/>
<frer seq-encoding="r-tag"/>
</tsn>
<macsec><cipher>gcm-aes-128</cipher></macsec>
<eee supported="true"/>
</capabilities>
</port>
<!-- ... additional switch ports ... -->
</switch>
</comp>Revolute joints and kinematic groups
<joint name="l_shoulder_yaw" type="revolute">
<parent comp="torso"/>
<child comp="mcn1-l"/>
<origin xyz="0 0.18 0.25" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="-2.96" upper="2.96" effort="50" velocity="3.14"/>
<dynamics damping="0.5" friction="0.1"/>
</joint>
<group name="left_arm" type="kinematic-chain">
<description>Left arm kinematic chain (shoulder to wrist)</description>
<joint ref="l_shoulder_yaw"/>
<joint ref="l_elbow"/>
<joint ref="l_wrist_pitch"/>
</group>
<group name="left_manipulation">
<description>Left arm + hand for manipulation tasks</description>
<group ref="left_arm"/>
<group ref="left_hand"/>
</group>802.3dm daisy-chain network with camera spur
<network name="left-arm">
<description>Left arm 802.3dm daisy-chain: S32N79 XFI -> MCN1-L -> MCN2-L
-> MCN3-L -> MCN4-L, camera spur at MCN3-L</description>
<chain name="left-arm-chain" type="802.3dm" mode="switched">
<vlan id="10" pcp="5"/>
<macsec policy="must-secure" cipher="gcm-aes-128"
key-agreement="psk" key-ref="arm-left-keys"/>
<hop device="s32n79" port="xfi_left" role="root"/>
<hop device="mcn1-l" ingress="eth0" egress="eth1"/>
<hop device="mcn2-l" ingress="eth0" egress="eth1"/>
<hop device="mcn3-l" ingress="eth0" egress="eth1">
<spur device="cam-l" port="eth0" via="eth2">
<description>Left wrist stereo camera (~7 Gbps upstream)</description>
<vlan id="20" pcp="3"/>
</spur>
</hop>
<hop device="mcn4-l" ingress="eth0" role="tail"/>
</chain>
<gptp domain="1">
<clock device="s32n79" port="xfi_left"
gm-capable="true" priority1="128" priority2="128"/>
<clock device="mcn1-l" port="eth0"
gm-capable="false" priority1="255" priority2="255"/>
<!-- ... -->
</gptp>
<schedule name="arm-chain-1ms" cycle-time-us="1000">
<gate tc-mask="0x80" duration-us="20"/>
<gate tc-mask="0x60" duration-us="80"/>
<gate tc-mask="0x10" duration-us="50"/>
<gate tc-mask="0x0F" duration-us="850"/>
</schedule>
<macsec policy="must-secure" cipher="gcm-aes-128" key-agreement="psk">
<key-store type="secure-element" ref="se051"/>
</macsec>
</network>Named states and self-collision
<state name="home" default="true">
<description>Default home position — arms at sides, elbows slightly bent</description>
<joint-position joint="l_shoulder_yaw" value="0"/>
<joint-position joint="l_elbow" value="0.5"/>
<joint-position joint="l_wrist_pitch" value="0"/>
<joint-position joint="r_shoulder_yaw" value="0"/>
<joint-position joint="r_elbow" value="0.5"/>
<joint-position joint="r_wrist_pitch" value="0"/>
</state>
<self-collision-disable>
<pair comp1="torso" comp2="mcn1-l" reason="adjacent"/>
<pair comp1="mcn1-l" comp2="mcn2-l" reason="adjacent"/>
<pair comp1="mcn1-l" comp2="mcn1-r" reason="unreachable"/>
<pair comp1="chassis" comp2="torso" reason="adjacent"/>
<pair comp1="chassis" comp2="s32n79" reason="mounted"/>
<!-- ... -->
</self-collision-disable>Key features:
- 19 components across compute, actuator, sensor, and structural roles
- 5 networks: 25G backbone, dual 802.3dm arm chains, base zone with CAN-FD, power bus
- 802.3dm daisy-chains with camera spurs for asymmetric bandwidth (10G up / 100M down)
- gPTP time synchronization per network domain
- Qbv gate schedules with 1ms cycle for deterministic motion control
- Kinematic groups: left/right arms, end-effectors, manipulation, locomotion
- Named states: home, transport
- Self-collision disable with reasons: adjacent, mounted, unreachable
Drone Quadrotor 947 lines
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A quadrotor drone with NavQ95 flight controller (NXP i.MX 95), 4x AM32 ESCs with 2212-920KV brushless motors and propellers, MR-MCXN-T1 sensor boards (RTK GNSS, optical flow, IMU, magnetometer, barometer), MIPI-CSI camera, LiPo battery, and power distribution board. Includes ROS 2 and Gazebo extension blocks.
Thrust motor with propeller surface
<comp name="motor_fl" role="actuator">
<description>2212-920KV brushless motor with 9x4.5 propeller — front-left (CCW)</description>
<inertial><mass>0.055</mass></inertial>
<port name="sig_in" type="SIGNAL">
<capabilities>
<protocol>3-phase-BLDC</protocol>
<connector>3-pin bullet</connector>
</capabilities>
</port>
<motor name="prop_fl" type="thrust">
<voltage unit="V" nominal="14.8" max="17.4"/>
<current unit="A" continuous="15" peak="25"/>
<velocity-constant unit="RPM/V">920</velocity-constant>
<max-speed unit="rpm">13616</max-speed>
<thrust-axis>0 0 1</thrust-axis>
<max-thrust unit="N">15</max-thrust>
<control-modes>
<mode>pwm</mode>
<mode>velocity</mode>
</control-modes>
</motor>
<surface name="prop">
<prop>
<diameter unit="in">9</diameter>
<pitch unit="in">4.5</pitch>
<blades>2</blades>
<direction>CCW</direction>
</prop>
</surface>
</comp>IMU sensor with noise model and FIFO
<sensor name="imu0" update-rate="3200">
<inertial type="accel_gyro">
<driver name="icm45686">
<axis-align x="X" y="Y" z="Z"/>
</driver>
<accel>
<range unit="g">16</range>
<resolution unit="mg">0.488</resolution>
<odr unit="Hz">3200</odr>
<bandwidth unit="Hz">1600</bandwidth>
<fifo depth="256" watermark="8"/>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.003</stddev>
<bias-mean>0.01</bias-mean>
<bias-stddev>0.001</bias-stddev>
</noise>
</accel>
<gyro>
<range unit="dps">2000</range>
<resolution unit="dps">0.061</resolution>
<odr unit="Hz">3200</odr>
<bandwidth unit="Hz">1600</bandwidth>
<fifo depth="256" watermark="8"/>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.01</stddev>
<bias-mean>0.005</bias-mean>
<bias-stddev>0.0005</bias-stddev>
</noise>
</gyro>
</inertial>
</sensor>ROS 2 extension (topic mapping)
<extension domain="org.ros2" version="1.0">
<topic-map>
<topic sensor="imu0" name="/imu/data"
type="sensor_msgs/msg/Imu" qos="sensor_data"/>
<topic sensor="mag0" name="/mag/data"
type="sensor_msgs/msg/MagneticField" qos="sensor_data"/>
<topic sensor="baro0" name="/baro/data"
type="sensor_msgs/msg/FluidPressure" qos="sensor_data"/>
<topic sensor="gnss0" name="/gnss/fix"
type="sensor_msgs/msg/NavSatFix" qos="sensor_data"/>
<topic sensor="optical_flow0" name="/optical_flow"
type="synapse_msgs/msg/OpticalFlow" qos="sensor_data"/>
<topic sensor="camera0" name="/camera/image_raw"
type="sensor_msgs/msg/Image" qos="sensor_data"/>
<topic motor="prop_fl" name="/esc/fl/command"
type="actuator_msgs/msg/MotorCommand" qos="reliable"/>
</topic-map>
</extension>Gazebo extension (simulation plugins)
<extension domain="org.gazebosim" version="1.0">
<physics>
<engine>ode</engine>
<max-step-size>0.001</max-step-size>
<real-time-factor>1.0</real-time-factor>
</physics>
<plugin name="aerodynamics" filename="libAerodynamicsPlugin.so">
<link>frame</link>
<air-density>1.225</air-density>
<forward-drag-coefficient>0.05</forward-drag-coefficient>
<upward-drag-coefficient>0.1</upward-drag-coefficient>
</plugin>
<plugin name="motor_model" filename="libMotorModelPlugin.so">
<motor>prop_fl</motor>
<turning-direction>ccw</turning-direction>
<time-constant-up>0.0125</time-constant-up>
<time-constant-down>0.025</time-constant-down>
<rotor-drag-coefficient>0.00025</rotor-drag-coefficient>
<rolling-moment-coefficient>1e-6</rolling-moment-coefficient>
</plugin>
</extension>CAN bus and power distribution networks
<network name="esc-bus">
<description>CAN bus connecting NavQ95 to all four ESCs for DShot motor commands</description>
<bus name="esc_can" type="CAN" topology="daisy-chain">
<bitrate>1000000</bitrate>
<protocol>DShot</protocol>
<participant device="navq95" port="can0" role="controller"
position="0" id="0x01" terminator="true"/>
<participant device="esc_fl" port="can0" role="sink"
position="1" id="0x11"/>
<participant device="esc_fr" port="can0" role="sink"
position="2" id="0x12"/>
<participant device="esc_rl" port="can0" role="sink"
position="3" id="0x13"/>
<participant device="esc_rr" port="can0" role="sink"
position="4" id="0x14" terminator="true"/>
</bus>
</network>Key features:
- Thrust motor type with propeller specs (diameter, pitch, blade count, rotation direction)
- Multi-constellation RTK GNSS with accuracy specs and PPS
- Camera with MIPI-CSI, intrinsics, data output bandwidth, H.265 compression
- Battery with LiPo chemistry, cell configuration, energy/capacity, discharge rate
- ROS 2 extension: sensor-to-topic mapping with QoS profiles
- Gazebo extension: physics engine, aerodynamics plugin, motor model plugin
- Star-topology power distribution: battery to PDB to ESCs and avionics
Minimal Test 353 lines
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A compact test file that exercises every major element type in a single 2-component system: switch with TSN/MACsec/EEE ports, CAN/SIGNAL/POWER ports, IMU with noise model, ToF sensor with dual FOVs, encoder, hall effect, thermistor, BLDC motor with full electrical specs, wheel surface, joint with dynamics, network with link/bus/chain/gPTP/schedule/MACsec, transmission, material, and include.
<?xml version="1.0"?>
<hcdf version="1.0">
<!-- Comp 1: board with switch, sensors, motor, surface, antenna, port -->
<comp name="test-board" role="actuator">
<description>Test component exercising all major child elements</description>
<inertial>
<mass>0.5</mass>
<com>0 0 0.005</com>
<inertia>1.2e-5 0 0 1.1e-5 0 2.0e-5</inertia>
</inertial>
<visual name="board">
<pose>0 0 0 0 0 0</pose>
<model uri="models/test-board.glb" sha="abc123def456"/>
</visual>
<collision name="board_col">
<pose>0 0 -0.005 0 0 0</pose>
<geometry>
<box><size>0.048 0.044 0.012</size></box>
</geometry>
<surface>
<friction static="0.6" dynamic="0.4"/>
<restitution>0.2</restitution>
</surface>
</collision>
<frame name="sensor_origin" relative-to="test-board">
<description>Sensor reference frame</description>
<pose>0 0 0.01 0 0 0</pose>
</frame>
<switch chip="test-switch">
<port name="eth0" iface="swp0" type="ethernet">
<capabilities>
<speed-tx unit="Mbps">10000</speed-tx>
<speed-rx unit="Mbps">100</speed-rx>
<standard>802.3dm</standard>
<phy role="master"/>
<tsn>
<gptp hw-timestamping="true" gm-capable="true"/>
<qbv traffic-classes="8" hw-queues="4" max-gcl-entries="64"/>
<preemption min-fragment-size="64"/>
</tsn>
<macsec><cipher>gcm-aes-128</cipher></macsec>
<eee supported="true"/>
<connector>Micro-Lock Plus 2.0 4C</connector>
</capabilities>
</port>
<port name="eth1" iface="swp1" type="ethernet">
<capabilities>
<speed unit="Mbps">1000</speed>
<standard>1000BASE-T1</standard>
<phy role="slave"/>
</capabilities>
</port>
</switch>
<sensor name="imu0" update-rate="1000">
<inertial type="accel_gyro">
<pose>0.016 -0.001 -0.008 0 0 0</pose>
<driver name="icm45686">
<axis-align x="Y" y="-X" z="Z"/>
</driver>
<accel>
<range unit="g">16</range>
<resolution unit="mg">0.488</resolution>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.003</stddev>
<bias-mean>0.01</bias-mean>
</noise>
</accel>
<gyro>
<range unit="dps">2000</range>
<noise type="gaussian">
<stddev>0.01</stddev>
</noise>
</gyro>
</inertial>
</sensor>
<motor name="foc_motor" type="bldc" encoder="motor_encoder"
hall="motor_hall" thermistor="motor_temp">
<voltage unit="V" nominal="24" max="28"/>
<current unit="A" continuous="6.5" peak="19"/>
<resistance unit="ohm">0.5</resistance>
<torque-constant unit="Nm/A">0.29</torque-constant>
<velocity-constant unit="V/RPM">0.109</velocity-constant>
<max-speed unit="rpm">260</max-speed>
<stall-torque unit="Nm">19.76</stall-torque>
<no-load-speed unit="rpm">257.9</no-load-speed>
<no-load-current unit="A">0.974</no-load-current>
<max-power-out unit="W">158.8</max-power-out>
<max-efficiency unit="percent">68.4</max-efficiency>
<control-modes>
<mode>velocity</mode>
<mode>position</mode>
<mode>torque</mode>
</control-modes>
</motor>
<surface name="wheel">
<wheel type="driven">
<radius unit="m">0.085</radius>
<width unit="m">0.041</width>
<friction static="0.9" dynamic="0.7"/>
</wheel>
</surface>
</comp>
<!-- Network: link, bus, chain, gPTP, schedule, MACsec -->
<network name="test">
<description>Test network exercising all topology types</description>
<link name="test_link">
<wired standard="802.3dm">
<port>parent-body/eth0</port>
<port>test-board/eth0</port>
<vlan id="10" pcp="5"/>
<macsec policy="must-secure" cipher="gcm-aes-128"
key-agreement="psk" key-ref="test-key"/>
</wired>
</link>
<bus name="test_can" type="CAN" topology="daisy-chain">
<bitrate>5000000</bitrate>
<participant device="parent-body" port="can0"
role="controller" position="1"/>
<participant device="test-board" port="can0"
position="2" id="0x601" terminator="true"/>
</bus>
<chain name="test-chain" type="802.3dm" mode="switched" topology="line">
<vlan id="10" pcp="5"/>
<macsec policy="must-secure" cipher="gcm-aes-128"
key-agreement="psk"/>
<hop device="parent-body" port="eth0" role="root"/>
<hop device="test-board" ingress="eth0" role="tail"/>
</chain>
<gptp domain="0">
<clock device="parent-body" port="eth0"
gm-capable="true" priority1="128" priority2="128"/>
<clock device="test-board" port="eth0"
gm-capable="false" priority1="255" priority2="255"/>
<port-defaults log-sync-interval="-3"
neighbor-prop-delay-thresh-ns="800"/>
</gptp>
<schedule name="1ms-control" cycle-time-us="1000">
<gate tc-mask="0x80" duration-us="50"/>
<gate tc-mask="0x60" duration-us="200"/>
<gate tc-mask="0x0F" duration-us="750"/>
</schedule>
<stream-profile uri="profiles/operational.streams.xml" active="true"/>
<macsec policy="must-secure" cipher="gcm-aes-128" key-agreement="psk">
<key-store type="secure-element" ref="se051"/>
</macsec>
</network>
<transmission name="shoulder_transmission" type="planetary">
<motor ref="foc_motor"/>
<joint ref="shoulder_yaw"/>
<reduction>50</reduction>
<efficiency>0.85</efficiency>
</transmission>
<material name="rubber">
<color rgba="0.1 0.1 0.1 1.0"/>
<surface>
<friction static="0.8" dynamic="0.6"/>
<restitution>0.3</restitution>
</surface>
</material>
<include uri="components/sensor-module.hcdf" sha="abc123"
name="sensor-1" pose="0 0 0.1 0 0 0"/>
</hcdf>Key features:
- Every major element type in one file: comp, joint, group, state, network, transmission, material, include
- Switch with 802.3dm asymmetric ports and TSN capabilities (gPTP, Qbv, preemption, MACsec, EEE)
- 5 sensor categories: inertial (accel+gyro), optical (ToF with dual FOV), encoder, EM (hall), temperature
- BLDC motor with full electrical specs and 3 control modes
- Network with all 3 topology types: link, bus, chain
- Planetary transmission with gear ratio and efficiency
- Content-addressed include for modular composition