HCDF 1.0 Specification Browser

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  • name Attribute
    Type: xs:string (required): Name of the robot, platform, or sub-assembly described by this file. Required. For top-level robot descriptions, this is the robot's model name (e.g., "cogni-humanoid-v2", "quadrotor-x500"). For reusable sub-assemblies, this is the module name (e.g., "7dof-arm", "stereo-head-v2", "hebi-x8-9"). When a file is imported via include, the include's name attribute provides the instance name (e.g., "left_arm"), while this attribute provides the module identity. Use lowercase-with-hyphens by convention.
  • version Attribute
    Type: HcdfVersion, default="1.0": HCDF schema version this file conforms to. Current: 1.0. Pattern-validated MAJOR.MINOR. Core XSD validation is ordered and closed: unknown core elements are rejected, and domain-specific content belongs inside <extension>. Typed-loader compatibility is defined by the loader's version policy. Tooling binds to the embedded canonical hcdf.xsd by content SHA-256, not by this string alone.
  • body-frame Attribute
    Type: FLU | FRD: Body-frame axis convention for all pose values in this file. FLU (X-forward, Y-left, Z-up): common in ground robotics and humanoid platforms. FRD (X-forward, Y-right, Z-down): common in aerospace and flight controllers. All xyz and rpy values in this document are expressed in the specified body-frame convention. Optional; when omitted, consumers should not assume a default and must either infer from context or require explicit specification. Semantic rule: all files in an include chain must use the same body-frame.
  • world-frame Attribute
    Type: ENU | NED: World-frame (navigation/map frame) axis convention for global coordinates. ENU (X-east, Y-north, Z-up): common in GIS, surveying, and ground robotics. NED (X-north, Y-east, Z-down): common in aerospace, marine navigation, and flight controllers. Determines how global poses, waypoints, and map-relative coordinates are interpreted. Independent of body-frame. Optional; when omitted, consumers should not assume a default. Semantic rule: all files in an include chain must use the same world-frame.
  • <description> Element
    Type: xs:string
    Human-readable description of what this HCDF file describes. For a top-level robot: the robot's purpose and key characteristics (e.g., "CogniPilot humanoid mobile base research platform with dual 7-DOF arms and TSN backbone"). For a reusable sub-assembly: the module's function and interface (e.g., "7-DOF manipulator arm with HEBI X8-series SEA actuators, 802.3dm daisy-chain, and force/torque sensing at wrist"). Helps humans and AI agents understand the file's contents without parsing the full document.
  • <author> Element
    Type: xs:string
    Author or organization that created this HCDF file (e.g., "CogniPilot Foundation", "HEBI Robotics", "Jane Doe"). For composed systems, each included file retains its own author, allowing BOM tools to trace which vendor or team provided each sub-assembly. Optional.
  • <license> Element
    Type: xs:string
    License governing use of this HCDF file and the design it describes. Use SPDX license identifiers when possible (e.g., "Apache-2.0", "BSD-3-Clause", "MIT", "CERN-OHL-S-2.0" for open hardware, "LicenseRef-Proprietary" for closed designs). For composed systems, each included file can carry a different license, enabling mixed open-source and proprietary sub-assemblies. Optional.
  • <url> Element
    Type: xs:anyURI
    Canonical URL for this HCDF file's project, documentation, or source repository (e.g., "https://github.com/CogniPilot/hcdformat"). Provides a stable reference for humans and tooling to find updates, issues, and related resources. Optional.
  • <comp> Element
    [0..*]
    Component definitions (rigid bodies / hardware assemblies).
  • <joint> Element
    [0..*]
    Kinematic joint connections between components.
  • <group> Element
    [0..*]
    Named joint groups for planning and control (e.g., left_arm, locomotion).
  • <state> Element
    [0..*]
    Named kinematic states / poses (e.g., home, transport).
  • <self-collision-disable> Element
    Component pairs to skip for self-collision checking.
    • <pair> Element
      [0..*]
      A pair of components to disable collision checking between.
      • comp1 Attribute
        Type: xs:string (required): First component name.
      • comp2 Attribute
        Type: xs:string (required): Second component name.
      • reason Attribute
        Type: xs:string: Why this pair is disabled: "adjacent" (share a joint), "unreachable" (physically can't collide), "mounted" (always in contact by design). Optional documentation.
  • <harness> Element
    [0..*]
  • <cable> Element
    [0..*]
  • <plumbing> Element
    [0..*]
  • <umbilical> Element
    [0..*]
  • <binding> Element
    [0..*]
  • <mate> Element
    [0..*]
  • <link> Element
    [0..*]
  • <bus> Element
    [0..*]
  • <chain> Element
    [0..*]
  • <star> Element
    [0..*]
  • <ring> Element
    [0..*]
  • <mesh> Element
    [0..*]
  • <tree> Element
    [0..*]
  • <stream-profile> Element
    [0..*]
    • uri Attribute
      Type: xs:anyURI (required)
    • sha Attribute
      Type: xs:string
    • required Attribute
      Type: xs:boolean, default="true"
    • selection-role Attribute
      Type: default
  • <transmission> Element
    [0..*]
    Motor-to-joint mechanical power transmissions.
  • <color> Element
    [0..*]
    Reusable document-level color definitions (each @name + @rgba), referenced by name from visual <color> elements. HCDF's flat-appearance palette; replaces the former bundled <material> -- rich appearance is baked into the GLB <model>, and contact physics lives on <collision><surface>.
  • <include> Element
    [0..*]
    External HCDF file includes for model composition.
    • uri Attribute
      Type: xs:anyURI (required): URI of the HCDF file to include (relative to this document or absolute). Required.
    • sha Attribute
      Type: xs:string: SHA-256 hash of the included file for content integrity verification. Optional but recommended for reproducible builds.
    • name Attribute
      Type: xs:string: Name prefix for all elements from the included file. Prevents name collisions when including the same module multiple times (e.g., "left_arm", "right_arm"). Optional.
    • pose Attribute
      Type: xs:string: Pose offset applied to all included components, as six space-separated doubles "x y z" (meters) then "roll pitch yaw" (radians), relative to the including document's world frame. Optional; default: no offset.
    • static Attribute
      Type: xs:boolean: If true, the included sub-assembly is imported as a fixed (static) body: its links do not move under dynamics. Maps to SDF include/static. Optional; absent => the included model's own setting.
    • placement-frame Attribute
      Type: xs:string: Name of a frame within the included model that the @pose is applied to (the frame that gets placed at @pose, rather than the model's default origin). Maps to SDF include/placement_frame. Optional.
  • <extension> Element
    [0..*]
    Document-level vendor/domain-specific extension data. Used (among other things) as the lax home for model-level (reference-less) URDF <gazebo> blocks and for top-level non-URDF-schema elements quarantined on import (e.g. <ros2_control> under domain "org.ros2.control"), preserving them byte-faithfully for round-trip without polluting the typed core.
    • domain Attribute
      Type: xs:string (required): Namespace or domain identifier for the extension content (e.g., "gazebo", "isaac-sim", "vendor:mycompany", "ci:github-actions"). Required.
    • version Attribute
      Type: xs:string: Version of the extension schema for forward compatibility. Optional.
  • name Attribute
    Type: xs:string (required): Unique name for this component (e.g., "spine_soc", "left_shoulder", "wheel_fl_motor_driver"). Required. Used in joint parent/child references, port paths, and chain hop references.
  • role Attribute
    Type: sensor | compute | actuator | parent: Functional role (sensor, compute, actuator, parent). Optional. Aids tooling in categorizing components for network planning and visualization.
  • hwid Attribute
    Type: xs:string: Hardware identifier for matching physical devices during discovery (e.g., serial number, MAC address prefix, or part number). Optional. Used by discovery agents to map physical hardware to HCDF components.
  • struct-type Attribute
    Type: xs:string: Structural classification of this component: fuselage, wing, boom, mast, hull, chassis, frame, arm, leg, tail, nacelle, pod. Optional; provides semantic context for the component's role in the robot's body architecture. Used by agents for high-level reasoning about robot morphology.
  • ip-rating Attribute
    Type: xs:string: Ingress Protection rating per IEC 60529 (e.g., "IP67", "IP68", "IP54") or NEMA enclosure type (e.g., "NEMA-4X", "NEMA-6P"). The two-digit IP code indicates protection against solids (first digit, 0-6) and liquids (second digit, 0-9K): IP54 = dust-protected + splash-proof. IP65 = dust-tight + water jets. IP67 = dust-tight + temporary immersion (1m, 30min). IP68 = dust-tight + continuous immersion (depth/duration defined by manufacturer). IP69K = dust-tight + high-pressure steam cleaning. An agent uses this to validate that all components meet the environmental requirements for the target deployment (outdoor, underwater, washdown). Components without ip-rating are assumed to have no specific protection (or the rating is unknown). Optional; free-form string to support both IP and NEMA systems.
  • <description> Element
    Type: xs:string
    Human-readable description of the component (e.g., "NVIDIA Jetson AGX Orin compute module", "shoulder actuator assembly").
  • <board> Element
    Type: xs:string
    Board or hardware platform identifier (e.g., "jetson-agx-orin-64gb", "nxp-s32n79-evb", "custom-motor-driver-v3"). Used for BOM generation and hardware matching.
  • <operating-temp> Element
    Operating temperature range of this component. Use min and max attributes for the rated limits. Unit: "degC" (default). Example: min="-40" max="85" for automotive grade, min="0" max="70" for commercial grade, min="-40" max="125" for mil-spec. An agent uses this to validate that all components in a system can operate in the target environment. If the robot operates outdoors in winter (-20 degC), every component's operating-temp range must include that temperature. Components without operating-temp are assumed to have no specific constraint (or the constraint is unknown).
    • unit Attribute
      Type: xs:string: Physical unit. Optional; SI default applies if omitted.
    • min Attribute
      Type: xs:double: Minimum acceptable value in the specified unit.
    • max Attribute
      Type: xs:double: Maximum acceptable value in the specified unit.
  • <inertial> Element
    Inertial properties (mass, center of mass, inertia tensor) for dynamics simulation.
    • <mass> Element
      Type: xs:double
      Total mass of the component in kilograms (kg).
    • <inertia_origin> Element
      Origin of the inertial frame (center-of-mass position plus optional orientation) as a structured pose relative to the component origin. The inertia tensor below is expressed IN this frame, so a rotated inertial frame (URDF inertial/origin/@rpy) is preserved with no tensor pre-rotation. Replaces the former bare-string <com> (position only) in the clean 1.0 reset; the center of mass is inertia_origin/@xyz.
      • xyz Attribute
        Type: xs:string, default="0 0 0": Position as three space-separated doubles "x y z" in meters. Default: "0 0 0" (origin of parent frame).
      • rpy Attribute
        Type: xs:string, default="0 0 0": Orientation as three space-separated Euler angles "roll pitch yaw" in radians (XYZ extrinsic convention). Default: "0 0 0" (no rotation).
      • quat Attribute
        Type: Quat4: Orientation as quaternion "x y z w" (Hamilton convention, scalar-last), exactly four doubles. Optional; if present, overrides rpy (quat-wins precedence).
    • <inertia> Element
      Type: xs:string
      Rotational inertia tensor as "ixx ixy ixz iyy iyz izz" in kg*m^2. Six unique components of the symmetric 3x3 inertia matrix about the center of mass.
  • <visual> Element
    [0..*]
    Visual representation(s) for 3D rendering. Multiple visuals per component for multi-part models.
    • name Attribute
      Type: xs:string (required): Unique name for this visual within the component. Required. Used for programmatic toggling and identification.
    • toggle Attribute
      Type: xs:string: Toggle group name. Visuals sharing the same toggle group can be shown/hidden together at runtime (e.g., "leds", "covers").
    • name-origin Attribute
      Type: authored | synthesized: Provenance of the name (authored vs converter-synthesized). Optional; absence means authored. A converter importing URDF (whose visuals have no name) sets this to "synthesized" so the name can be stripped on URDF export.
    • <pose> Element
      Pose of the visual relative to the component origin (xyz/rpy or quat attributes; meters and radians). Default: identity (no offset).
      • xyz Attribute
        Type: xs:string, default="0 0 0": Position as three space-separated doubles "x y z" in meters. Default: "0 0 0" (origin of parent frame).
      • rpy Attribute
        Type: xs:string, default="0 0 0": Orientation as three space-separated Euler angles "roll pitch yaw" in radians (XYZ extrinsic convention). Default: "0 0 0" (no rotation).
      • quat Attribute
        Type: Quat4: Orientation as quaternion "x y z w" (Hamilton convention, scalar-last), exactly four doubles. Optional; if present, overrides rpy (quat-wins precedence).
  • <collision> Element
    [0..*]
    Collision geometry for physics simulation. Multiple collision shapes per component for complex bounds.
    • name Attribute
      Type: xs:string (required): Unique name for this collision shape within the component. Required.
    • name-origin Attribute
      Type: authored | synthesized: Provenance of the name (authored vs converter-synthesized). Optional; absence means authored. URDF collision @name is optional, so an unnamed URDF collision imports as "synthesized" and is stripped on export.
    • verbose Attribute
      Type: xs:boolean: URDF-compat: the per-collision URDF <verbose> flag (zero CPS meaning), kept per-collision (not on the comp-level urdf-compat) so each collision round-trips its own flag. Optional; omit for native HCDF.
    • <pose> Element
      Pose of the collision geometry relative to the component origin (xyz/rpy or quat attributes; meters and radians). Default: identity.
      • xyz Attribute
        Type: xs:string, default="0 0 0": Position as three space-separated doubles "x y z" in meters. Default: "0 0 0" (origin of parent frame).
      • rpy Attribute
        Type: xs:string, default="0 0 0": Orientation as three space-separated Euler angles "roll pitch yaw" in radians (XYZ extrinsic convention). Default: "0 0 0" (no rotation).
      • quat Attribute
        Type: Quat4: Orientation as quaternion "x y z w" (Hamilton convention, scalar-last), exactly four doubles. Optional; if present, overrides rpy (quat-wins precedence).
    • <geometry> Element
      (required)
      Geometry primitive or lean external mesh defining the collision boundary. Required. Prefer primitives/convex hulls; a collision mesh should be a lean format (STL/OBJ/convex), not a GLB -- collision needs shape, not baked appearance.
      • <box> Element
        • <size> Element
          (required)
          Type: xs:string
          Box dimensions as three space-separated doubles "width depth height" in meters (X Y Z extents).
      • <cylinder> Element
        • <radius> Element
          (required)
          Type: xs:double
          Cylinder radius in meters.
        • <length> Element
          (required)
          Type: xs:double
          Cylinder length (height) along the Z axis in meters.
      • <sphere> Element
        • <radius> Element
          (required)
          Type: xs:double
          Sphere radius in meters.
      • <capsule> Element
        • <radius> Element
          (required)
          Type: xs:double
          Capsule radius (cylinder and hemisphere radius) in meters.
        • <length> Element
          (required)
          Type: xs:double
          Length of the cylindrical section in meters (excludes hemispherical caps).
      • <cone> Element
        • <radius> Element
          (required)
          Type: xs:double
          Radius of the cone base in meters.
        • <length> Element
          (required)
          Type: xs:double
          Height of the cone from base to apex in meters.
      • <ellipsoid> Element
        • <radii> Element
          (required)
          Type: xs:string
          Three semi-axis radii as "rx ry rz" in meters. Example: "0.1 0.08 0.15" for an egg-shaped ellipsoid.
      • <mesh> Element
        • uri Attribute
          Type: xs:anyURI (required): URI of the mesh file (relative to the HCDF document or absolute). Required.
        • scale Attribute
          Type: xs:string, default="1 1 1": Scale factors as three space-separated doubles "sx sy sz" applied to the mesh. Default: "1 1 1" (no scaling).
        • sha Attribute
          Type: xs:string: SHA-256 hash of the mesh file for content integrity and content-addressed caching. Optional but recommended for reproducible builds. Mirrors model_ref/@sha so primitive mesh refs are integrity-checkable too.
        • source-uri Attribute
          Type: xs:anyURI: URI of the original pre-conversion asset (e.g. the STL/DAE/OBJ this mesh was converted from when targeting GLB/glTF). Optional; lets tooling reuse the source for a higher-fidelity reverse conversion.
        • <submesh> Element
          Optional selection of a single named sub-part within the mesh file (SDF mesh/submesh). Absent => load the whole file.
          • name Attribute
            Type: xs:string (required): Name of the sub-part (submesh/node) within the mesh file to load. SDF mesh/submesh/name. Required.
          • center Attribute
            Type: xs:boolean: If true, recenter the selected submesh so its geometric center is at the mesh origin. SDF mesh/submesh/center. Default: false.
    • <surface> Element
      Surface physics properties (friction, restitution, contact) for this collision shape.
      • <friction> Element
        Static and dynamic friction coefficients.
        • static Attribute
          Type: xs:double, default="0": Static friction coefficient (dimensionless). Force required to initiate sliding. Default: 0.
        • dynamic Attribute
          Type: xs:double, default="0": Dynamic (kinetic) friction coefficient (dimensionless). Force during sliding. Must be less than or equal to static. Default: 0.
        • <friction-direction> Element
          Optional anisotropic friction (first friction direction fdir1, second-direction coefficient mu2, and per-direction slip). Present only for direction-dependent surfaces; absent => isotropic friction from @static/@dynamic.
          • mu2 Attribute
            Type: xs:double: Friction coefficient in the SECOND friction direction (perpendicular to fdir1). SDF surface/friction/ode/mu2. The primary-direction coefficient is friction/@static. Dimensionless.
          • slip1 Attribute
            Type: xs:double: Force-dependent slip (compliance) in the first friction direction, in m/s per Newton. SDF surface/friction/ode/slip1. Models tire/track slip. Default: 0 (no slip).
          • slip2 Attribute
            Type: xs:double: Force-dependent slip (compliance) in the second friction direction, in m/s per Newton. SDF surface/friction/ode/slip2. Default: 0 (no slip).
          • <fdir1> Element
            Type: xs:string
            First friction direction as a unit vector "x y z" in the collision frame. SDF surface/friction/ode/fdir1. The second friction direction is the cross product of the contact normal and this vector. Example: "1 0 0".
      • <restitution> Element
        Type: xs:double
        Coefficient of restitution (bounciness). 0 = perfectly inelastic (no bounce), 1 = perfectly elastic (full bounce). Dimensionless, range [0, 1].
      • <contact> Element
        Contact dynamics parameters (stiffness, damping) for physics simulation.
        • stiffness Attribute
          Type: xs:double: Contact stiffness in N/m. Higher values create harder contacts with less penetration.
        • damping Attribute
          Type: xs:double: Contact damping coefficient in N*s/m. Dissipates energy during contact to reduce bouncing.
  • <frame> Element
    [0..*]
    Named coordinate frames attached to this component for sensor mounts, tool points, etc.
    • name Attribute
      Type: xs:string (required): Unique name for this frame within the component. Required. Referenced by other elements using the frame name.
    • relative-to Attribute
      Type: xs:string: Name of the anchor this frame's pose is expressed relative to: a sibling frame (comp-local frame name), a comp (document-unique comp name -- including this frame's own comp, to state the component origin explicitly), or a joint (its joint frame). This mirrors SDF's frame graph, where a frame may attach to a link, joint, or frame. If omitted, the pose is relative to this frame's own component origin. Because the reference resolves against the UNION of frame, comp, and joint names -- a heterogeneous namespace an XSD keyref cannot target (a keyref binds exactly one key) -- referential integrity is enforced by the companion validator, not the schema. On a name collision, resolution precedence is: sibling frame (most local) > comp > joint.
    • type Attribute
      Type: xs:string: Frame purpose type: "tcp" (Tool Center Point for end-effector control), "sensor-origin" (sensor reference frame), "attachment" (mechanical mounting point), "optical" (camera optical frame, Z-forward convention). Optional; omit for general-purpose frames.
    • <description> Element
      Type: xs:string
      Human-readable description of the frame's purpose (e.g., "camera mount point", "tool center point").
    • <pose> Element
      Pose of the frame relative to the component origin (or to the frame named in relative-to), given via the xyz/rpy or quat attributes (meters and radians).
      • xyz Attribute
        Type: xs:string, default="0 0 0": Position as three space-separated doubles "x y z" in meters. Default: "0 0 0" (origin of parent frame).
      • rpy Attribute
        Type: xs:string, default="0 0 0": Orientation as three space-separated Euler angles "roll pitch yaw" in radians (XYZ extrinsic convention). Default: "0 0 0" (no rotation).
      • quat Attribute
        Type: Quat4: Orientation as quaternion "x y z w" (Hamilton convention, scalar-last), exactly four doubles. Optional; if present, overrides rpy (quat-wins precedence).
  • <port> Element
    [0..*]
  • <connector> Element
    [0..*]
  • <antenna> Element
    [0..*]
  • <switch> Element
    [0..*]
  • <bridge> Element
    [0..*]
  • <converter> Element
    [0..*]
  • <transceiver> Element
    [0..*]
  • <radio> Element
    [0..*]
  • <wire> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <first> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <second> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <conductor> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <first> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <second> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <cable-member> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <first> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <second> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <fiber> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <first> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <second> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <coax> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <first> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <second> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <waveguide> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <first> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <second> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <feed> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <first> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <second> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <hose> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <first> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <second> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <pipe> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <first> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <second> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <passage> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <first> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <second> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <splice> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • <attachment> Element
      (required) [0..*]
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <tee> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • <attachment> Element
      (required) [0..*]
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <manifold> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • <attachment> Element
      (required) [0..*]
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <busbar> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • <attachment> Element
      (required) [0..*]
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <optical-splitter> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • <attachment> Element
      (required) [0..*]
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <termination> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • kind Attribute
      Type: xs:string (required)
    • mounting Attribute
      Type: endpoint | inline | branch | closure (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • profile Attribute
      Type: xs:string
    • <attachment> Element
      (required) [0..*]
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <quantity> Element
      [0..*]
      • property Attribute
        Type: xs:string (required)
      • value Attribute
        Type: xs:double (required)
      • unit Attribute
        Type: xs:string (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <sensor> Element
    [0..*]
    Sensor group(s) on this component. Each sensor element groups related sub-sensors (IMU, camera, etc.).
  • <motor> Element
    [0..*]
    Motor(s) or actuator(s) on this component. Connected to joints via transmission elements.
  • <hmi> Element
    [0..*]
    Human-machine interface elements (displays, speakers, LEDs, buttons) on this component.
  • <dynamic-surface> Element
    [0..*]
    Functional interaction surfaces (aerofoils, control surfaces, propellers, wheels, tracks, grippers) on this component. Renamed from <surface> so that <surface> now refers unambiguously to collision contact physics.
  • <power-source> Element
    [0..*]
    Energy storage (batteries, fuel tanks) on this component.
  • <software> Element
    Firmware or software identity running on this component. At most one per component.
    • name Attribute
      Type: xs:string (required): Firmware or software package name (e.g., "zephyr-flight-controller", "linux-jetson-orin"). Required.
    • <version> Element
      Type: xs:string
      Firmware or software version string (e.g., "1.2.3", "v2024.03-rc1"). Semantic versioning recommended.
    • <hash> Element
      Type: xs:string
      SHA-256 hash of the firmware binary for integrity verification and update tracking.
    • <firmware-manifest-uri> Element
      Type: xs:anyURI
      URI of the firmware manifest file describing the full firmware package contents, dependencies, and update instructions.
    • <params> Element
      Type: xs:string
      Runtime configuration parameters string passed to the firmware at boot (e.g., DTS overlay name, boot arguments).
  • <discovered> Element
    Runtime discovery state (IP, port, last-seen). Populated by discovery agents, not authored by hand.
    • <ip> Element
      Type: xs:string
      Discovered IP address of the component (e.g., "10.0.1.42"). Populated at runtime.
    • <port> Element
      Type: xs:unsignedInt
      Discovered service port number (e.g., 8080 for a web interface, 7400 for DDS). Populated at runtime.
    • <last-seen> Element
      Type: xs:string
      ISO 8601 timestamp of when the device was last seen online (e.g., "2026-04-05T10:30:00Z"). Populated at runtime by discovery agents.
  • <urdf-compat> Element
    URDF-only, zero-CPS fields for this component (e.g. the PR2 link/@type). Optional; present only when imported from URDF and needed for a lossless round-trip. Omit for native HCDF.
    • link-type Attribute
      Type: xs:string: The URDF link/@type (an undocumented PR2-era attribute). Preserved verbatim for URDF round-trip; no HCDF semantics.
  • <extension> Element
    [0..*]
    Vendor or domain-specific extension data for this component.
    • domain Attribute
      Type: xs:string (required): Namespace or domain identifier for the extension content (e.g., "gazebo", "isaac-sim", "vendor:mycompany", "ci:github-actions"). Required.
    • version Attribute
      Type: xs:string: Version of the extension schema for forward compatibility. Optional.
  • name Attribute
    Type: xs:string (required): Unique name for this joint (e.g., "left_shoulder_pitch", "wheel_fl_spin"). Required. Referenced by transmission elements and mimic constraints.
  • type Attribute
    Type: revolute | continuous | prismatic | fixed | ball | universal | planar | screw | cylindrical | free (required): Joint type determining degrees of freedom and required sub-elements. Required.
  • thread_pitch Attribute
    Type: xs:double: Thread pitch for screw joints. Defines the linear advance per full rotation. Canonical HCDF storage is meters-per-revolution, RIGHT-handed (the modern gz screw_thread_pitch convention); legacy gazebo-classic thread_pitch (rad/m, left-handed) is converted to canonical on import (screw_thread_pitch = -2*pi / thread_pitch). The value here is interpreted per the OPTIONAL @pitch_convention and @handedness attributes, which default to m_per_rev and right (i.e. canonical); the SDF importer always converts to canonical and omits both attributes. Only valid when type="screw"; forbidden on every other joint type.
  • pitch_convention Attribute
    Type: m_per_rev | rad_per_m: Unit convention of @thread_pitch: m_per_rev (canonical, default when absent) or rad_per_m (legacy gazebo-classic). Only valid on type="screw". Absent => m_per_rev.
  • handedness Attribute
    Type: right | left: Thread chirality of @thread_pitch: right (canonical, default when absent) or left (legacy gazebo-classic positive sense). Only valid on type="screw". Absent => right.
  • <description> Element
    Type: xs:string
    Human-readable description of the joint's purpose (e.g., "left shoulder pitch", "front-left wheel spin").
  • <parent> Element
    (required)
    Parent component of the joint. Required. The parent remains fixed while the child moves.
    • comp Attribute
      Type: xs:string (required): Name of the parent component. Required. Must match a comp name defined in the HCDF document.
  • <child> Element
    (required)
    Child component of the joint. Required. The child moves relative to the parent.
    • comp Attribute
      Type: xs:string (required): Name of the child component. Required. Must match a comp name defined in the HCDF document.
  • <origin> Element
    Pose of the joint frame relative to the parent component's origin. Defines where the joint is located and how it is oriented on the parent body.
    • xyz Attribute
      Type: xs:string, default="0 0 0": Position as three space-separated doubles "x y z" in meters. Default: "0 0 0" (origin of parent frame).
    • rpy Attribute
      Type: xs:string, default="0 0 0": Orientation as three space-separated Euler angles "roll pitch yaw" in radians (XYZ extrinsic convention). Default: "0 0 0" (no rotation).
    • quat Attribute
      Type: Quat4: Orientation as quaternion "x y z w" (Hamilton convention, scalar-last), exactly four doubles. Optional; if present, overrides rpy (quat-wins precedence).
  • <axis> Element
    Primary axis of rotation/translation in the joint frame. Required for revolute, continuous, prismatic, cylindrical, universal, screw, and planar joints. For planar joints it is the plane NORMAL (the two DOFs translate in the plane perpendicular to it). Forbidden for fixed, free, and ball joints. For cylindrical joints, this single axis defines both the rotation and translation direction.
    • xyz Attribute
      Type: xs:string, default="1 0 0": Axis direction vector as three space-separated doubles "x y z". Does not need to be unit-length (will be normalized). Default: "1 0 0" (X axis). Examples: "0 0 1" for Z-axis rotation, "0 1 0" for Y-axis.
  • <axis2> Element
    Secondary axis for universal joints (2-DOF). Defines the second rotation axis, which must be perpendicular to the primary axis. Only valid when type="universal"; forbidden on every other joint type.
    • xyz Attribute
      Type: xs:string, default="1 0 0": Axis direction vector as three space-separated doubles "x y z". Does not need to be unit-length (will be normalized). Default: "1 0 0" (X axis). Examples: "0 0 1" for Z-axis rotation, "0 1 0" for Y-axis.
  • <limit2> Element
    Limits for the SECOND degree of freedom. Valid ONLY on universal, cylindrical, and planar joints; forbidden on every other type. Universal: bounds axis2 (radians; maps to SDF axis2/limit). Cylindrical: bounds the rotation DOF (radians), OPTIONAL (a cylindrical joint may leave rotation unbounded). Planar: bounds the second in-plane translation range (meters). The first-DOF limits are in <limit>.
    • lower Attribute
      Type: xs:double: Lower position limit. Radians for revolute and for a screw <limit> (rotational DOF); meters for prismatic, for a cylindrical <limit> (translation), and for a planar in-plane range. Optional; ABSENCE means unbounded (no schema default is injected); continuous joints MUST omit lower/upper. A 0 resting value must be written explicitly.
    • upper Attribute
      Type: xs:double: Upper position limit. Radians for revolute and for a screw <limit> (rotational DOF); meters for prismatic, for a cylindrical <limit> (translation), and for a planar in-plane range. Optional; absence means unbounded. Validator rule: upper >= lower for non-continuous joints; continuous joints omit both.
    • effort Attribute
      Type: xs:double, default="0": Maximum joint effort (torque for revolute in Nm, force for prismatic in N). Default: 0 (unlimited if not specified by tooling).
    • velocity Attribute
      Type: xs:double, default="0": Maximum joint velocity (rad/s for revolute, m/s for prismatic). Default: 0 (unlimited if not specified by tooling).
    • acceleration Attribute
      Type: xs:double: Maximum joint acceleration (rad/s^2 for revolute, m/s^2 for prismatic). Optional; used for trajectory planning. Maps to the urdfdom v1.2 limit/@acceleration attribute (mirrors urdfdom_headers JointLimits::acceleration); round-trips on HCDF-<->URDF conversion.
    • jerk Attribute
      Type: xs:double: Maximum joint jerk (rad/s^3 for revolute, m/s^3 for prismatic). Optional; used for smooth trajectory generation. Maps to the urdfdom v1.2 limit/@jerk attribute (mirrors urdfdom_headers JointLimits::jerk); round-trips on HCDF-<->URDF conversion.
    • deceleration Attribute
      Type: xs:double: Maximum joint deceleration (rad/s^2 for revolute, m/s^2 for prismatic). Optional; distinct from acceleration for asymmetric motion profiles. Maps to the urdfdom v1.2 limit/@deceleration attribute (mirrors urdfdom_headers JointLimits::deceleration); round-trips on HCDF-<->URDF conversion.
  • <dynamics2> Element
    Damping/friction/spring parameters for the SECOND degree of freedom (axis2). Maps to SDF axis2/dynamics for universal/revolute2 joints. Only valid when type="universal". Optional; the primary-axis dynamics are in <dynamics>.
    • damping Attribute
      Type: xs:double, default="0": Viscous damping coefficient. Nm/(rad/s) for revolute, N/(m/s) for prismatic. Default: 0.
    • friction Attribute
      Type: xs:double, default="0": Coulomb friction torque/force. Nm for revolute, N for prismatic. Applied as constant resistance opposing motion. Default: 0.
    • spring_stiffness Attribute
      Type: xs:double, default="0": Spring stiffness. Nm/rad for revolute, N/m for prismatic. Creates a restoring force toward spring_reference position. Default: 0 (no spring).
    • spring_reference Attribute
      Type: xs:double, default="0": Spring rest position. Radians for revolute, meters for prismatic. The position at which the spring exerts zero force. Default: 0.
  • <limit> Element
    Position, velocity, effort, acceleration, and jerk limits for the FIRST degree of freedom. Required for revolute, prismatic, and cylindrical joints. Optional for continuous (velocity/effort ONLY; lower/upper are forbidden). Forbidden for fixed, free, and ball. Per-DOF meaning: for cylindrical, lower/upper are the translation range (meters) and the rotation range lives in <limit2> (radians, optional); for screw, lower/upper bound the ROTATIONAL DOF (radians) and the coupled axial translation is derived via thread_pitch; for universal, this is the primary-axis limit (radians) and axis2's is in <limit2>; for planar, this is the first in-plane translation range (meters) and the second is in <limit2>.
    • lower Attribute
      Type: xs:double: Lower position limit. Radians for revolute and for a screw <limit> (rotational DOF); meters for prismatic, for a cylindrical <limit> (translation), and for a planar in-plane range. Optional; ABSENCE means unbounded (no schema default is injected); continuous joints MUST omit lower/upper. A 0 resting value must be written explicitly.
    • upper Attribute
      Type: xs:double: Upper position limit. Radians for revolute and for a screw <limit> (rotational DOF); meters for prismatic, for a cylindrical <limit> (translation), and for a planar in-plane range. Optional; absence means unbounded. Validator rule: upper >= lower for non-continuous joints; continuous joints omit both.
    • effort Attribute
      Type: xs:double, default="0": Maximum joint effort (torque for revolute in Nm, force for prismatic in N). Default: 0 (unlimited if not specified by tooling).
    • velocity Attribute
      Type: xs:double, default="0": Maximum joint velocity (rad/s for revolute, m/s for prismatic). Default: 0 (unlimited if not specified by tooling).
    • acceleration Attribute
      Type: xs:double: Maximum joint acceleration (rad/s^2 for revolute, m/s^2 for prismatic). Optional; used for trajectory planning. Maps to the urdfdom v1.2 limit/@acceleration attribute (mirrors urdfdom_headers JointLimits::acceleration); round-trips on HCDF-<->URDF conversion.
    • jerk Attribute
      Type: xs:double: Maximum joint jerk (rad/s^3 for revolute, m/s^3 for prismatic). Optional; used for smooth trajectory generation. Maps to the urdfdom v1.2 limit/@jerk attribute (mirrors urdfdom_headers JointLimits::jerk); round-trips on HCDF-<->URDF conversion.
    • deceleration Attribute
      Type: xs:double: Maximum joint deceleration (rad/s^2 for revolute, m/s^2 for prismatic). Optional; distinct from acceleration for asymmetric motion profiles. Maps to the urdfdom v1.2 limit/@deceleration attribute (mirrors urdfdom_headers JointLimits::deceleration); round-trips on HCDF-<->URDF conversion.
  • <swing_limit> Element
    Swing-cone limit for a ball joint's two swing DOFs (half-angles in radians; circular or elliptic cone). Only valid on type="ball"; optional (omitted => unbounded swing). Paired with <twist_limit> for the twist DOF. Has no URDF/SDF home on export (URDF spherical and classic SDF ball carry no limits), recorded as a loss.
    • swing1 Attribute
      Type: xs:double: Cone half-angle about local Z, in radians. The maximum swing away from the twist axis in the first perpendicular direction. Required when <swing_limit> is present.
    • swing2 Attribute
      Type: xs:double: Cone half-angle about local Y, in radians. Omit for a circular cone (defaults to swing1); set different from swing1 for an elliptic cone.
    • effort Attribute
      Type: xs:double, default="0": Maximum swing effort (torque, Nm) resisting motion into the cone limit. Default: 0 (unlimited if not specified by tooling).
    • velocity Attribute
      Type: xs:double, default="0": Maximum swing angular velocity (rad/s). Default: 0 (unlimited if not specified by tooling).
  • <twist_limit> Element
    Twist limit for a ball joint's twist DOF (rotation about the twist axis, local X): lower/upper in radians. Only valid on type="ball"; optional (omitted => unbounded twist). Paired with <swing_limit> for the two swing DOFs. Reuses joint_limit (lower/upper radians; effort Nm; velocity rad/s). Has no URDF/SDF home on export, recorded as a loss.
    • lower Attribute
      Type: xs:double: Lower position limit. Radians for revolute and for a screw <limit> (rotational DOF); meters for prismatic, for a cylindrical <limit> (translation), and for a planar in-plane range. Optional; ABSENCE means unbounded (no schema default is injected); continuous joints MUST omit lower/upper. A 0 resting value must be written explicitly.
    • upper Attribute
      Type: xs:double: Upper position limit. Radians for revolute and for a screw <limit> (rotational DOF); meters for prismatic, for a cylindrical <limit> (translation), and for a planar in-plane range. Optional; absence means unbounded. Validator rule: upper >= lower for non-continuous joints; continuous joints omit both.
    • effort Attribute
      Type: xs:double, default="0": Maximum joint effort (torque for revolute in Nm, force for prismatic in N). Default: 0 (unlimited if not specified by tooling).
    • velocity Attribute
      Type: xs:double, default="0": Maximum joint velocity (rad/s for revolute, m/s for prismatic). Default: 0 (unlimited if not specified by tooling).
    • acceleration Attribute
      Type: xs:double: Maximum joint acceleration (rad/s^2 for revolute, m/s^2 for prismatic). Optional; used for trajectory planning. Maps to the urdfdom v1.2 limit/@acceleration attribute (mirrors urdfdom_headers JointLimits::acceleration); round-trips on HCDF-<->URDF conversion.
    • jerk Attribute
      Type: xs:double: Maximum joint jerk (rad/s^3 for revolute, m/s^3 for prismatic). Optional; used for smooth trajectory generation. Maps to the urdfdom v1.2 limit/@jerk attribute (mirrors urdfdom_headers JointLimits::jerk); round-trips on HCDF-<->URDF conversion.
    • deceleration Attribute
      Type: xs:double: Maximum joint deceleration (rad/s^2 for revolute, m/s^2 for prismatic). Optional; distinct from acceleration for asymmetric motion profiles. Maps to the urdfdom v1.2 limit/@deceleration attribute (mirrors urdfdom_headers JointLimits::deceleration); round-trips on HCDF-<->URDF conversion.
  • <dynamics> Element
    Damping, friction, and spring parameters for simulation.
    • damping Attribute
      Type: xs:double, default="0": Viscous damping coefficient. Nm/(rad/s) for revolute, N/(m/s) for prismatic. Default: 0.
    • friction Attribute
      Type: xs:double, default="0": Coulomb friction torque/force. Nm for revolute, N for prismatic. Applied as constant resistance opposing motion. Default: 0.
    • spring_stiffness Attribute
      Type: xs:double, default="0": Spring stiffness. Nm/rad for revolute, N/m for prismatic. Creates a restoring force toward spring_reference position. Default: 0 (no spring).
    • spring_reference Attribute
      Type: xs:double, default="0": Spring rest position. Radians for revolute, meters for prismatic. The position at which the spring exerts zero force. Default: 0.
  • <calibration> Element
    Calibration reference data for homing the joint to an absolute position.
    • reference_position Attribute
      Type: xs:double, default="0": Absolute joint position (radians or meters) corresponding to the calibration reference mark. Default: 0.
    • rising Attribute
      Type: xs:double: Joint position (radians or meters) at the rising edge of the calibration sensor during a positive-direction sweep.
    • falling Attribute
      Type: xs:double: Joint position (radians or meters) at the falling edge of the calibration sensor during a positive-direction sweep.
  • <mimic> Element
    Mimic constraint that makes this joint track another joint's position.
    • joint Attribute
      Type: xs:string (required): Name of the leader joint to mimic. Required. Semantic rule: must reference an existing joint defined in the HCDF document.
    • multiplier Attribute
      Type: xs:double, default="1": Scaling factor applied to the leader joint's position. Default: 1.0 (identical motion). Use -1 for opposite-direction coupling.
    • offset Attribute
      Type: xs:double, default="0": Constant offset added after scaling (radians for revolute, meters for prismatic). Default: 0.
  • <loop> Element
    Loop closure marker. Present when this joint closes a kinematic loop (parallel mechanism). The kinematic tree parser should treat this joint as a constraint, not a parent-child relationship. Used for four-bar linkages, delta robots, Stewart platforms.
    • <predecessor> Element
      Type: xs:string
      Predecessor body (comp name) in the kinematic loop at this closure point.
    • <successor> Element
      Type: xs:string
      Successor body (comp name) in the kinematic loop at this closure point.
    • <constraint-axes> Element
      Type: xs:string
      6-value string "tx ty tz rx ry rz" where 1=constrained, 0=free. Example: "1 1 1 1 1 0" constrains all except rotation around Z.
  • <extension> Element
    Vendor/domain-specific extension data for this joint. Used (among other things) as the lax home for a joint-anchored URDF <gazebo reference="joint"> block on the byte-faithful import path. At most one per joint (xs:all); collect multiple domains as separate children inside it if needed.
    • domain Attribute
      Type: xs:string (required): Namespace or domain identifier for the extension content (e.g., "gazebo", "isaac-sim", "vendor:mycompany", "ci:github-actions"). Required.
    • version Attribute
      Type: xs:string: Version of the extension schema for forward compatibility. Optional.
  • <urdf-compat> Element
    URDF-only, zero-CPS fields for this joint (e.g. safety_controller). Optional; present only when imported from URDF and needed for a lossless round-trip. Omit for native HCDF.
    • <safety_controller> Element
      URDF safety_controller, preserved for round-trip. Only meaningful on joints that map to URDF revolute/prismatic.
      • soft_lower_limit Attribute
        Type: xs:double
      • soft_upper_limit Attribute
        Type: xs:double
      • k_position Attribute
        Type: xs:double
      • k_velocity Attribute
        Type: xs:double (required)
  • name Attribute
    Type: xs:string (required): Unique name for this group (e.g., "left_arm", "right_hand", "locomotion", "head").
  • type Attribute
    Type: xs:string: Group purpose type: "end-effector" (gripper/hand), "kinematic-chain" (arm/leg), "locomotion" (wheels/legs). Optional.
  • tip-comp Attribute
    Type: xs:string: For end-effector groups: the component at the tip of the kinematic chain (e.g., the hand palm link). Used for forward kinematics to the end-effector.
  • tip-frame Attribute
    Type: xs:string: For end-effector groups: the TCP (Tool Center Point) frame at the tip. References a frame name on the tip-comp.
  • <description> Element
    Type: xs:string
    Human-readable description of this group's purpose.
  • <joint> Element
    [0..*]
    A joint included in this group.
    • ref Attribute
      Type: xs:string (required): Name of the joint to include in this group.
  • <group> Element
    [0..*]
    A sub-group included in this group (hierarchical composition).
    • ref Attribute
      Type: xs:string (required): Name of the group to include as a sub-group.
  • name Attribute
    Type: xs:string (required): Unique name for this state (e.g., "home", "transport", "calibration", "pre-grasp").
  • default Attribute
    Type: xs:boolean, default="false": If true, this is the default state used for visualization, collision checking, and as the starting configuration. At most one state should be default.
  • <description> Element
    Type: xs:string
    Human-readable description of this state's purpose.
  • <joint-position> Element
    [0..*]
    Position of a joint in this state. One per joint that differs from zero/default.
    • joint Attribute
      Type: xs:string (required): Name of the joint this position applies to. Must reference an existing joint.
    • value Attribute
      Type: xs:double (required): Joint position value in radians (revolute, continuous) or meters (prismatic).
  • name Attribute
    Type: xs:string (required)
  • <input> Element
    [0..*]
    • <port-ref> Element
      • component Attribute
        Type: xs:string (required)
      • port Attribute
        Type: xs:string (required)
      • <instance> Element
        • <segment> Element
          (required) [0..*]
          • name Attribute
            Type: xs:string
          • occurrence Attribute
            Type: xs:unsignedInt (required)
    • <channel-ref> Element
      • component Attribute
        Type: xs:string (required)
      • port Attribute
        Type: xs:string (required)
      • channel Attribute
        Type: xs:string (required)
      • <instance> Element
        • <segment> Element
          (required) [0..*]
          • name Attribute
            Type: xs:string
          • occurrence Attribute
            Type: xs:unsignedInt (required)
  • <output> Element
    [0..*]
    • <port-ref> Element
      • component Attribute
        Type: xs:string (required)
      • port Attribute
        Type: xs:string (required)
      • <instance> Element
        • <segment> Element
          (required) [0..*]
          • name Attribute
            Type: xs:string
          • occurrence Attribute
            Type: xs:unsignedInt (required)
    • <channel-ref> Element
      • component Attribute
        Type: xs:string (required)
      • port Attribute
        Type: xs:string (required)
      • channel Attribute
        Type: xs:string (required)
      • <instance> Element
        • <segment> Element
          (required) [0..*]
          • name Attribute
            Type: xs:string
          • occurrence Attribute
            Type: xs:unsignedInt (required)
  • <bidirectional> Element
    [0..*]
    • <port-ref> Element
      • component Attribute
        Type: xs:string (required)
      • port Attribute
        Type: xs:string (required)
      • <instance> Element
        • <segment> Element
          (required) [0..*]
          • name Attribute
            Type: xs:string
          • occurrence Attribute
            Type: xs:unsignedInt (required)
    • <channel-ref> Element
      • component Attribute
        Type: xs:string (required)
      • port Attribute
        Type: xs:string (required)
      • channel Attribute
        Type: xs:string (required)
      • <instance> Element
        • <segment> Element
          (required) [0..*]
          • name Attribute
            Type: xs:string
          • occurrence Attribute
            Type: xs:unsignedInt (required)
  • name Attribute
    Type: xs:string (required): Unique name for this sensor group within the component (e.g., "imu_main", "front_camera_suite"). Required.
  • update-rate Attribute
    Type: xs:double: Sensor output update rate in Hz. Applies to all sub-sensors in this group unless overridden. Optional.
  • <inertial> Element
    [0..*]
    Inertial measurement unit(s): accelerometers and/or gyroscopes.
    • type Attribute
      Type: accel | gyro | accel_gyro (required): Inertial sensor sub-type. Required. Determines which parameter sub-elements (accel, gyro) are expected.
    • <pose> Element
      Pose of the inertial sensor relative to the sensor group origin (xyz/rpy or quat attributes; meters and radians).
      • xyz Attribute
        Type: xs:string, default="0 0 0": Position as three space-separated doubles "x y z" in meters. Default: "0 0 0" (origin of parent frame).
      • rpy Attribute
        Type: xs:string, default="0 0 0": Orientation as three space-separated Euler angles "roll pitch yaw" in radians (XYZ extrinsic convention). Default: "0 0 0" (no rotation).
      • quat Attribute
        Type: Quat4: Orientation as quaternion "x y z w" (Hamilton convention, scalar-last), exactly four doubles. Optional; if present, overrides rpy (quat-wins precedence).
    • <driver> Element
      Driver identification and axis alignment for the inertial sensor IC.
      • name Attribute
        Type: xs:string (required): Driver identifier string used by the runtime to load the correct sensor driver (e.g., "bmi088", "icm42688p", "bmp390"). Required.
      • <axis-align> Element
        Axis remapping from sensor internal axes to component body frame. Optional; omit if sensor axes match body frame.
        • x Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="X": Which body-frame axis the sensor's X axis maps to. Default: X (no remapping).
        • y Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Y": Which body-frame axis the sensor's Y axis maps to. Default: Y (no remapping).
        • z Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Z": Which body-frame axis the sensor's Z axis maps to. Default: Z (no remapping).
    • <accel> Element
      Accelerometer measurement parameters (range in g, resolution, noise, bandwidth). Present when type is "accel" or "accel_gyro".
      • <range> Element
        Full-scale measurement range (e.g., 16 with unit="g" for +/-16g accelerometer, 2000 with unit="dps" for gyroscope).
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <resolution> Element
        Measurement resolution: smallest detectable change (e.g., 0.488 with unit="mg" for 16-bit at 16g range).
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <odr> Element
        Output Data Rate: hardware sampling frequency in Hz. This is how fast the ADC converts, regardless of how often software processes the data. Example: 3200 with unit="Hz". Determines Nyquist frequency (odr/2) and aliasing behavior.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <bandwidth> Element
        Anti-aliasing low-pass filter cutoff frequency in Hz. Determines the useful signal bandwidth. Typically at or below ODR/2 (Nyquist). Example: 1600 with unit="Hz" for ODR=3200Hz. Lower bandwidth reduces noise but limits frequency response.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <fifo> Element
        Hardware FIFO buffer configuration. When present, the sensor collects samples at ODR rate into a buffer and interrupts at ODR/watermark rate. Example: ODR=3200Hz, fifo watermark=8 → 400Hz interrupt rate delivering 8 samples per burst.
        • depth Attribute
          Type: xs:unsignedInt: Maximum FIFO depth in samples (hardware limit, e.g., 256 for ICM45686, 512 for BMI088). This is the total buffer capacity before overflow.
        • watermark Attribute
          Type: xs:unsignedInt: Watermark level in samples: interrupt fires when this many samples have accumulated. Controls the effective processing rate: effective_rate = ODR / watermark. Example: ODR=3200Hz, watermark=8 → 400Hz interrupt rate, 8 samples per burst.
      • <noise> Element
        Noise model for this measurement axis. Includes measurement-distribution standard deviation, static and dynamic bias terms, and quantization precision. Scalar (isotropic): applies to all three physical axes. For anisotropic per-axis noise, use axis-noise below (this scalar is the fallback).
        • type Attribute
          Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
        • <mean> Element
          Type: xs:double
          Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
        • <stddev> Element
          Type: xs:double
          Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
        • <bias-mean> Element
          Type: xs:double
          Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
        • <bias-stddev> Element
          Type: xs:double
          Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
        • <precision> Element
          Type: xs:double
          Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
        • <dynamic-bias-stddev> Element
          Type: xs:double
          Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
        • <dynamic-bias-correlation-time> Element
          Type: xs:double
          Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
      • <axis-noise> Element
        Optional per-axis noise (x/y/z), each a full <noise> model. Present when the accelerometer/gyroscope specifies different noise on each axis (SDF gz-sim per-axis <angular_velocity>/<linear_acceleration> <x|y|z>/<noise> blocks). Complements the scalar <noise> above, which remains the isotropic fallback.
        • <x> Element
          Noise model for the X channel.
          • type Attribute
            Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
          • <mean> Element
            Type: xs:double
            Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <stddev> Element
            Type: xs:double
            Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-mean> Element
            Type: xs:double
            Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-stddev> Element
            Type: xs:double
            Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <precision> Element
            Type: xs:double
            Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
          • <dynamic-bias-stddev> Element
            Type: xs:double
            Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
          • <dynamic-bias-correlation-time> Element
            Type: xs:double
            Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
        • <y> Element
          Noise model for the Y channel.
          • type Attribute
            Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
          • <mean> Element
            Type: xs:double
            Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <stddev> Element
            Type: xs:double
            Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-mean> Element
            Type: xs:double
            Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-stddev> Element
            Type: xs:double
            Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <precision> Element
            Type: xs:double
            Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
          • <dynamic-bias-stddev> Element
            Type: xs:double
            Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
          • <dynamic-bias-correlation-time> Element
            Type: xs:double
            Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
        • <z> Element
          Noise model for the Z channel.
          • type Attribute
            Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
          • <mean> Element
            Type: xs:double
            Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <stddev> Element
            Type: xs:double
            Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-mean> Element
            Type: xs:double
            Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-stddev> Element
            Type: xs:double
            Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <precision> Element
            Type: xs:double
            Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
          • <dynamic-bias-stddev> Element
            Type: xs:double
            Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
          • <dynamic-bias-correlation-time> Element
            Type: xs:double
            Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
    • <gyro> Element
      Gyroscope measurement parameters (range in deg/s, resolution, noise, bandwidth). Present when type is "gyro" or "accel_gyro".
      • <range> Element
        Full-scale measurement range (e.g., 16 with unit="g" for +/-16g accelerometer, 2000 with unit="dps" for gyroscope).
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <resolution> Element
        Measurement resolution: smallest detectable change (e.g., 0.488 with unit="mg" for 16-bit at 16g range).
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <odr> Element
        Output Data Rate: hardware sampling frequency in Hz. This is how fast the ADC converts, regardless of how often software processes the data. Example: 3200 with unit="Hz". Determines Nyquist frequency (odr/2) and aliasing behavior.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <bandwidth> Element
        Anti-aliasing low-pass filter cutoff frequency in Hz. Determines the useful signal bandwidth. Typically at or below ODR/2 (Nyquist). Example: 1600 with unit="Hz" for ODR=3200Hz. Lower bandwidth reduces noise but limits frequency response.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <fifo> Element
        Hardware FIFO buffer configuration. When present, the sensor collects samples at ODR rate into a buffer and interrupts at ODR/watermark rate. Example: ODR=3200Hz, fifo watermark=8 → 400Hz interrupt rate delivering 8 samples per burst.
        • depth Attribute
          Type: xs:unsignedInt: Maximum FIFO depth in samples (hardware limit, e.g., 256 for ICM45686, 512 for BMI088). This is the total buffer capacity before overflow.
        • watermark Attribute
          Type: xs:unsignedInt: Watermark level in samples: interrupt fires when this many samples have accumulated. Controls the effective processing rate: effective_rate = ODR / watermark. Example: ODR=3200Hz, watermark=8 → 400Hz interrupt rate, 8 samples per burst.
      • <noise> Element
        Noise model for this measurement axis. Includes measurement-distribution standard deviation, static and dynamic bias terms, and quantization precision. Scalar (isotropic): applies to all three physical axes. For anisotropic per-axis noise, use axis-noise below (this scalar is the fallback).
        • type Attribute
          Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
        • <mean> Element
          Type: xs:double
          Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
        • <stddev> Element
          Type: xs:double
          Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
        • <bias-mean> Element
          Type: xs:double
          Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
        • <bias-stddev> Element
          Type: xs:double
          Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
        • <precision> Element
          Type: xs:double
          Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
        • <dynamic-bias-stddev> Element
          Type: xs:double
          Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
        • <dynamic-bias-correlation-time> Element
          Type: xs:double
          Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
      • <axis-noise> Element
        Optional per-axis noise (x/y/z), each a full <noise> model. Present when the accelerometer/gyroscope specifies different noise on each axis (SDF gz-sim per-axis <angular_velocity>/<linear_acceleration> <x|y|z>/<noise> blocks). Complements the scalar <noise> above, which remains the isotropic fallback.
        • <x> Element
          Noise model for the X channel.
          • type Attribute
            Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
          • <mean> Element
            Type: xs:double
            Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <stddev> Element
            Type: xs:double
            Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-mean> Element
            Type: xs:double
            Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-stddev> Element
            Type: xs:double
            Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <precision> Element
            Type: xs:double
            Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
          • <dynamic-bias-stddev> Element
            Type: xs:double
            Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
          • <dynamic-bias-correlation-time> Element
            Type: xs:double
            Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
        • <y> Element
          Noise model for the Y channel.
          • type Attribute
            Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
          • <mean> Element
            Type: xs:double
            Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <stddev> Element
            Type: xs:double
            Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-mean> Element
            Type: xs:double
            Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-stddev> Element
            Type: xs:double
            Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <precision> Element
            Type: xs:double
            Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
          • <dynamic-bias-stddev> Element
            Type: xs:double
            Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
          • <dynamic-bias-correlation-time> Element
            Type: xs:double
            Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
        • <z> Element
          Noise model for the Z channel.
          • type Attribute
            Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
          • <mean> Element
            Type: xs:double
            Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <stddev> Element
            Type: xs:double
            Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-mean> Element
            Type: xs:double
            Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-stddev> Element
            Type: xs:double
            Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <precision> Element
            Type: xs:double
            Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
          • <dynamic-bias-stddev> Element
            Type: xs:double
            Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
          • <dynamic-bias-correlation-time> Element
            Type: xs:double
            Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
    • <geometry> Element
      Geometry for visualizing the inertial sensor package.
  • <em> Element
    [0..*]
    Electromagnetic sensor(s): magnetometers, metal detectors, eddy current probes.
    • type Attribute
      Type: mag | metal_detector | eddy_current | emf | hall-effect | fluxgate (required): Electromagnetic sensor sub-type (mag, metal_detector, eddy_current, emf). Required.
    • <pose> Element
      Pose of the sensor relative to the component origin (xyz/rpy or quat attributes; meters and radians).
      • xyz Attribute
        Type: xs:string, default="0 0 0": Position as three space-separated doubles "x y z" in meters. Default: "0 0 0" (origin of parent frame).
      • rpy Attribute
        Type: xs:string, default="0 0 0": Orientation as three space-separated Euler angles "roll pitch yaw" in radians (XYZ extrinsic convention). Default: "0 0 0" (no rotation).
      • quat Attribute
        Type: Quat4: Orientation as quaternion "x y z w" (Hamilton convention, scalar-last), exactly four doubles. Optional; if present, overrides rpy (quat-wins precedence).
    • <driver> Element
      Driver IC identification and axis alignment configuration.
      • name Attribute
        Type: xs:string (required): Driver identifier string used by the runtime to load the correct sensor driver (e.g., "bmi088", "icm42688p", "bmp390"). Required.
      • <axis-align> Element
        Axis remapping from sensor internal axes to component body frame. Optional; omit if sensor axes match body frame.
        • x Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="X": Which body-frame axis the sensor's X axis maps to. Default: X (no remapping).
        • y Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Y": Which body-frame axis the sensor's Y axis maps to. Default: Y (no remapping).
        • z Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Z": Which body-frame axis the sensor's Z axis maps to. Default: Z (no remapping).
    • <range> Element
      Full-scale measurement range with unit.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <resolution> Element
      Measurement resolution: smallest detectable change.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <noise> Element
      Noise model for the sensor output.
      • type Attribute
        Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
      • <mean> Element
        Type: xs:double
        Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
      • <stddev> Element
        Type: xs:double
        Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
      • <bias-mean> Element
        Type: xs:double
        Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
      • <bias-stddev> Element
        Type: xs:double
        Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
      • <precision> Element
        Type: xs:double
        Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
      • <dynamic-bias-stddev> Element
        Type: xs:double
        Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
      • <dynamic-bias-correlation-time> Element
        Type: xs:double
        Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
    • <data-output> Element
      Output bandwidth and frame size for network planning. Only needed for sensors that transmit significant data over the network (cameras, lidars, radars).
      • <bandwidth> Element
        Raw output data rate. Unit: "Mbps" or "Gbps". Example: 7000 Mbps for 1920x1080 RGB at 30fps uncompressed. This is the maximum bandwidth the sensor can produce.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <bandwidth-compressed> Element
        Compressed output data rate when hardware compression is enabled. Unit: "Mbps". Example: 20 Mbps for H.265 compressed 1080p@30fps. If the sensor outputs compressed data over the network, use this for bandwidth planning instead of raw bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <frame-size> Element
        Size of a single output frame/scan. Unit: "bytes". Example: 6220800 for 1920x1080x3 RGB frame. Used with update-rate to calculate bandwidth: frame-size x update-rate = bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <geometry> Element
      Visualization geometry for the sensor.
  • <optical> Element
    [0..*]
    Optical sensor(s): cameras, lidars, ToF sensors, optical flow sensors.
    • type Attribute
      Type: camera | thermal | lidar | tof | optical_flow (required): Optical sensor sub-type (camera, thermal, lidar, tof, optical_flow). Required.
    • <pose> Element
      Pose of the optical sensor module relative to the sensor group origin (xyz/rpy or quat attributes; meters and radians).
      • xyz Attribute
        Type: xs:string, default="0 0 0": Position as three space-separated doubles "x y z" in meters. Default: "0 0 0" (origin of parent frame).
      • rpy Attribute
        Type: xs:string, default="0 0 0": Orientation as three space-separated Euler angles "roll pitch yaw" in radians (XYZ extrinsic convention). Default: "0 0 0" (no rotation).
      • quat Attribute
        Type: Quat4: Orientation as quaternion "x y z w" (Hamilton convention, scalar-last), exactly four doubles. Optional; if present, overrides rpy (quat-wins precedence).
    • <driver> Element
      Driver identification for the optical sensor (e.g., "oak-d-pro", "rplidar-a2", "vl53l5cx").
      • name Attribute
        Type: xs:string (required): Driver identifier string used by the runtime to load the correct sensor driver (e.g., "bmi088", "icm42688p", "bmp390"). Required.
      • <axis-align> Element
        Axis remapping from sensor internal axes to component body frame. Optional; omit if sensor axes match body frame.
        • x Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="X": Which body-frame axis the sensor's X axis maps to. Default: X (no remapping).
        • y Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Y": Which body-frame axis the sensor's Y axis maps to. Default: Y (no remapping).
        • z Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Z": Which body-frame axis the sensor's Z axis maps to. Default: Z (no remapping).
    • <geometry> Element
      Geometry for visualizing the optical sensor housing.
    • <fov> Element
      [0..*]
      Field-of-view definition(s). One per sensing cone/pyramid. Stereo cameras have two FoVs; omnidirectional lidars may have one 360-degree FoV.
      • name Attribute
        Type: xs:string (required): Unique name for this FoV within the sensor (e.g., "left", "right", "depth", "rgb"). Required.
      • color Attribute
        Type: xs:string: Visualization color for the FoV cone in the 3D viewer (e.g., "0.2 0.8 0.2 0.3" for translucent green RGBA).
      • <description> Element
        Type: xs:string
        Human-readable description of this FoV (e.g., "left stereo camera", "forward-facing depth").
      • <pose> Element
        Pose of the FoV origin relative to the sensor origin (xyz/rpy or quat attributes; meters and radians). For stereo cameras, this encodes the baseline offset.
        • xyz Attribute
          Type: xs:string, default="0 0 0": Position as three space-separated doubles "x y z" in meters. Default: "0 0 0" (origin of parent frame).
        • rpy Attribute
          Type: xs:string, default="0 0 0": Orientation as three space-separated Euler angles "roll pitch yaw" in radians (XYZ extrinsic convention). Default: "0 0 0" (no rotation).
        • quat Attribute
          Type: Quat4: Orientation as quaternion "x y z w" (Hamilton convention, scalar-last), exactly four doubles. Optional; if present, overrides rpy (quat-wins precedence).
      • <geometry> Element
        FoV volume geometry for visualization. Typically a frustum (conical or pyramidal).
      • <intrinsics> Element
        Design-spec camera intrinsic parameters (focal length, principal point, image size) from the datasheet. For calibrated values, use the calibration element instead.
        • <width> Element
          Type: xs:unsignedInt
          Image width in pixels.
        • <height> Element
          Type: xs:unsignedInt
          Image height in pixels.
        • <format> Element
          Type: xs:string
          Pixel format string (e.g., "RGB8", "MONO8", "YUYV", "BAYER_RGGB8", "DEPTH_FLOAT32").
        • <fx> Element
          Type: xs:double
          Focal length in pixels along the X axis (horizontal).
        • <fy> Element
          Type: xs:double
          Focal length in pixels along the Y axis (vertical).
        • <cx> Element
          Type: xs:double
          Principal point X coordinate in pixels (typically image_width / 2).
        • <cy> Element
          Type: xs:double
          Principal point Y coordinate in pixels (typically image_height / 2).
        • <s> Element
          Type: xs:double
          Skew coefficient (axis skew) of the pinhole intrinsic matrix K = [[fx, s, cx], [0, fy, cy], [0, 0, 1]]. Zero for sensors with orthogonal pixel axes (virtually all modern digital sensors); non-zero only when the pixel-grid axes are non-perpendicular. Completes the 3x3 K matrix. Maps to SDF camera/lens/intrinsics/s.
      • <distortion> Element
        Design-spec lens distortion coefficients (Brown-Conrady model). For calibrated values, use the calibration element instead.
        • model Attribute
          Type: plumb_bob | rational_polynomial | equidistant: Distortion model naming the coefficient-set meaning (ROS CameraInfo/distortion_model): plumb_bob (5-coeff Brown-Conrady, the default), rational_polynomial (8-coeff k1..k6+p1p2), or equidistant (4-coeff fisheye). Optional; absent => plumb_bob.
        • <k1> Element
          Type: xs:double
          First radial distortion coefficient. Positive = barrel distortion, negative = pincushion.
        • <k2> Element
          Type: xs:double
          Second radial distortion coefficient.
        • <k3> Element
          Type: xs:double
          Third radial distortion coefficient (for wide-angle lenses).
        • <p1> Element
          Type: xs:double
          First tangential distortion coefficient (decentering).
        • <p2> Element
          Type: xs:double
          Second tangential distortion coefficient (decentering).
        • <k4> Element
          Type: xs:double
          Fourth distortion coefficient. Used by the rational_polynomial (8-coefficient) model and as the third fisheye term in the equidistant model. Maps to ROS CameraInfo D[5] (rational) / fisheye D[3]. Only meaningful when @model is rational_polynomial or equidistant.
        • <k5> Element
          Type: xs:double
          Fifth distortion coefficient (rational_polynomial model). Maps to ROS CameraInfo D[6].
        • <k6> Element
          Type: xs:double
          Sixth distortion coefficient (rational_polynomial model). Maps to ROS CameraInfo D[7].
      • <lens> Element
        Lens projection model (fisheye/wide-angle mapping function and field cutoff). Present for non-rectilinear lenses that Brown-Conrady distortion cannot describe; absent => pinhole/rectilinear projection per the intrinsics.
        • type Attribute
          Type: pinhole | stereographic | equidistant | equisolid | orthographic | custom (required): Projection model (pinhole, stereographic, equidistant, equisolid, orthographic, custom). Required when a lens element is present.
        • <cutoff-angle> Element
          Half-angle from the optical axis beyond which rays are not imaged (the fisheye field limit); pixels past this angle are undefined/masked. Unit: "rad" (SI default) or "deg". Example: 1.5708 (90deg) for a 180deg circular fisheye. Maps to SDF lens/cutoff_angle.
          • unit Attribute
            Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
        • <scale-to-hfov> Element
          Type: xs:boolean
          If true, the projection is scaled so the configured horizontal field of view maps to the image width (SDF lens/scale_to_hfov). If false, the raw projection function determines the mapping. Default: true.
        • <custom-function> Element
          Coefficients of a custom radial mapping, used when type="custom". Follows SDF lens/custom_function: image radius r = c1*f*fun(theta/c2 + c3), where theta is the angle from the optical axis and fun is the elementary function named below. Ignored for the built-in projection types.
      • <calibration> Element
        Measured calibration results for this specific camera unit. Contains calibrated intrinsics (fx, fy, cx, cy), distortion coefficients (k1-k3, p1-p2), reprojection error, calibration date, temperature, and method. When present, agents should use these values instead of the design-spec intrinsics/distortion.
        • <fx> Element
          Type: xs:double
          Calibrated focal length in pixels along X axis. Overrides intrinsics/fx for runtime use.
        • <fy> Element
          Type: xs:double
          Calibrated focal length in pixels along Y axis. Overrides intrinsics/fy.
        • <cx> Element
          Type: xs:double
          Calibrated principal point X in pixels. Often differs from image center by several pixels due to lens/sensor alignment.
        • <cy> Element
          Type: xs:double
          Calibrated principal point Y in pixels.
        • <k1> Element
          Type: xs:double
          Calibrated radial distortion coefficient k1.
        • <k2> Element
          Type: xs:double
          Calibrated radial distortion coefficient k2.
        • <k3> Element
          Type: xs:double
          Calibrated radial distortion coefficient k3 (for wide-angle lenses).
        • <p1> Element
          Type: xs:double
          Calibrated tangential distortion coefficient p1.
        • <p2> Element
          Type: xs:double
          Calibrated tangential distortion coefficient p2.
        • <reprojection-error> Element
          RMS reprojection error from the calibration: the quality metric. Unit: "px" (pixels). Values below 0.5 px are excellent; 0.5-1.0 px is good; above 1.0 px suggests the calibration should be redone. An agent can use this to assess confidence in the calibration.
          • unit Attribute
            Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
        • <date> Element
          Type: xs:string
          Date the calibration was performed in ISO 8601 format (YYYY-MM-DD). An agent can flag stale calibrations (e.g., older than 6 months or after a lens change).
        • <temperature> Element
          Ambient temperature during calibration. Unit: "degC". Focal length varies with temperature due to thermal expansion of the lens and mount: calibrations at 20°C may not be accurate at -10°C or 50°C.
          • unit Attribute
            Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
        • <method> Element
          Type: xs:string
          Calibration method and target used. Examples: "checkerboard-8x6-30mm" (8x6 inner corners, 30mm square size), "charuco-5x7-40mm" (ChArUco board), "apriltag-6x6-50mm", "circle-grid-4x11-asymmetric". Records how the calibration was done for reproducibility.
        • <images> Element
          Type: xs:unsignedInt
          Number of calibration images used. More images generally means better coverage of the image plane and more reliable results. Typical: 20-50 images from diverse angles.
      • <noise> Element
        Per-pixel noise model for this FoV (e.g., depth noise for ToF sensors).
        • type Attribute
          Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
        • <mean> Element
          Type: xs:double
          Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
        • <stddev> Element
          Type: xs:double
          Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
        • <bias-mean> Element
          Type: xs:double
          Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
        • <bias-stddev> Element
          Type: xs:double
          Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
        • <precision> Element
          Type: xs:double
          Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
        • <dynamic-bias-stddev> Element
          Type: xs:double
          Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
        • <dynamic-bias-correlation-time> Element
          Type: xs:double
          Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
      • <camera-matrix> Element
        Full ROS CameraInfo geometry for this FoV beyond the K matrix (intrinsics) and D coefficients (distortion): the rectification matrix R, projection matrix P, pixel binning, and region of interest. Present for a stereo-rectified or cropped/binned camera. Absent => identity rectification, P = K, no binning, full frame.
        • <rectification> Element
          Type: xs:string
          Rectification matrix R (3x3, row-major) as nine space-separated doubles "r11 r12 r13 r21 r22 r23 r31 r32 r33". ROS CameraInfo/R: a rotation aligning the camera to the stereo-rectified/ideal frame. Identity for a monocular camera.
        • <projection> Element
          Projection/camera matrix P (3x4) in the rectified frame: the rectified focal length/principal point (fx'/fy'/cx'/cy') plus the baseline translation terms (tx/ty). ROS CameraInfo/P. For the right camera of a stereo pair tx encodes the baseline.
          • <fx> Element
            Type: xs:double
            Rectified focal length in pixels along X (P[0][0]).
          • <fy> Element
            Type: xs:double
            Rectified focal length in pixels along Y (P[1][1]).
          • <cx> Element
            Type: xs:double
            Rectified principal point X in pixels (P[0][2]).
          • <cy> Element
            Type: xs:double
            Rectified principal point Y in pixels (P[1][2]).
          • <tx> Element
            Type: xs:double
            X baseline translation term Tx (P[0][3]). Zero for the left/monocular camera; -fx'*baseline for the right camera of a horizontal stereo pair.
          • <ty> Element
            Type: xs:double
            Y baseline translation term Ty (P[1][3]). Nonzero only for a vertical stereo pair.
        • <binning> Element
          Pixel binning applied by the driver (x, y). ROS CameraInfo/binning_x, binning_y. 1 (or absent) = no binning.
          • x Attribute
            Type: xs:unsignedInt: Horizontal binning factor (CameraInfo/binning_x).
          • y Attribute
            Type: xs:unsignedInt: Vertical binning factor (CameraInfo/binning_y).
        • <roi> Element
          Region of interest: the sub-window of the full sensor actually captured. ROS CameraInfo/roi. Absent => full frame.
          • x-offset Attribute
            Type: xs:unsignedInt: Leftmost pixel column of the ROI (CameraInfo/roi/x_offset). Default 0.
          • y-offset Attribute
            Type: xs:unsignedInt: Topmost pixel row of the ROI (CameraInfo/roi/y_offset). Default 0.
          • width Attribute
            Type: xs:unsignedInt: ROI width in pixels (CameraInfo/roi/width). 0 => full width.
          • height Attribute
            Type: xs:unsignedInt: ROI height in pixels (CameraInfo/roi/height). 0 => full height.
          • rectify Attribute
            Type: xs:boolean: Whether a distinct ROI rectification is required (CameraInfo/roi/do_rectify).
    • <data-output> Element
      Output bandwidth for network planning. Cameras and lidars generate significant data; an agent uses this to validate TSN schedules and link capacity.
      • <bandwidth> Element
        Raw output data rate. Unit: "Mbps" or "Gbps". Example: 7000 Mbps for 1920x1080 RGB at 30fps uncompressed. This is the maximum bandwidth the sensor can produce.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <bandwidth-compressed> Element
        Compressed output data rate when hardware compression is enabled. Unit: "Mbps". Example: 20 Mbps for H.265 compressed 1080p@30fps. If the sensor outputs compressed data over the network, use this for bandwidth planning instead of raw bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <frame-size> Element
        Size of a single output frame/scan. Unit: "bytes". Example: 6220800 for 1920x1080x3 RGB frame. Used with update-rate to calculate bandwidth: frame-size x update-rate = bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <camera-params> Element
      Camera-specific parameters (shutter, HDR, compression, trigger, thermal specs). Use when type="camera" or type="thermal".
      • <shutter> Element
        Type: xs:string
        Shutter type: "global" (all pixels exposed simultaneously, no motion blur, required for high-speed robotics) or "rolling" (rows exposed sequentially, causes skew/wobble on fast motion, acceptable for slow scenes).
      • <hdr> Element
        Type: xs:boolean
        High Dynamic Range capability. true = can capture indoor shadows and outdoor sunlight in one frame. Critical for robots transitioning between lighting conditions.
      • <dynamic-range> Element
        Dynamic range. Unit: "dB". Standard: 60dB. HDR: 120dB+.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <depth-range> Element
        For depth/RGBD cameras: usable depth measurement range. min = closest, max = farthest. Unit: "m".
        • unit Attribute
          Type: xs:string: Physical unit. Optional; SI default applies if omitted.
        • min Attribute
          Type: xs:double: Minimum acceptable value in the specified unit.
        • max Attribute
          Type: xs:double: Maximum acceptable value in the specified unit.
      • <compression> Element
        Type: xs:string
        Output compression: "raw" (uncompressed, highest bandwidth: 1080p@30fps is ~1.5Gbps), "jpeg" (lossy per-frame), "h264" (lossy inter-frame), "h265" (best compression, ~5-20Mbps for 1080p). Affects network bandwidth requirements.
      • <trigger> Element
        Type: xs:string
        Trigger mode: "free-running" (camera controls timing), "hardware" (external GPIO triggers capture, needed for multi-camera synchronization), "software" (software command triggers).
      • <ir-cut> Element
        Type: xs:boolean
        IR cut filter present. true = blocks infrared (standard color camera). false = passes IR (for night vision with IR illumination or NIR sensing).
      • <spectral-band> Element
        Type: xs:string
        Infrared spectral band for thermal cameras: "LWIR" (8-14um, most common, uncooled), "MWIR" (3-5um, cooled, higher sensitivity), "SWIR" (1-3um, see through fog/smoke). Not applicable for visible cameras.
      • <netd> Element
        Noise Equivalent Temperature Difference: thermal camera sensitivity. Lower = better. Unit: "mK". Typical uncooled LWIR: 40-60mK. Cooled MWIR: 15-25mK.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <temperature-range> Element
        Calibrated temperature measurement range for thermal cameras. Unit: "degC". Example: min="-20" max="150" for industrial, min="-40" max="500" for high-temp.
        • unit Attribute
          Type: xs:string: Physical unit. Optional; SI default applies if omitted.
        • min Attribute
          Type: xs:double: Minimum acceptable value in the specified unit.
        • max Attribute
          Type: xs:double: Maximum acceptable value in the specified unit.
    • <lidar-params> Element
      Lidar-specific parameters (scan-type, channels, points-per-second, returns, wavelength). Use when type="lidar".
      • <scan-type> Element
        Type: xs:string
        Scanning mechanism: "mechanical" (spinning head: 360° FOV but vibration-sensitive, has wear parts), "solid-state" (no moving parts, limited FOV, very robust), "mems" (MEMS mirror, compact, moderate FOV), "flash" (illuminates entire scene at once, short range, no scanning).
      • <channels> Element
        Type: xs:unsignedInt
        Number of vertical channels (laser/detector pairs). More = denser vertical coverage. Typical: 16, 32, 64, 128.
      • <points-per-second> Element
        Type: xs:unsignedInt
        Total point measurement rate. Determines point cloud density and downstream processing/bandwidth. Example: 300000 (Livox Mid-360), 1200000 (Hesai XT32).
      • <scan-rate> Element
        Frame/rotation rate. For mechanical: rotations per second. For solid-state: frame rate. Unit: "Hz". Typical: 10-20.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <returns> Element
        Type: xs:string
        Return mode: "single" (first or strongest only), "dual" (first + strongest), "triple" (first + second + strongest). Multi-return sees through rain, dust, and vegetation.
      • <wavelength> Element
        Laser wavelength. 905nm = common, lower cost, affected by sunlight. 1550nm = eye-safe at higher power, better rain/fog penetration, more expensive. Unit: "nm".
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <horizontal-fov> Element
        Horizontal field of view. 360 for spinning lidars, 60-120 for solid-state. Unit: "deg".
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <vertical-fov> Element
        Vertical field of view as min/max angle. Example: min="-25" max="15" unit="deg".
        • unit Attribute
          Type: xs:string: Physical unit. Optional; SI default applies if omitted.
        • min Attribute
          Type: xs:double: Minimum acceptable value in the specified unit.
        • max Attribute
          Type: xs:double: Maximum acceptable value in the specified unit.
      • <range> Element
        Distance measurement range of the ranging sensor: minimum and maximum detectable distance and the radial (range) resolution. Maps losslessly to SDF lidar/<range> (min/max/resolution). Distinct from the angular scan-pattern (which describes sweep angles): this is the along-beam distance the sensor can report.
      • <scan-pattern> Element
        Per-axis angular scan pattern (samples/resolution/min-angle/max-angle for the horizontal and vertical axes), the lossless target for a converted URDF ray/LaserRay sensor. Optional; complements the aggregate channels/fov fields above.
      • <noise> Element
        Range/beam noise model for the lidar (SDF lidar/ray <noise>). Applies to the measured distance along each beam. Optional; absent => ideal (noiseless) ranging.
        • type Attribute
          Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
        • <mean> Element
          Type: xs:double
          Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
        • <stddev> Element
          Type: xs:double
          Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
        • <bias-mean> Element
          Type: xs:double
          Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
        • <bias-stddev> Element
          Type: xs:double
          Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
        • <precision> Element
          Type: xs:double
          Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
        • <dynamic-bias-stddev> Element
          Type: xs:double
          Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
        • <dynamic-bias-correlation-time> Element
          Type: xs:double
          Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
  • <rf> Element
    [0..*]
    Radio-frequency sensor(s): GNSS receivers, UWB rangers, radars, radio altimeters.
    • type Attribute
      Type: gnss | uwb | radar | radio_altimeter (required): RF sensor sub-type (gnss, uwb, radar, radio_altimeter). Required.
    • <pose> Element
      Pose of the sensor relative to the component origin (xyz/rpy or quat attributes; meters and radians).
      • xyz Attribute
        Type: xs:string, default="0 0 0": Position as three space-separated doubles "x y z" in meters. Default: "0 0 0" (origin of parent frame).
      • rpy Attribute
        Type: xs:string, default="0 0 0": Orientation as three space-separated Euler angles "roll pitch yaw" in radians (XYZ extrinsic convention). Default: "0 0 0" (no rotation).
      • quat Attribute
        Type: Quat4: Orientation as quaternion "x y z w" (Hamilton convention, scalar-last), exactly four doubles. Optional; if present, overrides rpy (quat-wins precedence).
    • <driver> Element
      Driver IC identification and axis alignment configuration.
      • name Attribute
        Type: xs:string (required): Driver identifier string used by the runtime to load the correct sensor driver (e.g., "bmi088", "icm42688p", "bmp390"). Required.
      • <axis-align> Element
        Axis remapping from sensor internal axes to component body frame. Optional; omit if sensor axes match body frame.
        • x Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="X": Which body-frame axis the sensor's X axis maps to. Default: X (no remapping).
        • y Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Y": Which body-frame axis the sensor's Y axis maps to. Default: Y (no remapping).
        • z Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Z": Which body-frame axis the sensor's Z axis maps to. Default: Z (no remapping).
    • <range> Element
      Full-scale measurement range with unit.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <resolution> Element
      Measurement resolution: smallest detectable change.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <noise> Element
      Noise model for the sensor output.
      • type Attribute
        Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
      • <mean> Element
        Type: xs:double
        Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
      • <stddev> Element
        Type: xs:double
        Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
      • <bias-mean> Element
        Type: xs:double
        Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
      • <bias-stddev> Element
        Type: xs:double
        Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
      • <precision> Element
        Type: xs:double
        Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
      • <dynamic-bias-stddev> Element
        Type: xs:double
        Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
      • <dynamic-bias-correlation-time> Element
        Type: xs:double
        Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
    • <data-output> Element
      Output bandwidth and frame size for network planning. Only needed for sensors that transmit significant data over the network (cameras, lidars, radars).
      • <bandwidth> Element
        Raw output data rate. Unit: "Mbps" or "Gbps". Example: 7000 Mbps for 1920x1080 RGB at 30fps uncompressed. This is the maximum bandwidth the sensor can produce.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <bandwidth-compressed> Element
        Compressed output data rate when hardware compression is enabled. Unit: "Mbps". Example: 20 Mbps for H.265 compressed 1080p@30fps. If the sensor outputs compressed data over the network, use this for bandwidth planning instead of raw bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <frame-size> Element
        Size of a single output frame/scan. Unit: "bytes". Example: 6220800 for 1920x1080x3 RGB frame. Used with update-rate to calculate bandwidth: frame-size x update-rate = bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <geometry> Element
      Visualization geometry for the sensor.
    • <radar-params> Element
      Radar-specific parameters (frequency, modulation, FOV, resolution, velocity, MIMO). Use when type="radar".
      • <frequency> Element
        Operating frequency. 77-79GHz = automotive standard (high resolution). 24GHz = industrial (longer range, lower resolution). Unit: "GHz".
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <modulation> Element
        Type: xs:string
        Modulation scheme: "fmcw" (Frequency-Modulated Continuous Wave, automotive standard, measures range + velocity simultaneously) or "pulsed" (traditional, longer range).
      • <azimuth-fov> Element
        Horizontal field of view. Unit: "deg". Typical: 120 short-range, 20 long-range.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <elevation-fov> Element
        Vertical field of view (4D imaging radar). Unit: "deg". Presence indicates elevation-capable radar.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <azimuth-resolution> Element
        Azimuth angular resolution: minimum angle to separate two targets horizontally. Unit: "deg".
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <elevation-resolution> Element
        Elevation angular resolution. Unit: "deg".
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <range-resolution> Element
        Range resolution: minimum distance to separate two targets at the same angle. Unit: "m". Determined by chirp bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <velocity-range> Element
        Maximum measurable radial velocity. Unit: "m/s".
        • unit Attribute
          Type: xs:string: Physical unit. Optional; SI default applies if omitted.
        • min Attribute
          Type: xs:double: Minimum acceptable value in the specified unit.
        • max Attribute
          Type: xs:double: Maximum acceptable value in the specified unit.
      • <velocity-resolution> Element
        Velocity resolution: minimum speed difference to separate two targets. Unit: "m/s".
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <max-detections> Element
        Type: xs:unsignedInt
        Maximum simultaneous target detections per frame.
      • <mimo> Element
        Type: xs:string
        MIMO antenna configuration as "NtxMrx" (e.g., "3tx4rx" = 12 virtual channels). More virtual channels = better angular resolution.
    • <gnss-params> Element
      GNSS-specific parameters (constellations, frequencies, RTK, accuracy, PPS). Use when type="gnss".
      • <constellation> Element
        [0..*]
        Type: xs:string
        Supported satellite constellation: GPS, GLONASS, Galileo, BeiDou, QZSS, NavIC. More = better urban canyon performance.
      • <frequency> Element
        [0..*]
        Type: xs:string
        Supported frequency band: L1, L2, L5, E1, E5a, E5b, B1, B2. Multi-frequency enables ionospheric correction.
      • <rtk> Element
        Type: xs:boolean
        RTK (Real-Time Kinematic) capable. true = cm-level positioning with base station or NTRIP corrections.
      • <accuracy-standalone> Element
        Horizontal accuracy without corrections (CEP50). Unit: "m". Typical: 1.5m single-freq, 1.0m multi-freq.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <accuracy-rtk> Element
        Horizontal accuracy with RTK fix. Unit: "m". Typical: 0.01-0.02m.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <pps> Element
        Type: xs:boolean
        Pulse-Per-Second output for precise time synchronization. Can serve as time reference for gPTP or sensor timestamping.
      • <dead-reckoning> Element
        Type: xs:boolean
        Built-in dead reckoning with IMU fusion for GNSS-denied environments (tunnels, urban canyons).
      • <anti-spoofing> Element
        Type: xs:boolean
        Anti-spoofing capability. Detects and rejects fake GNSS signals.
  • <chemical> Element
    [0..*]
    Chemical/environmental sensor(s): gas detectors, pH sensors, humidity sensors.
    • type Attribute
      Type: gas | ph | humidity (required): Chemical sensor sub-type (gas, ph, humidity). Required.
    • <pose> Element
      Pose of the sensor relative to the component origin (xyz/rpy or quat attributes; meters and radians).
      • xyz Attribute
        Type: xs:string, default="0 0 0": Position as three space-separated doubles "x y z" in meters. Default: "0 0 0" (origin of parent frame).
      • rpy Attribute
        Type: xs:string, default="0 0 0": Orientation as three space-separated Euler angles "roll pitch yaw" in radians (XYZ extrinsic convention). Default: "0 0 0" (no rotation).
      • quat Attribute
        Type: Quat4: Orientation as quaternion "x y z w" (Hamilton convention, scalar-last), exactly four doubles. Optional; if present, overrides rpy (quat-wins precedence).
    • <driver> Element
      Driver IC identification and axis alignment configuration.
      • name Attribute
        Type: xs:string (required): Driver identifier string used by the runtime to load the correct sensor driver (e.g., "bmi088", "icm42688p", "bmp390"). Required.
      • <axis-align> Element
        Axis remapping from sensor internal axes to component body frame. Optional; omit if sensor axes match body frame.
        • x Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="X": Which body-frame axis the sensor's X axis maps to. Default: X (no remapping).
        • y Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Y": Which body-frame axis the sensor's Y axis maps to. Default: Y (no remapping).
        • z Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Z": Which body-frame axis the sensor's Z axis maps to. Default: Z (no remapping).
    • <range> Element
      Full-scale measurement range with unit.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <resolution> Element
      Measurement resolution: smallest detectable change.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <noise> Element
      Noise model for the sensor output.
      • type Attribute
        Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
      • <mean> Element
        Type: xs:double
        Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
      • <stddev> Element
        Type: xs:double
        Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
      • <bias-mean> Element
        Type: xs:double
        Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
      • <bias-stddev> Element
        Type: xs:double
        Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
      • <precision> Element
        Type: xs:double
        Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
      • <dynamic-bias-stddev> Element
        Type: xs:double
        Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
      • <dynamic-bias-correlation-time> Element
        Type: xs:double
        Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
    • <data-output> Element
      Output bandwidth and frame size for network planning. Only needed for sensors that transmit significant data over the network (cameras, lidars, radars).
      • <bandwidth> Element
        Raw output data rate. Unit: "Mbps" or "Gbps". Example: 7000 Mbps for 1920x1080 RGB at 30fps uncompressed. This is the maximum bandwidth the sensor can produce.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <bandwidth-compressed> Element
        Compressed output data rate when hardware compression is enabled. Unit: "Mbps". Example: 20 Mbps for H.265 compressed 1080p@30fps. If the sensor outputs compressed data over the network, use this for bandwidth planning instead of raw bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <frame-size> Element
        Size of a single output frame/scan. Unit: "bytes". Example: 6220800 for 1920x1080x3 RGB frame. Used with update-rate to calculate bandwidth: frame-size x update-rate = bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <geometry> Element
      Visualization geometry for the sensor.
  • <force> Element
    [0..*]
    Force/torque sensor(s): strain gauges, pressure transducers, torque sensors, load cells.
    • type Attribute
      Type: strain | pressure | torque | load_cell (required): Force sensor sub-type (strain, pressure, torque, load_cell). Required.
    • frame Attribute
      Type: parent | child | sensor: Reference frame the wrench is reported in (parent/child/sensor). SDF force_torque/frame. Optional; absent => simulator default (child).
    • measure-direction Attribute
      Type: parent_to_child | child_to_parent: Sign convention for the reported wrench (parent_to_child / child_to_parent). SDF force_torque/measure_direction. Optional; absent => simulator default (child_to_parent). Flipping this negates the reported force and torque.
    • <pose> Element
      Pose of the sensor relative to the component origin (xyz/rpy or quat attributes; meters and radians).
      • xyz Attribute
        Type: xs:string, default="0 0 0": Position as three space-separated doubles "x y z" in meters. Default: "0 0 0" (origin of parent frame).
      • rpy Attribute
        Type: xs:string, default="0 0 0": Orientation as three space-separated Euler angles "roll pitch yaw" in radians (XYZ extrinsic convention). Default: "0 0 0" (no rotation).
      • quat Attribute
        Type: Quat4: Orientation as quaternion "x y z w" (Hamilton convention, scalar-last), exactly four doubles. Optional; if present, overrides rpy (quat-wins precedence).
    • <driver> Element
      Driver IC identification and axis alignment configuration.
      • name Attribute
        Type: xs:string (required): Driver identifier string used by the runtime to load the correct sensor driver (e.g., "bmi088", "icm42688p", "bmp390"). Required.
      • <axis-align> Element
        Axis remapping from sensor internal axes to component body frame. Optional; omit if sensor axes match body frame.
        • x Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="X": Which body-frame axis the sensor's X axis maps to. Default: X (no remapping).
        • y Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Y": Which body-frame axis the sensor's Y axis maps to. Default: Y (no remapping).
        • z Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Z": Which body-frame axis the sensor's Z axis maps to. Default: Z (no remapping).
    • <range> Element
      Full-scale measurement range with unit.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <resolution> Element
      Measurement resolution: smallest detectable change.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <noise> Element
      Noise model for the sensor output.
      • type Attribute
        Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
      • <mean> Element
        Type: xs:double
        Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
      • <stddev> Element
        Type: xs:double
        Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
      • <bias-mean> Element
        Type: xs:double
        Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
      • <bias-stddev> Element
        Type: xs:double
        Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
      • <precision> Element
        Type: xs:double
        Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
      • <dynamic-bias-stddev> Element
        Type: xs:double
        Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
      • <dynamic-bias-correlation-time> Element
        Type: xs:double
        Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
    • <data-output> Element
      Output bandwidth and frame size for network planning. Only needed for sensors that transmit significant data over the network (cameras, lidars, radars).
      • <bandwidth> Element
        Raw output data rate. Unit: "Mbps" or "Gbps". Example: 7000 Mbps for 1920x1080 RGB at 30fps uncompressed. This is the maximum bandwidth the sensor can produce.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <bandwidth-compressed> Element
        Compressed output data rate when hardware compression is enabled. Unit: "Mbps". Example: 20 Mbps for H.265 compressed 1080p@30fps. If the sensor outputs compressed data over the network, use this for bandwidth planning instead of raw bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <frame-size> Element
        Size of a single output frame/scan. Unit: "bytes". Example: 6220800 for 1920x1080x3 RGB frame. Used with update-rate to calculate bandwidth: frame-size x update-rate = bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <geometry> Element
      Visualization geometry for the sensor.
    • <collision> Element
      Type: xs:string
      Name of the <collision> element (on the owning component) that this contact/force sensor monitors. Maps to SDF contact/collision: required for a contact sensor to name the surface it watches. Optional here (a strain-gauge/load-cell sensor has no collision reference).
    • <axis-noise> Element
      Optional per-axis noise for a multi-axis force/torque sensor (force/x,y,z and torque/x,y,z, each a full <noise>). SDF force_torque per-axis force/torque <noise>. Complements the inherited scalar <noise> (the isotropic fallback).
      • <force> Element
        Per-axis noise on the three force channels (x/y/z). SDF force_torque/force/<x|y|z>/noise.
        • <x> Element
          Noise model for the X channel.
          • type Attribute
            Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
          • <mean> Element
            Type: xs:double
            Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <stddev> Element
            Type: xs:double
            Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-mean> Element
            Type: xs:double
            Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-stddev> Element
            Type: xs:double
            Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <precision> Element
            Type: xs:double
            Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
          • <dynamic-bias-stddev> Element
            Type: xs:double
            Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
          • <dynamic-bias-correlation-time> Element
            Type: xs:double
            Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
        • <y> Element
          Noise model for the Y channel.
          • type Attribute
            Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
          • <mean> Element
            Type: xs:double
            Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <stddev> Element
            Type: xs:double
            Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-mean> Element
            Type: xs:double
            Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-stddev> Element
            Type: xs:double
            Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <precision> Element
            Type: xs:double
            Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
          • <dynamic-bias-stddev> Element
            Type: xs:double
            Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
          • <dynamic-bias-correlation-time> Element
            Type: xs:double
            Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
        • <z> Element
          Noise model for the Z channel.
          • type Attribute
            Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
          • <mean> Element
            Type: xs:double
            Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <stddev> Element
            Type: xs:double
            Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-mean> Element
            Type: xs:double
            Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-stddev> Element
            Type: xs:double
            Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <precision> Element
            Type: xs:double
            Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
          • <dynamic-bias-stddev> Element
            Type: xs:double
            Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
          • <dynamic-bias-correlation-time> Element
            Type: xs:double
            Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
      • <torque> Element
        Per-axis noise on the three torque channels (x/y/z). SDF force_torque/torque/<x|y|z>/noise.
        • <x> Element
          Noise model for the X channel.
          • type Attribute
            Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
          • <mean> Element
            Type: xs:double
            Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <stddev> Element
            Type: xs:double
            Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-mean> Element
            Type: xs:double
            Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-stddev> Element
            Type: xs:double
            Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <precision> Element
            Type: xs:double
            Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
          • <dynamic-bias-stddev> Element
            Type: xs:double
            Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
          • <dynamic-bias-correlation-time> Element
            Type: xs:double
            Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
        • <y> Element
          Noise model for the Y channel.
          • type Attribute
            Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
          • <mean> Element
            Type: xs:double
            Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <stddev> Element
            Type: xs:double
            Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-mean> Element
            Type: xs:double
            Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-stddev> Element
            Type: xs:double
            Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <precision> Element
            Type: xs:double
            Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
          • <dynamic-bias-stddev> Element
            Type: xs:double
            Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
          • <dynamic-bias-correlation-time> Element
            Type: xs:double
            Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
        • <z> Element
          Noise model for the Z channel.
          • type Attribute
            Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
          • <mean> Element
            Type: xs:double
            Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <stddev> Element
            Type: xs:double
            Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-mean> Element
            Type: xs:double
            Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <bias-stddev> Element
            Type: xs:double
            Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
          • <precision> Element
            Type: xs:double
            Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
          • <dynamic-bias-stddev> Element
            Type: xs:double
            Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
          • <dynamic-bias-correlation-time> Element
            Type: xs:double
            Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
  • <encoder> Element
    [0..*]
    Position/velocity encoder(s): motor-side, joint-side, wheel, or linear. Optical, magnetic, inductive, capacitive, or resistive principle.
    • type Attribute
      Type: incremental | absolute | linear (required): Encoder measurement type: incremental (relative, needs homing), absolute (absolute position per revolution or multi-turn), or linear. Required.
    • principle Attribute
      Type: optical | magnetic | inductive | capacitive | resistive: Physical sensing principle: optical, magnetic, inductive, capacitive, or resistive.
    • interface Attribute
      Type: xs:string: Communication interface: quadrature, ssi, biss, endat, spi, analog.
    • <pose> Element
      Pose of the sensor relative to the component origin (xyz/rpy or quat attributes; meters and radians).
      • xyz Attribute
        Type: xs:string, default="0 0 0": Position as three space-separated doubles "x y z" in meters. Default: "0 0 0" (origin of parent frame).
      • rpy Attribute
        Type: xs:string, default="0 0 0": Orientation as three space-separated Euler angles "roll pitch yaw" in radians (XYZ extrinsic convention). Default: "0 0 0" (no rotation).
      • quat Attribute
        Type: Quat4: Orientation as quaternion "x y z w" (Hamilton convention, scalar-last), exactly four doubles. Optional; if present, overrides rpy (quat-wins precedence).
    • <driver> Element
      Driver IC identification and axis alignment configuration.
      • name Attribute
        Type: xs:string (required): Driver identifier string used by the runtime to load the correct sensor driver (e.g., "bmi088", "icm42688p", "bmp390"). Required.
      • <axis-align> Element
        Axis remapping from sensor internal axes to component body frame. Optional; omit if sensor axes match body frame.
        • x Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="X": Which body-frame axis the sensor's X axis maps to. Default: X (no remapping).
        • y Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Y": Which body-frame axis the sensor's Y axis maps to. Default: Y (no remapping).
        • z Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Z": Which body-frame axis the sensor's Z axis maps to. Default: Z (no remapping).
    • <range> Element
      Full-scale measurement range with unit.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <resolution> Element
      Measurement resolution: smallest detectable change.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <noise> Element
      Noise model for the sensor output.
      • type Attribute
        Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
      • <mean> Element
        Type: xs:double
        Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
      • <stddev> Element
        Type: xs:double
        Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
      • <bias-mean> Element
        Type: xs:double
        Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
      • <bias-stddev> Element
        Type: xs:double
        Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
      • <precision> Element
        Type: xs:double
        Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
      • <dynamic-bias-stddev> Element
        Type: xs:double
        Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
      • <dynamic-bias-correlation-time> Element
        Type: xs:double
        Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
    • <data-output> Element
      Output bandwidth and frame size for network planning. Only needed for sensors that transmit significant data over the network (cameras, lidars, radars).
      • <bandwidth> Element
        Raw output data rate. Unit: "Mbps" or "Gbps". Example: 7000 Mbps for 1920x1080 RGB at 30fps uncompressed. This is the maximum bandwidth the sensor can produce.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <bandwidth-compressed> Element
        Compressed output data rate when hardware compression is enabled. Unit: "Mbps". Example: 20 Mbps for H.265 compressed 1080p@30fps. If the sensor outputs compressed data over the network, use this for bandwidth planning instead of raw bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <frame-size> Element
        Size of a single output frame/scan. Unit: "bytes". Example: 6220800 for 1920x1080x3 RGB frame. Used with update-rate to calculate bandwidth: frame-size x update-rate = bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <geometry> Element
      Visualization geometry for the sensor.
  • <temperature> Element
    [0..*]
    Temperature sensor(s): thermistors, RTDs, thermocouples, IR. Common: motor winding temp, battery cell temp, ambient.
    • type Attribute
      Type: thermistor | rtd | thermocouple | ir (required): Temperature sensor type: thermistor (NTC/PTC, common in motors), rtd (PT100/PT1000, high accuracy), thermocouple (K/J/T type, wide range), ir (non-contact infrared). Required.
    • <pose> Element
      Pose of the sensor relative to the component origin (xyz/rpy or quat attributes; meters and radians).
      • xyz Attribute
        Type: xs:string, default="0 0 0": Position as three space-separated doubles "x y z" in meters. Default: "0 0 0" (origin of parent frame).
      • rpy Attribute
        Type: xs:string, default="0 0 0": Orientation as three space-separated Euler angles "roll pitch yaw" in radians (XYZ extrinsic convention). Default: "0 0 0" (no rotation).
      • quat Attribute
        Type: Quat4: Orientation as quaternion "x y z w" (Hamilton convention, scalar-last), exactly four doubles. Optional; if present, overrides rpy (quat-wins precedence).
    • <driver> Element
      Driver IC identification and axis alignment configuration.
      • name Attribute
        Type: xs:string (required): Driver identifier string used by the runtime to load the correct sensor driver (e.g., "bmi088", "icm42688p", "bmp390"). Required.
      • <axis-align> Element
        Axis remapping from sensor internal axes to component body frame. Optional; omit if sensor axes match body frame.
        • x Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="X": Which body-frame axis the sensor's X axis maps to. Default: X (no remapping).
        • y Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Y": Which body-frame axis the sensor's Y axis maps to. Default: Y (no remapping).
        • z Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Z": Which body-frame axis the sensor's Z axis maps to. Default: Z (no remapping).
    • <range> Element
      Full-scale measurement range with unit.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <resolution> Element
      Measurement resolution: smallest detectable change.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <noise> Element
      Noise model for the sensor output.
      • type Attribute
        Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
      • <mean> Element
        Type: xs:double
        Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
      • <stddev> Element
        Type: xs:double
        Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
      • <bias-mean> Element
        Type: xs:double
        Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
      • <bias-stddev> Element
        Type: xs:double
        Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
      • <precision> Element
        Type: xs:double
        Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
      • <dynamic-bias-stddev> Element
        Type: xs:double
        Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
      • <dynamic-bias-correlation-time> Element
        Type: xs:double
        Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
    • <data-output> Element
      Output bandwidth and frame size for network planning. Only needed for sensors that transmit significant data over the network (cameras, lidars, radars).
      • <bandwidth> Element
        Raw output data rate. Unit: "Mbps" or "Gbps". Example: 7000 Mbps for 1920x1080 RGB at 30fps uncompressed. This is the maximum bandwidth the sensor can produce.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <bandwidth-compressed> Element
        Compressed output data rate when hardware compression is enabled. Unit: "Mbps". Example: 20 Mbps for H.265 compressed 1080p@30fps. If the sensor outputs compressed data over the network, use this for bandwidth planning instead of raw bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <frame-size> Element
        Size of a single output frame/scan. Unit: "bytes". Example: 6220800 for 1920x1080x3 RGB frame. Used with update-rate to calculate bandwidth: frame-size x update-rate = bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <geometry> Element
      Visualization geometry for the sensor.
  • <radiation> Element
    [0..*]
    Radiation sensor(s): Geiger counters, scintillation detectors, neutron sensors, dosimeters.
    • type Attribute
      Type: geiger | scintillation | neutron | dosimeter (required): Radiation sensor type (geiger, scintillation, neutron, dosimeter). Required.
    • <pose> Element
      Pose of the sensor relative to the component origin (xyz/rpy or quat attributes; meters and radians).
      • xyz Attribute
        Type: xs:string, default="0 0 0": Position as three space-separated doubles "x y z" in meters. Default: "0 0 0" (origin of parent frame).
      • rpy Attribute
        Type: xs:string, default="0 0 0": Orientation as three space-separated Euler angles "roll pitch yaw" in radians (XYZ extrinsic convention). Default: "0 0 0" (no rotation).
      • quat Attribute
        Type: Quat4: Orientation as quaternion "x y z w" (Hamilton convention, scalar-last), exactly four doubles. Optional; if present, overrides rpy (quat-wins precedence).
    • <driver> Element
      Driver IC identification and axis alignment configuration.
      • name Attribute
        Type: xs:string (required): Driver identifier string used by the runtime to load the correct sensor driver (e.g., "bmi088", "icm42688p", "bmp390"). Required.
      • <axis-align> Element
        Axis remapping from sensor internal axes to component body frame. Optional; omit if sensor axes match body frame.
        • x Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="X": Which body-frame axis the sensor's X axis maps to. Default: X (no remapping).
        • y Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Y": Which body-frame axis the sensor's Y axis maps to. Default: Y (no remapping).
        • z Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Z": Which body-frame axis the sensor's Z axis maps to. Default: Z (no remapping).
    • <range> Element
      Full-scale measurement range with unit.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <resolution> Element
      Measurement resolution: smallest detectable change.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <noise> Element
      Noise model for the sensor output.
      • type Attribute
        Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
      • <mean> Element
        Type: xs:double
        Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
      • <stddev> Element
        Type: xs:double
        Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
      • <bias-mean> Element
        Type: xs:double
        Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
      • <bias-stddev> Element
        Type: xs:double
        Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
      • <precision> Element
        Type: xs:double
        Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
      • <dynamic-bias-stddev> Element
        Type: xs:double
        Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
      • <dynamic-bias-correlation-time> Element
        Type: xs:double
        Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
    • <data-output> Element
      Output bandwidth and frame size for network planning. Only needed for sensors that transmit significant data over the network (cameras, lidars, radars).
      • <bandwidth> Element
        Raw output data rate. Unit: "Mbps" or "Gbps". Example: 7000 Mbps for 1920x1080 RGB at 30fps uncompressed. This is the maximum bandwidth the sensor can produce.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <bandwidth-compressed> Element
        Compressed output data rate when hardware compression is enabled. Unit: "Mbps". Example: 20 Mbps for H.265 compressed 1080p@30fps. If the sensor outputs compressed data over the network, use this for bandwidth planning instead of raw bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <frame-size> Element
        Size of a single output frame/scan. Unit: "bytes". Example: 6220800 for 1920x1080x3 RGB frame. Used with update-rate to calculate bandwidth: frame-size x update-rate = bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <geometry> Element
      Visualization geometry for the sensor.
  • <audio> Element
    [0..*]
    Audio/acoustic sensor(s): microphones, ultrasonic transducers, sonar, hydrophones.
    • type Attribute
      Type: microphone | ultrasonic | sonar | hydrophone (required): Audio sensor type (microphone, ultrasonic, sonar, hydrophone). Required.
    • active Attribute
      Type: xs:boolean, default="false": Whether this is an active transducer (emits and receives) or passive (receives only). true for ultrasonic/sonar emitter+receiver pairs; false for microphones and hydrophones.
    • <pose> Element
      Pose of the sensor relative to the component origin (xyz/rpy or quat attributes; meters and radians).
      • xyz Attribute
        Type: xs:string, default="0 0 0": Position as three space-separated doubles "x y z" in meters. Default: "0 0 0" (origin of parent frame).
      • rpy Attribute
        Type: xs:string, default="0 0 0": Orientation as three space-separated Euler angles "roll pitch yaw" in radians (XYZ extrinsic convention). Default: "0 0 0" (no rotation).
      • quat Attribute
        Type: Quat4: Orientation as quaternion "x y z w" (Hamilton convention, scalar-last), exactly four doubles. Optional; if present, overrides rpy (quat-wins precedence).
    • <driver> Element
      Driver IC identification and axis alignment configuration.
      • name Attribute
        Type: xs:string (required): Driver identifier string used by the runtime to load the correct sensor driver (e.g., "bmi088", "icm42688p", "bmp390"). Required.
      • <axis-align> Element
        Axis remapping from sensor internal axes to component body frame. Optional; omit if sensor axes match body frame.
        • x Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="X": Which body-frame axis the sensor's X axis maps to. Default: X (no remapping).
        • y Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Y": Which body-frame axis the sensor's Y axis maps to. Default: Y (no remapping).
        • z Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Z": Which body-frame axis the sensor's Z axis maps to. Default: Z (no remapping).
    • <range> Element
      Full-scale measurement range with unit.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <resolution> Element
      Measurement resolution: smallest detectable change.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <noise> Element
      Noise model for the sensor output.
      • type Attribute
        Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
      • <mean> Element
        Type: xs:double
        Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
      • <stddev> Element
        Type: xs:double
        Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
      • <bias-mean> Element
        Type: xs:double
        Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
      • <bias-stddev> Element
        Type: xs:double
        Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
      • <precision> Element
        Type: xs:double
        Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
      • <dynamic-bias-stddev> Element
        Type: xs:double
        Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
      • <dynamic-bias-correlation-time> Element
        Type: xs:double
        Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
    • <data-output> Element
      Output bandwidth and frame size for network planning. Only needed for sensors that transmit significant data over the network (cameras, lidars, radars).
      • <bandwidth> Element
        Raw output data rate. Unit: "Mbps" or "Gbps". Example: 7000 Mbps for 1920x1080 RGB at 30fps uncompressed. This is the maximum bandwidth the sensor can produce.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <bandwidth-compressed> Element
        Compressed output data rate when hardware compression is enabled. Unit: "Mbps". Example: 20 Mbps for H.265 compressed 1080p@30fps. If the sensor outputs compressed data over the network, use this for bandwidth planning instead of raw bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <frame-size> Element
        Size of a single output frame/scan. Unit: "bytes". Example: 6220800 for 1920x1080x3 RGB frame. Used with update-rate to calculate bandwidth: frame-size x update-rate = bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <geometry> Element
      Visualization geometry for the sensor.
    • <frequency-range> Element
      Operating frequency range. Unit: "Hz" or "kHz". Example: min="20" max="20000" unit="Hz" for audible microphone, min="38" max="42" unit="kHz" for 40kHz ultrasonic. Defines the acoustic bandwidth.
      • unit Attribute
        Type: xs:string: Physical unit. Optional; SI default applies if omitted.
      • min Attribute
        Type: xs:double: Minimum acceptable value in the specified unit.
      • max Attribute
        Type: xs:double: Maximum acceptable value in the specified unit.
    • <sensitivity> Element
      Microphone sensitivity. Unit: "dBV/Pa" (typical: -44 to -26 dBV/Pa for MEMS microphones). For ultrasonic: transmit SPL in dB at reference distance.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <channels> Element
      Type: xs:unsignedInt
      Number of acoustic channels. 1 for mono, 2+ for microphone array (used for beamforming and sound localization).
    • <beam-width> Element
      Acoustic beam width for directional transducers (ultrasonic, sonar). Unit: "deg". Narrower beam = longer range, lower angular coverage.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • <tactile> Element
    [0..*]
    Tactile/contact sensor(s): capacitive arrays, FSR pads, piezoelectric skins, barometric patches, optical gel sensors. Provides spatially distributed pressure/contact data for grasp planning, slip detection, and safe interaction.
    • type Attribute
      Type: capacitive | resistive | piezoelectric | barometric | optical (required): Tactile sensor technology type (capacitive, resistive, piezoelectric, barometric, optical). Required. Determines the sensing principle and typical characteristics: capacitive and barometric are best for static pressure, piezoelectric for dynamic events (slip, texture), optical for rich 3D contact geometry.
    • <pose> Element
      Pose of the sensor relative to the component origin (xyz/rpy or quat attributes; meters and radians).
      • xyz Attribute
        Type: xs:string, default="0 0 0": Position as three space-separated doubles "x y z" in meters. Default: "0 0 0" (origin of parent frame).
      • rpy Attribute
        Type: xs:string, default="0 0 0": Orientation as three space-separated Euler angles "roll pitch yaw" in radians (XYZ extrinsic convention). Default: "0 0 0" (no rotation).
      • quat Attribute
        Type: Quat4: Orientation as quaternion "x y z w" (Hamilton convention, scalar-last), exactly four doubles. Optional; if present, overrides rpy (quat-wins precedence).
    • <driver> Element
      Driver IC identification and axis alignment configuration.
      • name Attribute
        Type: xs:string (required): Driver identifier string used by the runtime to load the correct sensor driver (e.g., "bmi088", "icm42688p", "bmp390"). Required.
      • <axis-align> Element
        Axis remapping from sensor internal axes to component body frame. Optional; omit if sensor axes match body frame.
        • x Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="X": Which body-frame axis the sensor's X axis maps to. Default: X (no remapping).
        • y Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Y": Which body-frame axis the sensor's Y axis maps to. Default: Y (no remapping).
        • z Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Z": Which body-frame axis the sensor's Z axis maps to. Default: Z (no remapping).
    • <range> Element
      Full-scale measurement range with unit.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <resolution> Element
      Measurement resolution: smallest detectable change.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <noise> Element
      Noise model for the sensor output.
      • type Attribute
        Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
      • <mean> Element
        Type: xs:double
        Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
      • <stddev> Element
        Type: xs:double
        Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
      • <bias-mean> Element
        Type: xs:double
        Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
      • <bias-stddev> Element
        Type: xs:double
        Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
      • <precision> Element
        Type: xs:double
        Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
      • <dynamic-bias-stddev> Element
        Type: xs:double
        Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
      • <dynamic-bias-correlation-time> Element
        Type: xs:double
        Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
    • <data-output> Element
      Output bandwidth and frame size for network planning. Only needed for sensors that transmit significant data over the network (cameras, lidars, radars).
      • <bandwidth> Element
        Raw output data rate. Unit: "Mbps" or "Gbps". Example: 7000 Mbps for 1920x1080 RGB at 30fps uncompressed. This is the maximum bandwidth the sensor can produce.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <bandwidth-compressed> Element
        Compressed output data rate when hardware compression is enabled. Unit: "Mbps". Example: 20 Mbps for H.265 compressed 1080p@30fps. If the sensor outputs compressed data over the network, use this for bandwidth planning instead of raw bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <frame-size> Element
        Size of a single output frame/scan. Unit: "bytes". Example: 6220800 for 1920x1080x3 RGB frame. Used with update-rate to calculate bandwidth: frame-size x update-rate = bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <geometry> Element
      Visualization geometry for the sensor.
    • <rows> Element
      Type: xs:unsignedInt
      Number of rows in the taxel array. Defines the spatial layout along one axis of the sensing surface. Example: 4 rows x 4 cols = 16 taxels in a fingertip pad.
    • <cols> Element
      Type: xs:unsignedInt
      Number of columns in the taxel array. Together with rows, defines the rectangular grid of sensing elements.
    • <taxels> Element
      Type: xs:unsignedInt
      Total number of individual tactile sensing elements (taxels). For regular grids, taxels = rows x cols. For irregular layouts (e.g., curved fingertip, hexagonal packing), specify taxels directly when rows/cols do not apply. Example: 160 taxels on a SynTouch BioTac, 32 on a XELA uSkin patch.
    • <spatial-resolution> Element
      Center-to-center spacing between adjacent taxels. Unit: "mm". Determines the minimum feature size the sensor can resolve through touch. Example: 2.5 mm for a fingertip array, 10 mm for a body-skin patch. Smaller spacing = finer spatial detail but more wiring and processing.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <pressure-range> Element
      Measurable contact pressure range per taxel. Unit: "kPa" or "N". min = minimum detectable pressure (sensitivity threshold), max = saturation pressure. Example: min="0.1" max="100" unit="kPa" for a capacitive fingertip. Light touch is ~1 kPa, firm grip is 10-50 kPa, maximum grip can exceed 100 kPa.
      • unit Attribute
        Type: xs:string: Physical unit. Optional; SI default applies if omitted.
      • min Attribute
        Type: xs:double: Minimum acceptable value in the specified unit.
      • max Attribute
        Type: xs:double: Maximum acceptable value in the specified unit.
    • <sensing-area> Element
      Total active sensing area of the tactile surface. Unit: "mm2" or "cm2". Example: 314 mm2 for a circular fingertip pad (20mm diameter), 2500 mm2 for a 50x50 palm patch.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • <fluid> Element
    [0..*]
    Fluid sensor(s): barometers, airspeed/pitot sensors, depth sensors, flow meters, liquid-level sensors, and general pressure transducers. Measurand is gas/liquid pressure or flow (distinct from force = solid contact and chemical = composition).
    • type Attribute
      Type: barometer | airspeed | depth | flow | level | differential | gauge | absolute | sealed | vacuum (required): Fluid sensor sub-type (barometer, airspeed, depth, flow, level, differential, gauge, absolute, sealed, vacuum). Required. Determines which derived-output children (altitude/airspeed/depth/level/flow) and reference values apply.
    • <pose> Element
      Pose of the sensor relative to the component origin (xyz/rpy or quat attributes; meters and radians).
      • xyz Attribute
        Type: xs:string, default="0 0 0": Position as three space-separated doubles "x y z" in meters. Default: "0 0 0" (origin of parent frame).
      • rpy Attribute
        Type: xs:string, default="0 0 0": Orientation as three space-separated Euler angles "roll pitch yaw" in radians (XYZ extrinsic convention). Default: "0 0 0" (no rotation).
      • quat Attribute
        Type: Quat4: Orientation as quaternion "x y z w" (Hamilton convention, scalar-last), exactly four doubles. Optional; if present, overrides rpy (quat-wins precedence).
    • <driver> Element
      Driver IC identification and axis alignment configuration.
      • name Attribute
        Type: xs:string (required): Driver identifier string used by the runtime to load the correct sensor driver (e.g., "bmi088", "icm42688p", "bmp390"). Required.
      • <axis-align> Element
        Axis remapping from sensor internal axes to component body frame. Optional; omit if sensor axes match body frame.
        • x Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="X": Which body-frame axis the sensor's X axis maps to. Default: X (no remapping).
        • y Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Y": Which body-frame axis the sensor's Y axis maps to. Default: Y (no remapping).
        • z Attribute
          Type: X | -X | Y | -Y | Z | -Z, default="Z": Which body-frame axis the sensor's Z axis maps to. Default: Z (no remapping).
    • <range> Element
      Full-scale measurement range with unit.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <resolution> Element
      Measurement resolution: smallest detectable change.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <noise> Element
      Noise model for the sensor output.
      • type Attribute
        Type: gaussian | uniform | none (required): Noise distribution type. Required. Use "gaussian" for realistic sensor simulation, "none" for ideal sensors.
      • <mean> Element
        Type: xs:double
        Mean of the noise distribution. Default: 0. Units match the sensor's measurement unit.
      • <stddev> Element
        Type: xs:double
        Standard deviation of the noise distribution. Default: 0. Units match the sensor's measurement unit.
      • <bias-mean> Element
        Type: xs:double
        Mean of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
      • <bias-stddev> Element
        Type: xs:double
        Standard deviation of the static bias distribution. Default: 0. Units match the sensor's measurement unit.
      • <precision> Element
        Type: xs:double
        Quantization precision (ADC resolution). Output is rounded to the nearest multiple of this value. Units match the sensor's measurement unit.
      • <dynamic-bias-stddev> Element
        Type: xs:double
        Standard deviation of the DYNAMIC bias process: a slowly time-varying bias (Ornstein-Uhlenbeck / first-order Gauss-Markov), distinct from the static bias random walk (bias-mean/bias-stddev). Maps to SDF noise/dynamic_bias_stddev. Default: 0 (no dynamic bias). Units match the sensor's measurement unit.
      • <dynamic-bias-correlation-time> Element
        Type: xs:double
        Correlation time (in seconds) of the dynamic bias process: the time constant over which the dynamic bias decorrelates. Maps to SDF noise/dynamic_bias_correlation_time. Larger values = slower drift. Only meaningful when dynamic-bias-stddev is set.
    • <data-output> Element
      Output bandwidth and frame size for network planning. Only needed for sensors that transmit significant data over the network (cameras, lidars, radars).
      • <bandwidth> Element
        Raw output data rate. Unit: "Mbps" or "Gbps". Example: 7000 Mbps for 1920x1080 RGB at 30fps uncompressed. This is the maximum bandwidth the sensor can produce.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <bandwidth-compressed> Element
        Compressed output data rate when hardware compression is enabled. Unit: "Mbps". Example: 20 Mbps for H.265 compressed 1080p@30fps. If the sensor outputs compressed data over the network, use this for bandwidth planning instead of raw bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <frame-size> Element
        Size of a single output frame/scan. Unit: "bytes". Example: 6220800 for 1920x1080x3 RGB frame. Used with update-rate to calculate bandwidth: frame-size x update-rate = bandwidth.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <geometry> Element
      Visualization geometry for the sensor.
    • <medium> Element
      Type: xs:string
      Fluid medium being sensed (e.g. "air", "water", "seawater", "hydraulic-oil", "natural-gas"). Disambiguates otherwise-identical pressure devices: a barometer senses air, a depth sensor senses water.
    • <pressure-range> Element
      Full-scale pressure span the sensor measures, as min/max. Unit: "Pa" (SI default); "hPa"/"mbar"/"kPa"/"bar"/"psi" common. Example barometer: min="260" max="1260" unit="hPa". Example airspeed differential cell: min="0" max="6900" unit="Pa". Preferred over the inherited scalar range for pressure (which is a non-zero-based min/max span), following the tactile_sensor/pressure-range precedent.
      • unit Attribute
        Type: xs:string: Physical unit. Optional; SI default applies if omitted.
      • min Attribute
        Type: xs:double: Minimum acceptable value in the specified unit.
      • max Attribute
        Type: xs:double: Maximum acceptable value in the specified unit.
    • <accuracy> Element
      Measurement accuracy (total error band) at reference conditions. Unit: matches the pressure unit (e.g. "hPa", "Pa") for an absolute figure, or "%FS" for percent of full scale. Example: 1.5 unit="hPa" or 0.25 unit="%FS".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <temperature-range> Element
      Compensated operating temperature range over which the accuracy spec holds. Unit: "degC". Example: min="-40" max="85".
      • unit Attribute
        Type: xs:string: Physical unit. Optional; SI default applies if omitted.
      • min Attribute
        Type: xs:double: Minimum acceptable value in the specified unit.
      • max Attribute
        Type: xs:double: Maximum acceptable value in the specified unit.
    • <temperature-coefficient> Element
      Temperature sensitivity of the pressure reading (thermal drift). Unit: "Pa/K", "hPa/K", or "%FS/K". Lets an agent bound error when operating away from the calibration temperature.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <reference-pressure> Element
      Reference/datum pressure used to derive a secondary quantity. For a barometer: the sea-level reference used for the altitude computation (ISA standard 1013.25 hPa). For a gauge/sealed transducer: the fixed reference the reading is relative to. Unit: "hPa"/"Pa".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <reference-density> Element
      Reference fluid density for density-compensated derivations. For an airspeed sensor: the air density used to convert dynamic pressure to calibrated/true airspeed (ISA sea-level 1.225 kg/m3). Unit: "kg/m3".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <altitude-range> Element
      Barometer: derived pressure-altitude output range. Unit: "m". Example: min="-500" max="9000".
      • unit Attribute
        Type: xs:string: Physical unit. Optional; SI default applies if omitted.
      • min Attribute
        Type: xs:double: Minimum acceptable value in the specified unit.
      • max Attribute
        Type: xs:double: Maximum acceptable value in the specified unit.
    • <altitude-resolution> Element
      Barometer: smallest resolvable change in derived altitude (vertical resolution). Unit: "m". Example: 0.1 (10 cm) for a high-resolution baro.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <airspeed-range> Element
      Airspeed/pitot: derived airspeed output range. Unit: "m/s". Example: min="0" max="100".
      • unit Attribute
        Type: xs:string: Physical unit. Optional; SI default applies if omitted.
      • min Attribute
        Type: xs:double: Minimum acceptable value in the specified unit.
      • max Attribute
        Type: xs:double: Maximum acceptable value in the specified unit.
    • <airspeed-resolution> Element
      Airspeed/pitot: smallest resolvable change in derived airspeed. Unit: "m/s".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <airspeed-output> Element
      [0..*]
      Type: xs:string
      Airspeed type(s) the sensor reports: "IAS" (indicated), "CAS" (calibrated), "EAS" (equivalent), "TAS" (true). Repeatable: a density/temperature-compensated unit may output several. Free string (documented set), matching the gnss constellation/frequency convention.
    • <depth-range> Element
      Depth sensor: derived submersion-depth output range from hydrostatic pressure. Unit: "m". Example: min="0" max="300".
      • unit Attribute
        Type: xs:string: Physical unit. Optional; SI default applies if omitted.
      • min Attribute
        Type: xs:double: Minimum acceptable value in the specified unit.
      • max Attribute
        Type: xs:double: Maximum acceptable value in the specified unit.
    • <level-range> Element
      Level sensor: derived liquid-level (head) output range. Unit: "m". Example: min="0" max="5".
      • unit Attribute
        Type: xs:string: Physical unit. Optional; SI default applies if omitted.
      • min Attribute
        Type: xs:double: Minimum acceptable value in the specified unit.
      • max Attribute
        Type: xs:double: Maximum acceptable value in the specified unit.
    • <flow-range> Element
      Flow sensor: volumetric or mass flow-rate output range. Unit: "L/min", "m3/s" (volumetric) or "kg/s" (mass). Example: min="0" max="100" unit="L/min".
      • unit Attribute
        Type: xs:string: Physical unit. Optional; SI default applies if omitted.
      • min Attribute
        Type: xs:double: Minimum acceptable value in the specified unit.
      • max Attribute
        Type: xs:double: Maximum acceptable value in the specified unit.
    • <probe> Element
      Flow/velocity probe geometry and ports (airspeed and flow sub-types): pitot/pitot_static/multihole/hotwire/venturi/orifice, and which static/total ports are present.
      • type Attribute
        Type: pitot | pitot_static | multihole | hotwire | venturi | orifice: Probe geometry (pitot, pitot_static, multihole, hotwire, venturi, orifice).
      • static-port Attribute
        Type: xs:boolean: True if the probe provides a static-pressure port. A bare pitot has only a total port and needs an external static source; a pitot_static/Prandtl tube provides both.
      • total-port Attribute
        Type: xs:boolean: True if the probe provides a total- (stagnation-) pressure port.
      • ports Attribute
        Type: xs:unsignedInt: Number of pressure-sensing ports on the probe (e.g. 5 or 7 for a multihole probe). Optional.
  • name Attribute
    Type: xs:string (required): Unique name for this motor within the component (e.g., "shoulder_motor", "wheel_fl"). Required. Referenced by transmission elements.
  • type Attribute
    Type: bldc | brushed | stepper | servo | linear | solenoid | hydraulic | pneumatic | thrust | ice: Motor technology type (bldc, brushed, stepper, servo, linear, hydraulic, pneumatic, thrust, ice). Optional; useful for selecting appropriate control algorithms.
  • construction Attribute
    Type: xs:string: Motor physical construction: "inrunner" (rotor inside stator, higher RPM, common in industrial servos and drone motors), "outrunner" (rotor outside stator, higher torque, common in hub motors and large drone motors), "axial-flux" (flat pancake design, very thin, high torque density), "pancake" (flat form factor). Only relevant for BLDC/brushed motors.
  • visual Attribute
    Type: xs:string: Name of the visual element containing this motor's mesh for 3D highlighting.
  • mesh Attribute
    Type: xs:string: GLTF mesh node name within the visual for 3D highlighting of this motor.
  • encoder Attribute
    Type: xs:string: Name reference to an encoder sensor on this component. Identifies motor-side position feedback. The encoder is a full sensor with its own pose, driver, noise model, and resolution.
  • hall Attribute
    Type: xs:string: Name reference to a Hall sensor on this component used for BLDC commutation. Typically an em-type sensor with 3 Hall elements (U/V/W) providing 6-step commutation signals. Often shares the motor signal connector with the encoder.
  • thermistor Attribute
    Type: xs:string: Name reference to a temperature sensor on this component monitoring motor winding temperature. Typically an NTC thermistor embedded in the motor stator. Used for thermal protection: the agent can monitor temperature and derate or shut down before exceeding max-temperature.
  • <pose> Element
    Pose of the motor relative to the component origin (xyz/rpy or quat attributes; meters and radians).
    • xyz Attribute
      Type: xs:string, default="0 0 0": Position as three space-separated doubles "x y z" in meters. Default: "0 0 0" (origin of parent frame).
    • rpy Attribute
      Type: xs:string, default="0 0 0": Orientation as three space-separated Euler angles "roll pitch yaw" in radians (XYZ extrinsic convention). Default: "0 0 0" (no rotation).
    • quat Attribute
      Type: Quat4: Orientation as quaternion "x y z w" (Hamilton convention, scalar-last), exactly four doubles. Optional; if present, overrides rpy (quat-wins precedence).
  • <voltage> Element
    Motor voltage ratings with nominal/continuous/peak/max levels. Unit: typically "V".
    • unit Attribute
      Type: xs:string: Physical unit. Optional; V for voltage elements, A for current elements by SI default.
    • nominal Attribute
      Type: xs:double: Nominal (design-point) operating value. The steady-state value the motor is designed for.
    • continuous Attribute
      Type: xs:double: Maximum continuous value the motor can sustain indefinitely without overheating.
    • peak Attribute
      Type: xs:double: Peak value the motor can sustain for a short duration (typically seconds to minutes) before thermal limits are reached.
    • max Attribute
      Type: xs:double: Absolute maximum value. Exceeding this causes permanent damage or triggers hardware protection.
  • <current> Element
    Motor current ratings with nominal/continuous/peak/max levels. Unit: typically "A".
    • unit Attribute
      Type: xs:string: Physical unit. Optional; V for voltage elements, A for current elements by SI default.
    • nominal Attribute
      Type: xs:double: Nominal (design-point) operating value. The steady-state value the motor is designed for.
    • continuous Attribute
      Type: xs:double: Maximum continuous value the motor can sustain indefinitely without overheating.
    • peak Attribute
      Type: xs:double: Peak value the motor can sustain for a short duration (typically seconds to minutes) before thermal limits are reached.
    • max Attribute
      Type: xs:double: Absolute maximum value. Exceeding this causes permanent damage or triggers hardware protection.
  • <resistance> Element
    Terminal-to-terminal winding resistance. Unit: typically "ohm".
    • unit Attribute
      Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • <inductance> Element
    Phase (winding) inductance. Unit: typically "H" (henries) or "mH". A standard BLDC datasheet parameter alongside resistance; the L/R electrical time constant sets the current-loop bandwidth for field-oriented control.
    • unit Attribute
      Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • <torque-constant> Element
    Motor torque constant (Kt). Torque output per ampere of current. Unit: typically "Nm/A".
    • unit Attribute
      Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • <velocity-constant> Element
    Motor velocity constant: the proportionality between voltage and rotational speed. This single element covers both Ke (back-EMF constant) and Kv (speed constant) conventions; the unit attribute determines which: use unit="V/RPM" or unit="V.s/rad" for Ke (back-EMF style, common on industrial servo and hub motor datasheets, e.g., 0.109 V/RPM for ZLLG65ASM250-L); use unit="RPM/V" for Kv (speed constant style, common on drone/RC BLDC datasheets, e.g., 920 RPM/V). Ke and Kv are reciprocals of each other; an agent computes one from the other as needed.
    • unit Attribute
      Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • <rotor-inertia> Element
    Rotor moment of inertia (J) about the motor's rotation axis. Unit: typically "kg.m^2" or "g.cm^2". The rotor's own inertia reflected through a transmission dominates the effective inertia at the joint (reflected_inertia = rotor_inertia x reduction^2), so it is required for the reflected-inertia and acceleration math on quasi-direct-drive (QDD) actuators.
    • unit Attribute
      Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • <max-speed> Element
    Maximum no-load shaft speed. Unit: typically "rpm" or "rad/s".
    • unit Attribute
      Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • <stall-torque> Element
    Stall torque at rated voltage. Unit: typically "Nm".
    • unit Attribute
      Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • <thermal-resistance> Element
    Thermal resistance from winding to ambient. Unit: typically "degC/W". Used for thermal derating calculations.
    • unit Attribute
      Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • <max-temperature> Element
    Maximum allowable winding temperature before demagnetization or insulation failure. Unit: typically "degC".
    • unit Attribute
      Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • <thrust-axis> Element
    Type: xs:string
    Direction of thrust force as "x y z" unit vector relative to the component frame. Only for type="thrust". Example: "0 0 1" for upward thrust.
  • <max-thrust> Element
    Maximum thrust force output. Unit: "N". Only for type="thrust".
    • unit Attribute
      Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • <pole-pairs> Element
    Type: xs:unsignedInt
    Number of magnetic pole pairs in the motor. Determines the electrical frequency: electrical_freq = mechanical_rpm × pole_pairs / 60. Critical for BLDC commutation (Hall sensor transitions per revolution = pole_pairs × 6), ESC configuration, and back-EMF frequency. Example: 15 pole pairs for ZLLG65ASM250-L hub motor, 7 for typical drone motor, 2 for industrial servo.
  • <displacement> Element
    Engine displacement for internal combustion motors. Unit: "cc" (cubic centimeters) or "L" (liters). Only applicable for type="ice". Example: 50cc for a small generator, 0.8L for a robot mower engine.
    • unit Attribute
      Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • <cylinders> Element
    Type: xs:unsignedInt
    Number of cylinders for internal combustion motors. Only applicable for type="ice".
  • <stroke> Element
    Linear travel range for linear actuators. Unit: "m" or "mm". Defines the maximum extension distance. Only applicable for type="linear".
    • unit Attribute
      Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • <control-modes> Element
    Supported control interfaces for this motor.
    • <mode> Element
      (required) [0..*]
      Type: xs:string
      A supported control mode: "position", "velocity", "torque", "force", "current", "pwm". Multiple modes means the motor supports switching between them.
  • <no-load-speed> Element
    No-load shaft speed at rated voltage. Unit: "rpm". From motor load test. Higher than rated speed. Example: 257.9 rpm for ZLLG65ASM250-L at 24V.
    • unit Attribute
      Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • <no-load-current> Element
    No-load current draw at rated voltage. Unit: "A". The minimum current the motor draws when spinning freely. Important for idle power budget. Example: 0.974A.
    • unit Attribute
      Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • <max-power-out> Element
    Maximum mechanical power output from load test. Unit: "W". The peak of the power-vs-torque curve. Example: 158.8W at 11.61 Nm for ZLLG65ASM250-L.
    • unit Attribute
      Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • <max-efficiency> Element
    Peak efficiency from load test. Unit: "percent". The best-case power_out/power_in ratio. Example: 68.4% at 3.84 Nm / 216.3 RPM. An agent should target this operating point for best runtime.
    • unit Attribute
      Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • name Attribute
    Type: xs:string (required): Unique name for this HMI element within the component.
  • type Attribute
    Type: display | speaker | buzzer | led-status | led-illumination | button | touchscreen | indicator (required): HMI element type (display, speaker, buzzer, led-status, led-illumination, button, touchscreen, indicator).
  • visual Attribute
    Type: xs:string: Name of the visual element containing this HMI's mesh for 3D highlighting.
  • mesh Attribute
    Type: xs:string: GLTF mesh node name within the visual for 3D highlighting.
  • <description> Element
    Type: xs:string
    Human-readable description of this HMI element.
  • <pose> Element
    Position and orientation relative to component origin.
    • xyz Attribute
      Type: xs:string, default="0 0 0": Position as three space-separated doubles "x y z" in meters. Default: "0 0 0" (origin of parent frame).
    • rpy Attribute
      Type: xs:string, default="0 0 0": Orientation as three space-separated Euler angles "roll pitch yaw" in radians (XYZ extrinsic convention). Default: "0 0 0" (no rotation).
    • quat Attribute
      Type: Quat4: Orientation as quaternion "x y z w" (Hamilton convention, scalar-last), exactly four doubles. Optional; if present, overrides rpy (quat-wins precedence).
  • <geometry> Element
    Visualization geometry for this HMI element.
  • <illumination> Element
    Optical parameters of a scene-illumination HMI (a headlight, work light, or IR night-vision illuminator): the actual light source this element drives. Populated when @type="led-illumination". Maps bidirectionally to an SDF <light> (type/diffuse/specular/attenuation/direction/cast-shadows/intensity); the light's placement is the HMI <pose>. Absent => the HMI is a passive indicator with no emitted-light model.
    • light-type Attribute
      Type: xs:string: Light source model: "point" (omnidirectional), "directional" (parallel rays, e.g. sun), or "spot" (cone). SDF light/@type.
    • cast-shadows Attribute
      Type: xs:boolean: Whether this light casts shadows in a renderer/simulator. SDF light/cast_shadows.
    • intensity Attribute
      Type: xs:double: Relative power scale factor of the light. SDF light/intensity.
    • <diffuse> Element
      Type: xs:string
      Diffuse light colour as four space-separated doubles "r g b a" (0-1). SDF light/diffuse.
    • <specular> Element
      Type: xs:string
      Specular light colour as four space-separated doubles "r g b a" (0-1). SDF light/specular.
    • <direction> Element
      Type: xs:string
      Emission direction as three space-separated doubles "x y z" (unit vector), for spot and directional lights. SDF light/direction.
    • <attenuation> Element
      Distance attenuation (range/linear/constant/quadratic). SDF light/attenuation.
      • <range> Element
        Type: xs:double
        Maximum range of the light in meters: beyond this the light contributes nothing. SDF light/attenuation/range.
      • <linear> Element
        Type: xs:double
        Linear attenuation factor (0-1): 1 attenuates evenly over the range. SDF light/attenuation/linear.
      • <constant> Element
        Type: xs:double
        Constant attenuation factor: 1.0 never attenuates, 0.0 is complete attenuation. SDF light/attenuation/constant.
      • <quadratic> Element
        Type: xs:double
        Quadratic attenuation factor: adds curvature to the falloff. SDF light/attenuation/quadratic.
  • name Attribute
    Type: xs:string (required): Unique name for this surface within the component.
  • visual Attribute
    Type: xs:string: Name of the visual element containing this surface's mesh for 3D highlighting.
  • mesh Attribute
    Type: xs:string: GLTF mesh node name within the visual for 3D highlighting of this surface.
  • <prop> Element
    Propeller surface: thrust from rotation.
    • <diameter> Element
      Propeller diameter tip-to-tip. Unit: "m" or "in".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <pitch> Element
      Propeller pitch: theoretical distance advanced per revolution in ideal fluid. Unit: "m" or "in".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <blades> Element
      Type: xs:unsignedInt
      Number of blades (typically 2, 3, or 4).
    • <direction> Element
      Type: xs:string
      Rotation direction viewed from above/front: "CW" (clockwise) or "CCW" (counter-clockwise). Critical for torque balancing on multirotors.
  • <aerofoil> Element
    Aerodynamic lifting surface: wing, stabilizer, canard.
    • <span> Element
      Wing span (tip-to-tip for one wing, or half-span if describing one side). Unit: "m".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <chord> Element
      Mean aerodynamic chord (leading edge to trailing edge). Unit: "m".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <profile> Element
      Type: xs:string
      Airfoil profile designation (e.g., "NACA2412", "NACA0012", "ClarkY", "E387"). Determines lift/drag characteristics.
    • <sweep> Element
      Wing sweep angle. Positive = swept back. Unit: "deg".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <dihedral> Element
      Wing dihedral angle. Positive = tips higher than root. Affects roll stability. Unit: "deg".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <area> Element
      Wing planform area. Unit: "m2". If omitted, computed from span x chord.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • <hydrofoil> Element
    Hydrodynamic lifting surface: underwater foil.
    • <span> Element
      Foil span. Unit: "m".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <chord> Element
      Mean chord length. Unit: "m".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <profile> Element
      Type: xs:string
      Foil profile (e.g., "NACA0012", "Eppler817").
    • <area> Element
      Foil planform area. Unit: "m2".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • <control-surface> Element
    Aerodynamic control surface: aileron, elevator, rudder, elevon, flap.
    • type Attribute
      Type: xs:string (required): Control surface type: "aileron", "elevator", "rudder", "elevon", "flaperon", "flap", "spoiler", "canard", "ruddervator", "v-tail".
    • <chord-ratio> Element
      Type: xs:double
      Ratio of control surface chord to parent wing/tail chord (0-1). Typical: 0.2-0.3 for ailerons, 0.3-0.5 for flaps.
    • <span-fraction> Element
      Type: xs:double
      Fraction of parent wing span covered by this control surface (0-1).
    • <deflection> Element
      Deflection range. min = max deflection in one direction, max = other direction. Unit: "deg". Example: min="-25" max="25".
      • unit Attribute
        Type: xs:string: Physical unit. Optional; SI default applies if omitted.
      • min Attribute
        Type: xs:double: Minimum acceptable value in the specified unit.
      • max Attribute
        Type: xs:double: Maximum acceptable value in the specified unit.
  • <wheel> Element
    Wheel ground contact surface.
    • type Attribute
      Type: xs:string: Wheel type: "driven" (has motor), "steering" (steerable), "caster" (passive swivel), "omni" (omnidirectional rollers), "mecanum" (45-degree rollers). Optional.
    • <radius> Element
      Wheel outer radius (including tire). Unit: "m".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <width> Element
      Tire/wheel width (contact patch width). Unit: "m".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <friction> Element
      Tire-ground friction coefficients (static and dynamic).
      • static Attribute
        Type: xs:double, default="0": Static friction coefficient (dimensionless). Force required to initiate sliding. Default: 0.
      • dynamic Attribute
        Type: xs:double, default="0": Dynamic (kinetic) friction coefficient (dimensionless). Force during sliding. Must be less than or equal to static. Default: 0.
      • <friction-direction> Element
        Optional anisotropic friction (first friction direction fdir1, second-direction coefficient mu2, and per-direction slip). Present only for direction-dependent surfaces; absent => isotropic friction from @static/@dynamic.
        • mu2 Attribute
          Type: xs:double: Friction coefficient in the SECOND friction direction (perpendicular to fdir1). SDF surface/friction/ode/mu2. The primary-direction coefficient is friction/@static. Dimensionless.
        • slip1 Attribute
          Type: xs:double: Force-dependent slip (compliance) in the first friction direction, in m/s per Newton. SDF surface/friction/ode/slip1. Models tire/track slip. Default: 0 (no slip).
        • slip2 Attribute
          Type: xs:double: Force-dependent slip (compliance) in the second friction direction, in m/s per Newton. SDF surface/friction/ode/slip2. Default: 0 (no slip).
        • <fdir1> Element
          Type: xs:string
          First friction direction as a unit vector "x y z" in the collision frame. SDF surface/friction/ode/fdir1. The second friction direction is the cross product of the contact normal and this vector. Example: "1 0 0".
  • <track> Element
    Tracked vehicle surface (tank treads).
    • <width> Element
      Track width. Unit: "m".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <length> Element
      Track ground contact length. Unit: "m".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <ground-pressure> Element
      Ground pressure (vehicle weight / total track contact area). Unit: "kPa". Lower = better soft terrain performance.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <friction> Element
      Track-ground friction coefficients.
      • static Attribute
        Type: xs:double, default="0": Static friction coefficient (dimensionless). Force required to initiate sliding. Default: 0.
      • dynamic Attribute
        Type: xs:double, default="0": Dynamic (kinetic) friction coefficient (dimensionless). Force during sliding. Must be less than or equal to static. Default: 0.
      • <friction-direction> Element
        Optional anisotropic friction (first friction direction fdir1, second-direction coefficient mu2, and per-direction slip). Present only for direction-dependent surfaces; absent => isotropic friction from @static/@dynamic.
        • mu2 Attribute
          Type: xs:double: Friction coefficient in the SECOND friction direction (perpendicular to fdir1). SDF surface/friction/ode/mu2. The primary-direction coefficient is friction/@static. Dimensionless.
        • slip1 Attribute
          Type: xs:double: Force-dependent slip (compliance) in the first friction direction, in m/s per Newton. SDF surface/friction/ode/slip1. Models tire/track slip. Default: 0 (no slip).
        • slip2 Attribute
          Type: xs:double: Force-dependent slip (compliance) in the second friction direction, in m/s per Newton. SDF surface/friction/ode/slip2. Default: 0 (no slip).
        • <fdir1> Element
          Type: xs:string
          First friction direction as a unit vector "x y z" in the collision frame. SDF surface/friction/ode/fdir1. The second friction direction is the cross product of the contact normal and this vector. Example: "1 0 0".
  • <gripper> Element
    Gripper or end-effector contact surface: mechanical finger pads, suction cups, magnetic grippers, adhesive surfaces, granular jamming.
    • type Attribute
      Type: xs:string (required): Gripper contact mechanism: "mechanical" (friction-based finger pads: the gripper squeezes the object, holding force comes from normal force x friction), "suction" (vacuum cup: single or array of cups creating negative pressure seal, works on smooth non-porous surfaces), "magnetic" (permanent or electromagnetic, works only on ferromagnetic materials), "adhesive" (gecko-inspired dry adhesive or chemical adhesive, uses van der Waals or chemical bonding, works on smooth surfaces regardless of material), "jamming" (granular jamming gripper: conforms to object shape then stiffens via vacuum, handles irregular geometries). Required.
    • <grip-force> Element
      Maximum grip or holding force. Unit: "N". For mechanical fingers: the squeeze force at the fingertip. For suction: the pull-off force (vacuum area x pressure differential). For magnetic: the breakaway force at contact. An agent compares this against object weight x safety factor to determine if a grasp is secure.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <contact-area> Element
      Active contact area of the gripper surface. Unit: "mm2" or "cm2". For suction cups: the sealing area. For finger pads: the pad face area. For magnetic grippers: the pole face area. Larger contact area generally means more stable grasps and better force distribution.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <payload> Element
      Maximum payload the gripper can reliably hold. Unit: "kg" or "N". This is the practical limit accounting for orientation, acceleration, and safety margin; typically less than grip-force / (gravity x safety_factor). Example: 5 kg for a two-finger gripper, 20 kg for a large vacuum gripper array.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <shore-hardness> Element
      Type: xs:string
      Shore durometer hardness of the contact surface material (for compliant finger pads and suction cups). Format: scale + value, e.g., "A30" (soft silicone finger pad), "A50" (medium rubber), "A70" (firm polyurethane). Shore A scale: 0=very soft gel, 30=soft rubber, 50=pencil eraser, 70=tire tread, 90=hard plastic. Softer pads conform to irregular surfaces for better grip; harder pads are more durable. Only applicable for mechanical and suction types.
    • <vacuum-level> Element
      Vacuum pressure for suction grippers. Unit: "kPa" (negative gauge pressure). Example: -60 kPa for a standard Venturi generator, -85 kPa for a vacuum pump. Pull-off force = vacuum_level x sealing_area. Only applicable for type="suction".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <magnetic-force> Element
      Magnetic holding force at contact. Unit: "N". For permanent magnets: the breakaway force with a flat mild steel surface. For electromagnets: the force at rated current. Only applicable for type="magnetic".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <friction> Element
      Friction coefficients between the gripper surface and a reference material (typically smooth steel or ABS plastic). Used for grasp stability analysis: tangential holding force = normal_force x friction_coefficient.
      • static Attribute
        Type: xs:double, default="0": Static friction coefficient (dimensionless). Force required to initiate sliding. Default: 0.
      • dynamic Attribute
        Type: xs:double, default="0": Dynamic (kinetic) friction coefficient (dimensionless). Force during sliding. Must be less than or equal to static. Default: 0.
      • <friction-direction> Element
        Optional anisotropic friction (first friction direction fdir1, second-direction coefficient mu2, and per-direction slip). Present only for direction-dependent surfaces; absent => isotropic friction from @static/@dynamic.
        • mu2 Attribute
          Type: xs:double: Friction coefficient in the SECOND friction direction (perpendicular to fdir1). SDF surface/friction/ode/mu2. The primary-direction coefficient is friction/@static. Dimensionless.
        • slip1 Attribute
          Type: xs:double: Force-dependent slip (compliance) in the first friction direction, in m/s per Newton. SDF surface/friction/ode/slip1. Models tire/track slip. Default: 0 (no slip).
        • slip2 Attribute
          Type: xs:double: Force-dependent slip (compliance) in the second friction direction, in m/s per Newton. SDF surface/friction/ode/slip2. Default: 0 (no slip).
        • <fdir1> Element
          Type: xs:string
          First friction direction as a unit vector "x y z" in the collision frame. SDF surface/friction/ode/fdir1. The second friction direction is the cross product of the contact normal and this vector. Example: "1 0 0".
  • name Attribute
    Type: xs:string (required): Unique name for this power source.
  • role Attribute
    Type: xs:string: Power source role in the system: "primary" (main power source), "backup" (engaged on primary failure), "hot-swap" (can be replaced while system runs on other source), "ups" (uninterruptible: provides power during switchover). An agent uses this for power redundancy analysis.
  • group Attribute
    Type: xs:string: Power source group name for failover pairing. Sources in the same group can substitute for each other. Example: group="main" on two hot-swap batteries means either can power the system alone while the other is replaced.
  • visual Attribute
    Type: xs:string: Name of the visual element containing this power source's mesh for 3D highlighting.
  • mesh Attribute
    Type: xs:string: GLTF mesh node name within the visual for 3D highlighting of this power source.
  • <battery> Element
    Rechargeable battery energy source.
    • <chemistry> Element
      Type: xs:string
      Cell chemistry: "LiFePO4" (3.2V/cell, safest, longest life), "Li-ion" (3.7V/cell, highest energy density), "LiPo" (3.7V/cell, high discharge rate), "NiMH" (1.2V/cell), "lead-acid" (2.0V/cell).
    • <cells-series> Element
      Type: xs:unsignedInt
      Number of cells in series (determines voltage: cells x cell_voltage). Example: 8S LiFePO4 = 25.6V nominal.
    • <cells-parallel> Element
      Type: xs:unsignedInt
      Number of cells in parallel (multiplies capacity and max current).
    • <nominal-voltage> Element
      Nominal pack voltage. Unit: "V". Equals cells-series x cell nominal voltage.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <capacity> Element
      Battery capacity. Unit: "Ah" (amp-hours). Energy = capacity x nominal-voltage.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <energy> Element
      Total stored energy. Unit: "Wh" (watt-hours). Can be computed from capacity x voltage but useful to state explicitly.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <max-discharge> Element
      Maximum continuous discharge rate. Unit: "C" (multiples of capacity). Example: 3C on a 12Ah pack = 36A max continuous.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <min-voltage> Element
      Minimum safe pack voltage (low-voltage cutoff). Unit: "V". Discharging below this damages the cells.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <max-voltage> Element
      Maximum charge voltage (full charge). Unit: "V".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <max-charge-rate> Element
      Maximum charge rate. Unit: "C" (multiples of capacity). Example: 1C on 12Ah = 12A max charge current. Fast-charge capable batteries may support 2-4C. Determines minimum charge time: time_hours = 1/charge_rate_C.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <charge-protocol> Element
      Type: xs:string
      Charging protocol: "cc-cv" (constant-current then constant-voltage, standard for Li-ion/LiPo/LiFePO4), "cc" (constant-current only: NiMH, NiCd), "fast-charge" (proprietary fast-charge protocol), "trickle" (low-rate maintenance charge). Determines charger compatibility.
    • <cycle-life> Element
      Type: xs:unsignedInt
      Rated cycle life: number of charge/discharge cycles to 80% capacity retention. LiFePO4: 2000-5000 cycles. Li-ion: 300-500. LiPo: 200-300. An agent can estimate remaining battery health.
  • <tank> Element
    Fuel/gas tank energy source.
    • <fuel> Element
      Type: xs:string
      Fuel type: "gasoline", "diesel", "hydrogen", "compressed-air", "nitrogen", "propane", "ethanol", "jet-a". Determines energy density and handling requirements.
    • <volume> Element
      Tank volume. Unit: "L" (liters) or "gal" (US gallons).
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <pressure> Element
      Storage pressure (for compressed gases). Unit: "bar" or "psi". Example: 350 bar for hydrogen, 200 bar for compressed air.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <energy> Element
      Total stored energy. Unit: "Wh" or "kJ".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <flow> Element
      Flow characterization: how fluid exits the tank and at what rate. Defines delivery method (pressurized, regulated, pumped, gravity), outlet pressure, max/peak flow rates, and regulation mechanism. Without this, the tank is just a capacity number with no delivery information.
      • <method> Element
        Type: xs:string
        How fluid exits the tank: "pressurized" (self-pressurizing from stored pressure, passive, e.g., compressed gas through orifice), "regulated" (pressure regulator controls outlet pressure, active or passive mechanical, e.g., hydrogen fuel cell supply), "pumped" (electric or mechanical pump draws fluid, e.g., gasoline fuel pump), "gravity" (gravity-fed, no pressurization, e.g., open agricultural spray tanks).
      • <outlet-pressure> Element
        Pressure at the tank outlet / consumer input. For regulated systems this is the regulated setpoint; for pressurized systems it decreases as the tank empties. Use min/max to capture the range. Unit: "bar" or "psi". Example: min="1.5" max="3.0" unit="bar" for a regulated hydrogen supply.
        • unit Attribute
          Type: xs:string: Physical unit. Optional; SI default applies if omitted.
        • min Attribute
          Type: xs:double: Minimum acceptable value in the specified unit.
        • max Attribute
          Type: xs:double: Maximum acceptable value in the specified unit.
      • <max-flow-rate> Element
        Maximum sustained (continuous) flow rate the delivery system can provide. Unit depends on fluid: "g/s" or "kg/s" for gases, "L/min" or "L/hr" for liquids, "SLPM" (standard liters per minute) for compressed gases at standard conditions. This is the continuous limit, determined by regulator capacity, pump displacement, or orifice size.
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <peak-flow-rate> Element
        Peak (burst) flow rate available for short transients. May exceed max-flow-rate for seconds due to accumulator pressure, pump overspeed, or regulator overshoot. Unit: same as max-flow-rate. If not specified, assume peak = max (no burst capability).
        • unit Attribute
          Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
      • <regulator> Element
        Type: xs:string
        Regulation mechanism controlling outlet pressure and/or flow: "passive-mechanical" (spring-loaded diaphragm regulator: simple, no power needed), "solenoid-proportional" (electronically controlled proportional valve: precise, needs power), "solenoid-on-off" (bang-bang valve: simple digital control), "return-line" (fuel pump + return line to tank, common in automotive), "none" (unregulated: pressure drops as tank empties).
  • <fuel-cell> Element
    Fuel cell energy converter (PEM, DMFC, SOFC). Generates electricity from fuel continuously.
    • <type> Element
      Type: xs:string
      Fuel cell technology: "pem" (Proton Exchange Membrane, most common for robots, uses hydrogen), "dmfc" (Direct Methanol, uses methanol, lower power density), "sofc" (Solid Oxide, high temp, high efficiency, slow startup).
    • <fuel> Element
      Type: xs:string
      Input fuel type: "hydrogen", "methanol", "natural-gas", "propane".
    • <rated-power> Element
      Continuous rated electrical power output. Unit: "W" or "kW".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <peak-power> Element
      Peak (burst) electrical power output. Unit: "W" or "kW".
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <efficiency> Element
      Type: xs:double
      Electrical conversion efficiency as a fraction (0-1). PEM typical: 0.40-0.60. SOFC typical: 0.50-0.65.
    • <output-voltage> Element
      Output voltage range. Unit: "V". Fuel cell output varies with load: min at max power, max at no load.
      • unit Attribute
        Type: xs:string: Physical unit. Optional; SI default applies if omitted.
      • min Attribute
        Type: xs:double: Minimum acceptable value in the specified unit.
      • max Attribute
        Type: xs:double: Maximum acceptable value in the specified unit.
  • <solar> Element
    Solar panel energy source. Generates electricity from sunlight via photovoltaic cells.
    • <cell-type> Element
      Type: xs:string
      Photovoltaic cell technology: "monocrystalline" (highest efficiency 20-24%, rigid panels), "polycrystalline" (lower cost, 15-20% efficiency), "thin-film" (flexible, lightweight, 10-15% efficiency, can conform to curved surfaces), "gaas" (gallium arsenide, 28-30% efficiency, used in space, expensive), "perovskite" (emerging, potentially low cost). Determines efficiency, weight, flexibility, and cost tradeoffs.
    • <peak-power> Element
      Peak power output under Standard Test Conditions (STC: 1000 W/m2 irradiance, 25 degC cell temperature, AM1.5 spectrum). Unit: "W" or "Wp" (watts-peak). Real-world output is typically 60-80% of peak due to non-ideal conditions. Example: 100 Wp panel produces ~60-80W in typical outdoor conditions.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <area> Element
      Total panel area. Unit: "m2" or "cm2". Used with efficiency to cross-check peak-power: peak_power = area x 1000W/m2 x efficiency. Also used for physical packaging constraints on the robot body.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <efficiency> Element
      Type: xs:double
      Solar cell conversion efficiency as a fraction (0-1). The ratio of electrical power output to incident solar power. Monocrystalline: 0.20-0.24. Polycrystalline: 0.15-0.20. Thin-film: 0.10-0.15. GaAs: 0.28-0.30.
    • <voltage-mpp> Element
      Voltage at Maximum Power Point (Vmpp) under STC. Unit: "V". The MPPT charge controller operates the panel at this voltage to extract maximum power. Example: 18V for a nominal 12V panel, 36V for a nominal 24V panel.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <current-mpp> Element
      Current at Maximum Power Point (Impp) under STC. Unit: "A". peak-power = voltage-mpp x current-mpp.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <open-circuit-voltage> Element
      Open-circuit voltage (Voc) under STC. Unit: "V". The maximum voltage the panel produces with no load. Always higher than voltage-mpp. Used for charge controller input voltage rating.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <mppt> Element
      Type: xs:boolean
      Whether the associated charge controller uses Maximum Power Point Tracking. true = MPPT controller (extracts 15-30% more energy than PWM in varying conditions). false = PWM or direct connection. An agent factors this into energy harvest estimates.
  • <supercapacitor> Element
    Supercapacitor for peak power buffering, regenerative braking energy capture, and pulsed load smoothing.
    • <capacitance> Element
      Total capacitance. Unit: "F" (farads). Supercapacitors typically range from 1F to 3000F per cell. Series/parallel configurations adjust the effective capacitance and voltage. Energy stored = 0.5 x C x V^2.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <max-voltage> Element
      Maximum rated voltage. Unit: "V". Individual cells are typically 2.5-2.7V; series stacks reach 12V, 24V, 48V or higher. Exceeding max voltage causes gas generation and permanent damage.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <esr> Element
      Equivalent Series Resistance. Unit: "mohm" (milliohms). Determines power loss during charge/discharge and maximum current capability: I_max approx V / ESR. Lower ESR = higher power capability. Typical: 0.3-50 mohm depending on size.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <max-current> Element
      Maximum continuous discharge current. Unit: "A". Supercapacitors can deliver very high currents (hundreds of amps) for short durations. Limited by ESR heating.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <peak-current> Element
      Peak (burst) current for short pulses. Unit: "A". Can be significantly higher than max-current for pulses under 1 second.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <energy> Element
      Total stored energy at max voltage. Unit: "Wh" or "J". Computed from 0.5 x C x V^2 but useful to state explicitly. Much less than batteries of similar volume: a 3000F/2.7V cell stores ~3 Wh vs ~50 Wh for a similar-sized Li-ion cell.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <cells-series> Element
      Type: xs:unsignedInt
      Number of cells in series. Determines pack voltage: max-voltage = cells x cell-voltage. Requires balancing circuitry.
    • <cycle-life> Element
      Type: xs:unsignedInt
      Rated cycle life: number of charge/discharge cycles to 80% capacitance retention. Supercapacitors typically last 500,000 to 1,000,000+ cycles, far exceeding batteries.
  • name Attribute
    Type: xs:string (required)
  • <capabilities> Element
    • <purpose> Element
      [0..*]
      • value Attribute
        Type: communication | power-delivery | material-transfer (required)
    • <carrier> Element
      [0..*]
      • value Attribute
        Type: electrical | guided-optical | conducted-rf | radiated-rf | liquid | gas (required)
    • <profile> Element
      [0..*]
      • id Attribute
        Type: xs:string (required)
    • <rate> Element
      • min Attribute
        Type: xs:double
      • max Attribute
        Type: xs:double
      • nominal Attribute
        Type: xs:double
      • unit Attribute
        Type: xs:string (required)
    • <voltage> Element
      • min Attribute
        Type: xs:double
      • max Attribute
        Type: xs:double
      • nominal Attribute
        Type: xs:double
      • unit Attribute
        Type: xs:string (required)
    • <current> Element
      • min Attribute
        Type: xs:double
      • max Attribute
        Type: xs:double
      • nominal Attribute
        Type: xs:double
      • unit Attribute
        Type: xs:string (required)
    • <power> Element
      • min Attribute
        Type: xs:double
      • max Attribute
        Type: xs:double
      • nominal Attribute
        Type: xs:double
      • unit Attribute
        Type: xs:string (required)
    • <impedance> Element
      • min Attribute
        Type: xs:double
      • max Attribute
        Type: xs:double
      • nominal Attribute
        Type: xs:double
      • unit Attribute
        Type: xs:string (required)
    • <frequency> Element
      • min Attribute
        Type: xs:double
      • max Attribute
        Type: xs:double
      • nominal Attribute
        Type: xs:double
      • unit Attribute
        Type: xs:string (required)
    • <bandwidth> Element
      • min Attribute
        Type: xs:double
      • max Attribute
        Type: xs:double
      • nominal Attribute
        Type: xs:double
      • unit Attribute
        Type: xs:string (required)
    • <pressure> Element
      • min Attribute
        Type: xs:double
      • max Attribute
        Type: xs:double
      • nominal Attribute
        Type: xs:double
      • unit Attribute
        Type: xs:string (required)
    • <flow> Element
      • min Attribute
        Type: xs:double
      • max Attribute
        Type: xs:double
      • nominal Attribute
        Type: xs:double
      • unit Attribute
        Type: xs:string (required)
    • <temperature> Element
      • min Attribute
        Type: xs:double
      • max Attribute
        Type: xs:double
      • nominal Attribute
        Type: xs:double
      • unit Attribute
        Type: xs:string (required)
  • <channel> Element
    [0..*]
  • name Attribute
    Type: xs:string (required)
  • role Attribute
    Type: xs:string
  • local-group Attribute
    Type: xs:string
  • <capabilities> Element
    • <purpose> Element
      [0..*]
      • value Attribute
        Type: communication | power-delivery | material-transfer (required)
    • <carrier> Element
      [0..*]
      • value Attribute
        Type: electrical | guided-optical | conducted-rf | radiated-rf | liquid | gas (required)
    • <profile> Element
      [0..*]
      • id Attribute
        Type: xs:string (required)
    • <rate> Element
      • min Attribute
        Type: xs:double
      • max Attribute
        Type: xs:double
      • nominal Attribute
        Type: xs:double
      • unit Attribute
        Type: xs:string (required)
    • <voltage> Element
      • min Attribute
        Type: xs:double
      • max Attribute
        Type: xs:double
      • nominal Attribute
        Type: xs:double
      • unit Attribute
        Type: xs:string (required)
    • <current> Element
      • min Attribute
        Type: xs:double
      • max Attribute
        Type: xs:double
      • nominal Attribute
        Type: xs:double
      • unit Attribute
        Type: xs:string (required)
    • <power> Element
      • min Attribute
        Type: xs:double
      • max Attribute
        Type: xs:double
      • nominal Attribute
        Type: xs:double
      • unit Attribute
        Type: xs:string (required)
    • <impedance> Element
      • min Attribute
        Type: xs:double
      • max Attribute
        Type: xs:double
      • nominal Attribute
        Type: xs:double
      • unit Attribute
        Type: xs:string (required)
    • <frequency> Element
      • min Attribute
        Type: xs:double
      • max Attribute
        Type: xs:double
      • nominal Attribute
        Type: xs:double
      • unit Attribute
        Type: xs:string (required)
    • <bandwidth> Element
      • min Attribute
        Type: xs:double
      • max Attribute
        Type: xs:double
      • nominal Attribute
        Type: xs:double
      • unit Attribute
        Type: xs:string (required)
    • <pressure> Element
      • min Attribute
        Type: xs:double
      • max Attribute
        Type: xs:double
      • nominal Attribute
        Type: xs:double
      • unit Attribute
        Type: xs:string (required)
    • <flow> Element
      • min Attribute
        Type: xs:double
      • max Attribute
        Type: xs:double
      • nominal Attribute
        Type: xs:double
      • unit Attribute
        Type: xs:string (required)
    • <temperature> Element
      • min Attribute
        Type: xs:double
      • max Attribute
        Type: xs:double
      • nominal Attribute
        Type: xs:double
      • unit Attribute
        Type: xs:string (required)
  • name Attribute
    Type: xs:string (required)
  • family Attribute
    Type: xs:string
  • <pin> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <socket> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <contact> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <fiber> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <passage> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <feed> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <waveguide-opening> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <representation> Element
    • <box> Element
      • size Attribute
        Type: ConnectivityVec3 (required)
      • <placement> Element
        (required)
        • xyz Attribute
          Type: ConnectivityVec3 (required)
        • <frame> Element
          (required)
          • <world> Element
          • <component-origin> Element
            • component Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <component-frame> Element
            • component Attribute
              Type: xs:string (required)
            • frame Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
        • <rotation> Element
          (required)
          • <rpy> Element
            • value Attribute
              Type: ConnectivityVec3 (required)
          • <quaternion> Element
            • value Attribute
              Type: ConnectivityQuat4 (required)
    • <cylinder> Element
      • radius Attribute
        Type: xs:double (required)
      • length Attribute
        Type: xs:double (required)
      • <placement> Element
        (required)
        • xyz Attribute
          Type: ConnectivityVec3 (required)
        • <frame> Element
          (required)
          • <world> Element
          • <component-origin> Element
            • component Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <component-frame> Element
            • component Attribute
              Type: xs:string (required)
            • frame Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
        • <rotation> Element
          (required)
          • <rpy> Element
            • value Attribute
              Type: ConnectivityVec3 (required)
          • <quaternion> Element
            • value Attribute
              Type: ConnectivityQuat4 (required)
    • <sphere> Element
      • radius Attribute
        Type: xs:double (required)
      • <placement> Element
        (required)
        • xyz Attribute
          Type: ConnectivityVec3 (required)
        • <frame> Element
          (required)
          • <world> Element
          • <component-origin> Element
            • component Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <component-frame> Element
            • component Attribute
              Type: xs:string (required)
            • frame Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
        • <rotation> Element
          (required)
          • <rpy> Element
            • value Attribute
              Type: ConnectivityVec3 (required)
          • <quaternion> Element
            • value Attribute
              Type: ConnectivityQuat4 (required)
    • <model> Element
      • uri Attribute
        Type: xs:anyURI (required)
      • sha Attribute
        Type: xs:string
      • node-path Attribute
        Type: xs:string
      • <placement> Element
        (required)
        • xyz Attribute
          Type: ConnectivityVec3 (required)
        • <frame> Element
          (required)
          • <world> Element
          • <component-origin> Element
            • component Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <component-frame> Element
            • component Attribute
              Type: xs:string (required)
            • frame Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
        • <rotation> Element
          (required)
          • <rpy> Element
            • value Attribute
              Type: ConnectivityVec3 (required)
          • <quaternion> Element
            • value Attribute
              Type: ConnectivityQuat4 (required)
    • <model-part> Element
      • node-path Attribute
        Type: xs:string (required)
      • submesh-fallback Attribute
        Type: xs:string
      • <model-root> Element
        (required)
        • <component-visual> Element
          • component Attribute
            Type: xs:string (required)
          • visual Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-model> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <derived-route> Element
      • <waypoint> Element
        (required) [0..*]
        • xyz Attribute
          Type: ConnectivityVec3 (required)
        • <frame> Element
          (required)
          • <world> Element
          • <component-origin> Element
            • component Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <component-frame> Element
            • component Attribute
              Type: xs:string (required)
            • frame Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
        • <rotation> Element
          • <rpy> Element
            • value Attribute
              Type: ConnectivityVec3 (required)
          • <quaternion> Element
            • value Attribute
              Type: ConnectivityQuat4 (required)
      • <round-section> Element
        • diameter Attribute
          Type: xs:double (required)
      • <rectangular-section> Element
        • width Attribute
          Type: xs:double (required)
        • height Attribute
          Type: xs:double (required)
  • name Attribute
    Type: xs:string (required)
  • <conducted-port> Element
    • component Attribute
      Type: xs:string (required)
    • port Attribute
      Type: xs:string (required)
    • <instance> Element
      • <segment> Element
        (required) [0..*]
        • name Attribute
          Type: xs:string
        • occurrence Attribute
          Type: xs:unsignedInt (required)
  • <radiated-port> Element
    (required)
    • component Attribute
      Type: xs:string (required)
    • port Attribute
      Type: xs:string (required)
    • <instance> Element
      • <segment> Element
        (required) [0..*]
        • name Attribute
          Type: xs:string
        • occurrence Attribute
          Type: xs:unsignedInt (required)
  • <representation> Element
    • <box> Element
      • size Attribute
        Type: ConnectivityVec3 (required)
      • <placement> Element
        (required)
        • xyz Attribute
          Type: ConnectivityVec3 (required)
        • <frame> Element
          (required)
          • <world> Element
          • <component-origin> Element
            • component Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <component-frame> Element
            • component Attribute
              Type: xs:string (required)
            • frame Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
        • <rotation> Element
          (required)
          • <rpy> Element
            • value Attribute
              Type: ConnectivityVec3 (required)
          • <quaternion> Element
            • value Attribute
              Type: ConnectivityQuat4 (required)
    • <cylinder> Element
      • radius Attribute
        Type: xs:double (required)
      • length Attribute
        Type: xs:double (required)
      • <placement> Element
        (required)
        • xyz Attribute
          Type: ConnectivityVec3 (required)
        • <frame> Element
          (required)
          • <world> Element
          • <component-origin> Element
            • component Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <component-frame> Element
            • component Attribute
              Type: xs:string (required)
            • frame Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
        • <rotation> Element
          (required)
          • <rpy> Element
            • value Attribute
              Type: ConnectivityVec3 (required)
          • <quaternion> Element
            • value Attribute
              Type: ConnectivityQuat4 (required)
    • <sphere> Element
      • radius Attribute
        Type: xs:double (required)
      • <placement> Element
        (required)
        • xyz Attribute
          Type: ConnectivityVec3 (required)
        • <frame> Element
          (required)
          • <world> Element
          • <component-origin> Element
            • component Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <component-frame> Element
            • component Attribute
              Type: xs:string (required)
            • frame Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
        • <rotation> Element
          (required)
          • <rpy> Element
            • value Attribute
              Type: ConnectivityVec3 (required)
          • <quaternion> Element
            • value Attribute
              Type: ConnectivityQuat4 (required)
    • <model> Element
      • uri Attribute
        Type: xs:anyURI (required)
      • sha Attribute
        Type: xs:string
      • node-path Attribute
        Type: xs:string
      • <placement> Element
        (required)
        • xyz Attribute
          Type: ConnectivityVec3 (required)
        • <frame> Element
          (required)
          • <world> Element
          • <component-origin> Element
            • component Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <component-frame> Element
            • component Attribute
              Type: xs:string (required)
            • frame Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
        • <rotation> Element
          (required)
          • <rpy> Element
            • value Attribute
              Type: ConnectivityVec3 (required)
          • <quaternion> Element
            • value Attribute
              Type: ConnectivityQuat4 (required)
    • <model-part> Element
      • node-path Attribute
        Type: xs:string (required)
      • submesh-fallback Attribute
        Type: xs:string
      • <model-root> Element
        (required)
        • <component-visual> Element
          • component Attribute
            Type: xs:string (required)
          • visual Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-model> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <derived-route> Element
      • <waypoint> Element
        (required) [0..*]
        • xyz Attribute
          Type: ConnectivityVec3 (required)
        • <frame> Element
          (required)
          • <world> Element
          • <component-origin> Element
            • component Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <component-frame> Element
            • component Attribute
              Type: xs:string (required)
            • frame Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
        • <rotation> Element
          • <rpy> Element
            • value Attribute
              Type: ConnectivityVec3 (required)
          • <quaternion> Element
            • value Attribute
              Type: ConnectivityQuat4 (required)
      • <round-section> Element
        • diameter Attribute
          Type: xs:double (required)
      • <rectangular-section> Element
        • width Attribute
          Type: xs:double (required)
        • height Attribute
          Type: xs:double (required)
  • name Attribute
    Type: xs:string (required)
  • <connector> Element
    [0..*]
  • <wire> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <first> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <second> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <conductor> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <first> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <second> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <cable-member> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <first> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <second> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <fiber> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <first> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <second> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <coax> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <first> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <second> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <waveguide> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <first> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <second> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <feed> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <first> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <second> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <hose> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <first> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <second> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <pipe> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <first> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <second> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <passage> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • role Attribute
      Type: xs:string
    • local-group Attribute
      Type: xs:string
    • <first> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <second> Element
      (required)
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <splice> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • <attachment> Element
      (required) [0..*]
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <tee> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • <attachment> Element
      (required) [0..*]
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <manifold> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • <attachment> Element
      (required) [0..*]
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <busbar> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • <attachment> Element
      (required) [0..*]
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <optical-splitter> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • <attachment> Element
      (required) [0..*]
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <termination> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • kind Attribute
      Type: xs:string (required)
    • mounting Attribute
      Type: endpoint | inline | branch | closure (required)
    • fidelity Attribute
      Type: functional | presented | exact | quantified (required)
    • profile Attribute
      Type: xs:string
    • <attachment> Element
      (required) [0..*]
      • <connector-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <position-ref> Element
        • connector Attribute
          Type: xs:string (required)
        • position Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <junction-ref> Element
        • junction Attribute
          Type: xs:string (required)
        • <component-ref> Element
          • component Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-ref> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <quantity> Element
      [0..*]
      • property Attribute
        Type: xs:string (required)
      • value Attribute
        Type: xs:double (required)
      • unit Attribute
        Type: xs:string (required)
    • <representation> Element
      • <box> Element
        • size Attribute
          Type: ConnectivityVec3 (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <cylinder> Element
        • radius Attribute
          Type: xs:double (required)
        • length Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <sphere> Element
        • radius Attribute
          Type: xs:double (required)
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model> Element
        • uri Attribute
          Type: xs:anyURI (required)
        • sha Attribute
          Type: xs:string
        • node-path Attribute
          Type: xs:string
        • <placement> Element
          (required)
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            (required)
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
      • <model-part> Element
        • node-path Attribute
          Type: xs:string (required)
        • submesh-fallback Attribute
          Type: xs:string
        • <model-root> Element
          (required)
          • <component-visual> Element
            • component Attribute
              Type: xs:string (required)
            • visual Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <assembly-model> Element
            • assembly Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
      • <derived-route> Element
        • <waypoint> Element
          (required) [0..*]
          • xyz Attribute
            Type: ConnectivityVec3 (required)
          • <frame> Element
            (required)
            • <world> Element
            • <component-origin> Element
              • component Attribute
                Type: xs:string (required)
              • <instance> Element
            • <component-frame> Element
              • component Attribute
                Type: xs:string (required)
              • frame Attribute
                Type: xs:string (required)
              • <instance> Element
          • <rotation> Element
            • <rpy> Element
              • value Attribute
                Type: ConnectivityVec3 (required)
            • <quaternion> Element
              • value Attribute
                Type: ConnectivityQuat4 (required)
        • <round-section> Element
          • diameter Attribute
            Type: xs:double (required)
        • <rectangular-section> Element
          • width Attribute
            Type: xs:double (required)
          • height Attribute
            Type: xs:double (required)
  • <representation> Element
    • <box> Element
      • size Attribute
        Type: ConnectivityVec3 (required)
      • <placement> Element
        (required)
        • xyz Attribute
          Type: ConnectivityVec3 (required)
        • <frame> Element
          (required)
          • <world> Element
          • <component-origin> Element
            • component Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <component-frame> Element
            • component Attribute
              Type: xs:string (required)
            • frame Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
        • <rotation> Element
          (required)
          • <rpy> Element
            • value Attribute
              Type: ConnectivityVec3 (required)
          • <quaternion> Element
            • value Attribute
              Type: ConnectivityQuat4 (required)
    • <cylinder> Element
      • radius Attribute
        Type: xs:double (required)
      • length Attribute
        Type: xs:double (required)
      • <placement> Element
        (required)
        • xyz Attribute
          Type: ConnectivityVec3 (required)
        • <frame> Element
          (required)
          • <world> Element
          • <component-origin> Element
            • component Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <component-frame> Element
            • component Attribute
              Type: xs:string (required)
            • frame Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
        • <rotation> Element
          (required)
          • <rpy> Element
            • value Attribute
              Type: ConnectivityVec3 (required)
          • <quaternion> Element
            • value Attribute
              Type: ConnectivityQuat4 (required)
    • <sphere> Element
      • radius Attribute
        Type: xs:double (required)
      • <placement> Element
        (required)
        • xyz Attribute
          Type: ConnectivityVec3 (required)
        • <frame> Element
          (required)
          • <world> Element
          • <component-origin> Element
            • component Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <component-frame> Element
            • component Attribute
              Type: xs:string (required)
            • frame Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
        • <rotation> Element
          (required)
          • <rpy> Element
            • value Attribute
              Type: ConnectivityVec3 (required)
          • <quaternion> Element
            • value Attribute
              Type: ConnectivityQuat4 (required)
    • <model> Element
      • uri Attribute
        Type: xs:anyURI (required)
      • sha Attribute
        Type: xs:string
      • node-path Attribute
        Type: xs:string
      • <placement> Element
        (required)
        • xyz Attribute
          Type: ConnectivityVec3 (required)
        • <frame> Element
          (required)
          • <world> Element
          • <component-origin> Element
            • component Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <component-frame> Element
            • component Attribute
              Type: xs:string (required)
            • frame Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
        • <rotation> Element
          (required)
          • <rpy> Element
            • value Attribute
              Type: ConnectivityVec3 (required)
          • <quaternion> Element
            • value Attribute
              Type: ConnectivityQuat4 (required)
    • <model-part> Element
      • node-path Attribute
        Type: xs:string (required)
      • submesh-fallback Attribute
        Type: xs:string
      • <model-root> Element
        (required)
        • <component-visual> Element
          • component Attribute
            Type: xs:string (required)
          • visual Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <assembly-model> Element
          • assembly Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
    • <derived-route> Element
      • <waypoint> Element
        (required) [0..*]
        • xyz Attribute
          Type: ConnectivityVec3 (required)
        • <frame> Element
          (required)
          • <world> Element
          • <component-origin> Element
            • component Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
          • <component-frame> Element
            • component Attribute
              Type: xs:string (required)
            • frame Attribute
              Type: xs:string (required)
            • <instance> Element
              • <segment> Element
                (required) [0..*]
        • <rotation> Element
          • <rpy> Element
            • value Attribute
              Type: ConnectivityVec3 (required)
          • <quaternion> Element
            • value Attribute
              Type: ConnectivityQuat4 (required)
      • <round-section> Element
        • diameter Attribute
          Type: xs:double (required)
      • <rectangular-section> Element
        • width Attribute
          Type: xs:double (required)
        • height Attribute
          Type: xs:double (required)
  • name Attribute
    Type: xs:string (required)
  • fidelity Attribute
    Type: functional | presented | exact | quantified (required)
  • <functional> Element
    (required)
    • <port-ref> Element
      • component Attribute
        Type: xs:string (required)
      • port Attribute
        Type: xs:string (required)
      • <instance> Element
        • <segment> Element
          (required) [0..*]
          • name Attribute
            Type: xs:string
          • occurrence Attribute
            Type: xs:unsignedInt (required)
    • <channel-ref> Element
      • component Attribute
        Type: xs:string (required)
      • port Attribute
        Type: xs:string (required)
      • channel Attribute
        Type: xs:string (required)
      • <instance> Element
        • <segment> Element
          (required) [0..*]
          • name Attribute
            Type: xs:string
          • occurrence Attribute
            Type: xs:unsignedInt (required)
  • <physical> Element
    (required)
    • <connector-ref> Element
      • connector Attribute
        Type: xs:string (required)
      • <component-ref> Element
        • component Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
      • <assembly-ref> Element
        • assembly Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
    • <position-ref> Element
      • connector Attribute
        Type: xs:string (required)
      • position Attribute
        Type: xs:string (required)
      • <component-ref> Element
        • component Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
      • <assembly-ref> Element
        • assembly Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
    • <junction-ref> Element
      • junction Attribute
        Type: xs:string (required)
      • <component-ref> Element
        • component Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
      • <assembly-ref> Element
        • assembly Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
  • name Attribute
    Type: xs:string (required)
  • fidelity Attribute
    Type: functional | presented | exact | quantified (required)
  • <first> Element
    (required)
    • connector Attribute
      Type: xs:string (required)
    • <component-ref> Element
      • component Attribute
        Type: xs:string (required)
      • <instance> Element
        • <segment> Element
          (required) [0..*]
          • name Attribute
            Type: xs:string
          • occurrence Attribute
            Type: xs:unsignedInt (required)
    • <assembly-ref> Element
      • assembly Attribute
        Type: xs:string (required)
      • <instance> Element
        • <segment> Element
          (required) [0..*]
          • name Attribute
            Type: xs:string
          • occurrence Attribute
            Type: xs:unsignedInt (required)
  • <second> Element
    (required)
    • connector Attribute
      Type: xs:string (required)
    • <component-ref> Element
      • component Attribute
        Type: xs:string (required)
      • <instance> Element
        • <segment> Element
          (required) [0..*]
          • name Attribute
            Type: xs:string
          • occurrence Attribute
            Type: xs:unsignedInt (required)
    • <assembly-ref> Element
      • assembly Attribute
        Type: xs:string (required)
      • <instance> Element
        • <segment> Element
          (required) [0..*]
          • name Attribute
            Type: xs:string
          • occurrence Attribute
            Type: xs:unsignedInt (required)
  • <position-mapping> Element
    [0..*]
    • <first> Element
      (required)
      • connector Attribute
        Type: xs:string (required)
      • position Attribute
        Type: xs:string (required)
      • <component-ref> Element
        • component Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
      • <assembly-ref> Element
        • assembly Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
    • <second> Element
      (required)
      • connector Attribute
        Type: xs:string (required)
      • position Attribute
        Type: xs:string (required)
      • <component-ref> Element
        • component Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
      • <assembly-ref> Element
        • assembly Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
  • name Attribute
    Type: xs:string (required)
  • <description> Element
    Type: xs:string
  • <selected> Element
    (required)
    • purpose Attribute
      Type: communication | power-delivery | material-transfer (required)
    • carrier Attribute
      Type: electrical | guided-optical | conducted-rf | radiated-rf | liquid | gas (required)
    • <profile> Element
      [0..*]
      • id Attribute
        Type: xs:string (required)
    • <rate> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <voltage> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <current> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <power> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <impedance> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <frequency> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <rf> Element
      • <channel> Element
        (required)
        • <numbered> Element
          • number Attribute
            Type: xs:unsignedInt (required)
          • <center-frequency> Element
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
          • <bandwidth> Element
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
        • <frequency-defined> Element
          • <center-frequency> Element
            (required)
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
          • <bandwidth> Element
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
    • <pressure> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <flow> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <temperature> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
  • <configuration> Element
  • <participant> Element
    (required)
    • name Attribute
      Type: xs:string (required)
    • role Attribute
      Type: xs:string
    • <endpoint> Element
      (required)
      • <port-ref> Element
        • component Attribute
          Type: xs:string (required)
        • port Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
      • <channel-ref> Element
        • component Attribute
          Type: xs:string (required)
        • port Attribute
          Type: xs:string (required)
        • channel Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
  • name Attribute
    Type: xs:string (required)
  • <description> Element
    Type: xs:string
  • <selected> Element
    (required)
    • purpose Attribute
      Type: communication | power-delivery | material-transfer (required)
    • carrier Attribute
      Type: electrical | guided-optical | conducted-rf | radiated-rf | liquid | gas (required)
    • <profile> Element
      [0..*]
      • id Attribute
        Type: xs:string (required)
    • <rate> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <voltage> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <current> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <power> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <impedance> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <frequency> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <rf> Element
      • <channel> Element
        (required)
        • <numbered> Element
          • number Attribute
            Type: xs:unsignedInt (required)
          • <center-frequency> Element
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
          • <bandwidth> Element
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
        • <frequency-defined> Element
          • <center-frequency> Element
            (required)
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
          • <bandwidth> Element
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
    • <pressure> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <flow> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <temperature> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
  • <configuration> Element
  • <participant> Element
    (required) [0..*]
    • name Attribute
      Type: xs:string (required)
    • role Attribute
      Type: xs:string
    • <endpoint> Element
      (required)
      • <port-ref> Element
        • component Attribute
          Type: xs:string (required)
        • port Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
      • <channel-ref> Element
        • component Attribute
          Type: xs:string (required)
        • port Attribute
          Type: xs:string (required)
        • channel Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
  • name Attribute
    Type: xs:string (required)
  • <description> Element
    Type: xs:string
  • <selected> Element
    (required)
    • purpose Attribute
      Type: communication | power-delivery | material-transfer (required)
    • carrier Attribute
      Type: electrical | guided-optical | conducted-rf | radiated-rf | liquid | gas (required)
    • <profile> Element
      [0..*]
      • id Attribute
        Type: xs:string (required)
    • <rate> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <voltage> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <current> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <power> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <impedance> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <frequency> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <rf> Element
      • <channel> Element
        (required)
        • <numbered> Element
          • number Attribute
            Type: xs:unsignedInt (required)
          • <center-frequency> Element
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
          • <bandwidth> Element
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
        • <frequency-defined> Element
          • <center-frequency> Element
            (required)
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
          • <bandwidth> Element
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
    • <pressure> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <flow> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <temperature> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
  • <configuration> Element
  • <participant> Element
    (required) [0..*]
    • name Attribute
      Type: xs:string (required)
    • role Attribute
      Type: xs:string
    • <endpoint> Element
      (required)
      • <port-ref> Element
        • component Attribute
          Type: xs:string (required)
        • port Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
      • <channel-ref> Element
        • component Attribute
          Type: xs:string (required)
        • port Attribute
          Type: xs:string (required)
        • channel Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
  • <hop> Element
    (required) [0..*]
    • name Attribute
      Type: xs:string (required)
    • role Attribute
      Type: xs:string
    • processing-delay-ns Attribute
      Type: xs:unsignedLong
    • <description> Element
      Type: xs:string
    • <owner> Element
      (required)
      • <component-ref> Element
        • component Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
      • <function-ref> Element
        • component Attribute
          Type: xs:string (required)
        • function Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
  • <leg> Element
    (required) [0..*]
    • name Attribute
      Type: xs:string (required)
    • <from> Element
      (required)
      • <hop-ref> Element
        (required)
        • network Attribute
          Type: xs:string (required)
        • hop Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
      • <participant-ref> Element
        (required)
        • network Attribute
          Type: xs:string (required)
        • participant Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
    • <to> Element
      (required)
      • <hop-ref> Element
        (required)
        • network Attribute
          Type: xs:string (required)
        • hop Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
      • <participant-ref> Element
        (required)
        • network Attribute
          Type: xs:string (required)
        • participant Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
  • name Attribute
    Type: xs:string (required)
  • <description> Element
    Type: xs:string
  • <selected> Element
    (required)
    • purpose Attribute
      Type: communication | power-delivery | material-transfer (required)
    • carrier Attribute
      Type: electrical | guided-optical | conducted-rf | radiated-rf | liquid | gas (required)
    • <profile> Element
      [0..*]
      • id Attribute
        Type: xs:string (required)
    • <rate> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <voltage> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <current> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <power> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <impedance> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <frequency> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <rf> Element
      • <channel> Element
        (required)
        • <numbered> Element
          • number Attribute
            Type: xs:unsignedInt (required)
          • <center-frequency> Element
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
          • <bandwidth> Element
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
        • <frequency-defined> Element
          • <center-frequency> Element
            (required)
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
          • <bandwidth> Element
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
    • <pressure> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <flow> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <temperature> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
  • <configuration> Element
  • <coordinator> Element
    (required)
    • <participant-ref> Element
      (required)
      • network Attribute
        Type: xs:string (required)
      • participant Attribute
        Type: xs:string (required)
      • <instance> Element
        • <segment> Element
          (required) [0..*]
          • name Attribute
            Type: xs:string
          • occurrence Attribute
            Type: xs:unsignedInt (required)
  • <participant> Element
    (required) [0..*]
    • name Attribute
      Type: xs:string (required)
    • role Attribute
      Type: xs:string
    • <endpoint> Element
      (required)
      • <port-ref> Element
        • component Attribute
          Type: xs:string (required)
        • port Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
      • <channel-ref> Element
        • component Attribute
          Type: xs:string (required)
        • port Attribute
          Type: xs:string (required)
        • channel Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
  • name Attribute
    Type: xs:string (required)
  • <description> Element
    Type: xs:string
  • <selected> Element
    (required)
    • purpose Attribute
      Type: communication | power-delivery | material-transfer (required)
    • carrier Attribute
      Type: electrical | guided-optical | conducted-rf | radiated-rf | liquid | gas (required)
    • <profile> Element
      [0..*]
      • id Attribute
        Type: xs:string (required)
    • <rate> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <voltage> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <current> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <power> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <impedance> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <frequency> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <rf> Element
      • <channel> Element
        (required)
        • <numbered> Element
          • number Attribute
            Type: xs:unsignedInt (required)
          • <center-frequency> Element
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
          • <bandwidth> Element
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
        • <frequency-defined> Element
          • <center-frequency> Element
            (required)
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
          • <bandwidth> Element
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
    • <pressure> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <flow> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <temperature> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
  • <configuration> Element
  • <participant> Element
    (required) [0..*]
    • name Attribute
      Type: xs:string (required)
    • role Attribute
      Type: xs:string
    • <endpoint> Element
      (required)
      • <port-ref> Element
        • component Attribute
          Type: xs:string (required)
        • port Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
      • <channel-ref> Element
        • component Attribute
          Type: xs:string (required)
        • port Attribute
          Type: xs:string (required)
        • channel Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
  • <hop> Element
    (required) [0..*]
    • name Attribute
      Type: xs:string (required)
    • role Attribute
      Type: xs:string
    • processing-delay-ns Attribute
      Type: xs:unsignedLong
    • <description> Element
      Type: xs:string
    • <owner> Element
      (required)
      • <component-ref> Element
        • component Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
      • <function-ref> Element
        • component Attribute
          Type: xs:string (required)
        • function Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
  • <leg> Element
    (required) [0..*]
    • name Attribute
      Type: xs:string (required)
    • <from> Element
      (required)
      • <hop-ref> Element
        (required)
        • network Attribute
          Type: xs:string (required)
        • hop Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
      • <participant-ref> Element
        (required)
        • network Attribute
          Type: xs:string (required)
        • participant Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
    • <to> Element
      (required)
      • <hop-ref> Element
        (required)
        • network Attribute
          Type: xs:string (required)
        • hop Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
      • <participant-ref> Element
        (required)
        • network Attribute
          Type: xs:string (required)
        • participant Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
  • name Attribute
    Type: xs:string (required)
  • <description> Element
    Type: xs:string
  • <selected> Element
    (required)
    • purpose Attribute
      Type: communication | power-delivery | material-transfer (required)
    • carrier Attribute
      Type: electrical | guided-optical | conducted-rf | radiated-rf | liquid | gas (required)
    • <profile> Element
      [0..*]
      • id Attribute
        Type: xs:string (required)
    • <rate> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <voltage> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <current> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <power> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <impedance> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <frequency> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <rf> Element
      • <channel> Element
        (required)
        • <numbered> Element
          • number Attribute
            Type: xs:unsignedInt (required)
          • <center-frequency> Element
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
          • <bandwidth> Element
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
        • <frequency-defined> Element
          • <center-frequency> Element
            (required)
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
          • <bandwidth> Element
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
    • <pressure> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <flow> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <temperature> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
  • <configuration> Element
  • <participant> Element
    (required) [0..*]
    • name Attribute
      Type: xs:string (required)
    • role Attribute
      Type: xs:string
    • <endpoint> Element
      (required)
      • <port-ref> Element
        • component Attribute
          Type: xs:string (required)
        • port Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
      • <channel-ref> Element
        • component Attribute
          Type: xs:string (required)
        • port Attribute
          Type: xs:string (required)
        • channel Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
  • name Attribute
    Type: xs:string (required)
  • <description> Element
    Type: xs:string
  • <selected> Element
    (required)
    • purpose Attribute
      Type: communication | power-delivery | material-transfer (required)
    • carrier Attribute
      Type: electrical | guided-optical | conducted-rf | radiated-rf | liquid | gas (required)
    • <profile> Element
      [0..*]
      • id Attribute
        Type: xs:string (required)
    • <rate> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <voltage> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <current> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <power> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <impedance> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <frequency> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <rf> Element
      • <channel> Element
        (required)
        • <numbered> Element
          • number Attribute
            Type: xs:unsignedInt (required)
          • <center-frequency> Element
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
          • <bandwidth> Element
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
        • <frequency-defined> Element
          • <center-frequency> Element
            (required)
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
          • <bandwidth> Element
            • <nominal> Element
              • value Attribute
                Type: xs:double (required)
              • unit Attribute
                Type: xs:string (required)
            • <range> Element
              • min Attribute
                Type: xs:double (required)
              • max Attribute
                Type: xs:double (required)
              • nominal Attribute
                Type: xs:double
              • unit Attribute
                Type: xs:string (required)
    • <pressure> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <flow> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
    • <temperature> Element
      • <nominal> Element
        • value Attribute
          Type: xs:double (required)
        • unit Attribute
          Type: xs:string (required)
      • <range> Element
        • min Attribute
          Type: xs:double (required)
        • max Attribute
          Type: xs:double (required)
        • nominal Attribute
          Type: xs:double
        • unit Attribute
          Type: xs:string (required)
  • <configuration> Element
  • <root> Element
    (required)
    • <hop-ref> Element
      (required)
      • network Attribute
        Type: xs:string (required)
      • hop Attribute
        Type: xs:string (required)
      • <instance> Element
        • <segment> Element
          (required) [0..*]
          • name Attribute
            Type: xs:string
          • occurrence Attribute
            Type: xs:unsignedInt (required)
  • <participant> Element
    (required) [0..*]
    • name Attribute
      Type: xs:string (required)
    • role Attribute
      Type: xs:string
    • <endpoint> Element
      (required)
      • <port-ref> Element
        • component Attribute
          Type: xs:string (required)
        • port Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
      • <channel-ref> Element
        • component Attribute
          Type: xs:string (required)
        • port Attribute
          Type: xs:string (required)
        • channel Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
  • <hop> Element
    (required) [0..*]
    • name Attribute
      Type: xs:string (required)
    • role Attribute
      Type: xs:string
    • processing-delay-ns Attribute
      Type: xs:unsignedLong
    • <description> Element
      Type: xs:string
    • <owner> Element
      (required)
      • <component-ref> Element
        • component Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
      • <function-ref> Element
        • component Attribute
          Type: xs:string (required)
        • function Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
  • <leg> Element
    (required) [0..*]
    • name Attribute
      Type: xs:string (required)
    • <from> Element
      (required)
      • <hop-ref> Element
        (required)
        • network Attribute
          Type: xs:string (required)
        • hop Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
      • <participant-ref> Element
        (required)
        • network Attribute
          Type: xs:string (required)
        • participant Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
    • <to> Element
      (required)
      • <hop-ref> Element
        (required)
        • network Attribute
          Type: xs:string (required)
        • hop Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
      • <participant-ref> Element
        (required)
        • network Attribute
          Type: xs:string (required)
        • participant Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
  • <gptp-domain> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • number Attribute
      Type: xs:unsignedByte (required)
    • <clock> Element
      [0..*]
      • name Attribute
        Type: xs:string (required)
      • kind Attribute
        Type: ordinary | boundary | transparent (required)
      • gm-capable Attribute
        Type: xs:boolean (required)
      • priority1 Attribute
        Type: xs:unsignedByte
      • priority2 Attribute
        Type: xs:unsignedByte
      • clock-class Attribute
        Type: xs:unsignedByte
      • clock-accuracy Attribute
        Type: xs:unsignedByte
      • <participant-ref> Element
        (required)
        • network Attribute
          Type: xs:string (required)
        • participant Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
    • <port-defaults> Element
      • log-sync-interval Attribute
        Type: xs:byte
      • log-announce-interval Attribute
        Type: xs:byte
      • log-pdelay-req-interval Attribute
        Type: xs:byte
      • announce-receipt-timeout Attribute
        Type: xs:unsignedByte
      • neighbor-prop-delay-threshold-ns Attribute
        Type: xs:unsignedLong
  • <traffic-class> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • number Attribute
      Type: xs:unsignedByte (required)
    • preemption Attribute
      Type: express | preemptable
    • <description> Element
      Type: xs:string
    • <pcp> Element
      [0..*]
      • value Attribute
        Type: xs:unsignedByte (required)
  • <gate-schedule> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • cycle-time-ns Attribute
      Type: xs:unsignedLong (required)
    • <gate> Element
      [0..*]
      • duration-ns Attribute
        Type: xs:unsignedLong (required)
      • <open> Element
        (required)
        • <traffic-class-ref> Element
          [0..*]
          • network Attribute
            Type: xs:string (required)
          • traffic-class Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
  • <schedule-assignment> Element
    [0..*]
    • name Attribute
      Type: xs:string (required)
    • <schedule-ref> Element
      (required)
      • network Attribute
        Type: xs:string (required)
      • schedule Attribute
        Type: xs:string (required)
      • <instance> Element
        • <segment> Element
          (required) [0..*]
          • name Attribute
            Type: xs:string
          • occurrence Attribute
            Type: xs:unsignedInt (required)
    • <target> Element
      [0..*]
      • <participant-ref> Element
        (required)
        • network Attribute
          Type: xs:string (required)
        • participant Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
  • <plca> Element
    • max-node-id Attribute
      Type: xs:unsignedByte (required)
    • to-timer-bit-times Attribute
      Type: xs:unsignedShort (required)
    • <node> Element
      [0..*]
      • id Attribute
        Type: xs:unsignedByte (required)
      • burst-count Attribute
        Type: xs:unsignedByte (required)
      • burst-timer-bit-times Attribute
        Type: xs:unsignedShort (required)
      • <participant-ref> Element
        (required)
        • network Attribute
          Type: xs:string (required)
        • participant Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
  • <macsec> Element
    • <policy> Element
      [0..*]
      • name Attribute
        Type: xs:string (required)
      • enforcement Attribute
        Type: must-secure | should-secure | integrity-only | disabled (required)
      • cipher Attribute
        Type: xs:string
      • key-agreement Attribute
        Type: xs:string
      • confidentiality-offset Attribute
        Type: xs:unsignedByte
      • rekey-interval-ns Attribute
        Type: xs:unsignedLong
      • credential-store-ref Attribute
        Type: xs:string
    • <default-policy> Element
      • <macsec-policy-ref> Element
        (required)
        • network Attribute
          Type: xs:string (required)
        • policy Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
    • <override> Element
      [0..*]
      • <target> Element
        (required)
        • <network-ref> Element
          • network Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
        • <leg-ref> Element
          • network Attribute
            Type: xs:string (required)
          • leg Attribute
            Type: xs:string (required)
          • <instance> Element
            • <segment> Element
              (required) [0..*]
              • name Attribute
                Type: xs:string
              • occurrence Attribute
                Type: xs:unsignedInt (required)
      • <macsec-policy-ref> Element
        (required)
        • network Attribute
          Type: xs:string (required)
        • policy Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
  • <eee> Element
    • default-mode Attribute
      Type: enabled | disabled (required)
    • <override> Element
      [0..*]
      • mode Attribute
        Type: enabled | disabled (required)
      • <participant-ref> Element
        (required)
        • network Attribute
          Type: xs:string (required)
        • participant Attribute
          Type: xs:string (required)
        • <instance> Element
          • <segment> Element
            (required) [0..*]
            • name Attribute
              Type: xs:string
            • occurrence Attribute
              Type: xs:unsignedInt (required)
  • name Attribute
    Type: xs:string (required): Unique name for this transmission (e.g., "shoulder_trans", "wheel_fl_belt"). Required.
  • type Attribute
    Type: simple | differential | belt | gear | planetary | cycloidal | harmonic | strain-wave | worm: Mechanical transmission type (simple, differential, belt, gear, planetary, cycloidal, harmonic, strain-wave, worm). Optional; defaults to simple if not specified.
  • encoder Attribute
    Type: xs:string: Name reference to a joint-side encoder sensor. This is the encoder on the output side of the transmission (after the gearbox), providing higher-accuracy joint position feedback than the motor-side encoder. Optional: not all transmissions have output encoders.
  • visual Attribute
    Type: xs:string: Name of the visual element containing this transmission's mesh for 3D highlighting.
  • mesh Attribute
    Type: xs:string: GLTF mesh node name within the visual for 3D highlighting of this transmission.
  • <motor> Element
    [0..*]
    Motor endpoint(s) driving this transmission, slash-path "comp_name/motor_name" (or a bare motor name when document-unique). A simple reduction has ONE motor; a differential coupling has TWO motor endpoints (use role="input" to disambiguate which motor drives which output).
    • ref Attribute
      Type: xs:string (required): Slash-path reference to the motor or joint (e.g., "shoulder_comp/shoulder_motor", or the bare "shoulder_joint" when it is document-unique). The last '/'-separated segment is the leaf (motor or joint name); everything before it names the component; leaf names contain no separator. Slash is the only accepted separator: a dot is not a reference separator. Required.
    • role Attribute
      Type: reference | driven | input | output: Optional role of this endpoint within a multi-endpoint coupling: reference/driven for a gearbox (which joint is the geared reference and which is driven), input/output for a differential (which motors are inputs and which joints are outputs). Omit for a simple single-motor/single-joint reduction, where the endpoint's role is unambiguous.
  • <joint> Element
    [0..*]
    Joint endpoint(s) this transmission drives, by joint name. A simple reduction has ONE joint; a gearbox couples TWO joint endpoints (role="reference" plus role="driven") geared by the reduction ratio; a differential has TWO joint outputs (role="output").
    • ref Attribute
      Type: xs:string (required): Slash-path reference to the motor or joint (e.g., "shoulder_comp/shoulder_motor", or the bare "shoulder_joint" when it is document-unique). The last '/'-separated segment is the leaf (motor or joint name); everything before it names the component; leaf names contain no separator. Slash is the only accepted separator: a dot is not a reference separator. Required.
    • role Attribute
      Type: reference | driven | input | output: Optional role of this endpoint within a multi-endpoint coupling: reference/driven for a gearbox (which joint is the geared reference and which is driven), input/output for a differential (which motors are inputs and which joints are outputs). Omit for a simple single-motor/single-joint reduction, where the endpoint's role is unambiguous.
  • <reduction> Element
    Type: xs:double
    Gear reduction ratio (motor_speed / joint_speed). Values greater than 1 indicate speed reduction / torque multiplication. For example, 100 means the motor turns 100 times for each joint revolution.
  • <efficiency> Element
    Type: xs:double
    Mechanical efficiency of the transmission as a fraction in [0, 1]. 1.0 = lossless, 0.9 = 90% efficient. Accounts for friction losses in gears, belts, and bearings.
  • <backlash> Element
    Mechanical backlash (dead zone) at the joint output. Unit: typically "rad" for rotary or "m" for linear transmissions.
    • unit Attribute
      Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • <spring> Element
    [0..*]
    Compliant spring element(s) in the drivetrain. Zero springs = rigid actuator. One series spring = SEA. One parallel spring = PEA. One of each = SEA+PEA combination. Springs with clutch/equilibrium-actuator/stiffness-actuator attributes express CPEA, AE-PEA, and VSA architectures respectively.
    • placement Attribute
      Type: xs:string (required): Where the spring sits in the drivetrain relative to the gearbox and motor. "series": between gearbox output and joint output (SEA): the spring deflects under load, enabling force sensing via dual-encoder deflection measurement and providing inherent compliance. "parallel": alongside the motor, between a fixed anchor and the joint output (PEA): the spring provides a passive torque that assists or opposes the motor, typically tuned for gravity compensation. Required.
    • type Attribute
      Type: xs:string: Physical spring construction: "torsion-bar" (solid or tubular bar that twists, compact, common in SEAs), "leaf" (flat spring that bends, easy to manufacture), "coil" (helical compression/extension spring, common in linear actuators), "cable-linear" (cable-driven with linear spring in tension), "gas" (gas spring, provides near-constant force over stroke), "custom" (application-specific design). Optional.
    • torque-sensing Attribute
      Type: xs:string: How joint torque is measured using this spring. "spring-deflection": torque derived from the angular difference between motor-side and output-side encoders multiplied by spring stiffness (torque = k x delta_theta): the standard SEA approach, requires two encoders. "strain-gauge": dedicated strain gauge or load cell on the spring element (e.g., Franka Panda joint torque sensors). "current": torque estimated from motor current (torque = Kt x I): less accurate, no spring needed but listed here for completeness. "none": no torque sensing. Optional; only applicable for series springs.
    • clutch Attribute
      Type: xs:string: Clutch mechanism for engaging/disengaging a parallel spring (CPEA). "electromagnetic": fast switching (2-10 ms), requires continuous power to hold engaged. "mechanical-latch": zero holding power, slower switching (10-50 ms), uses a bistable mechanism. "one-way": ratchet or sprag clutch that locks in one direction and freewheels in the other. "none" or omit: no clutch, spring is permanently engaged. Only applicable for parallel springs.
    • equilibrium-actuator Attribute
      Type: xs:string: Reference to a motor (slash-path "comp/motor", or a bare motor name when document-unique) that adjusts the spring equilibrium position for AE-PEA configurations. This second motor is typically small and slow: it only moves when the operating posture changes, shifting where the parallel spring exerts zero force for optimal gravity compensation at any joint angle. Only applicable for parallel springs with equilibrium-range.
    • stiffness-actuator Attribute
      Type: xs:string: Reference to a motor (slash-path "comp/motor", or a bare motor name when document-unique) that adjusts spring stiffness at runtime for Variable Stiffness Actuator (VSA) configurations. The second motor changes the effective lever arm or preload on the spring, varying stiffness between the min and max values specified in the stiffness element. Only applicable for series springs with variable stiffness range.
    • <stiffness> Element
      Spring stiffness (rate). Unit: "Nm/rad" for rotary, "N/m" for linear. For fixed-stiffness springs (SEA, PEA, CPEA, AE-PEA): specify the text content as the single stiffness value. For variable-stiffness actuators (VSA): use min and max attributes for the adjustable range. Example: 4.5 Nm/rad for HEBI X8-9 SEA, or min="5" max="500" unit="Nm/rad" for a VSA. This is the defining parameter of a compliant actuator: it determines force control bandwidth, impact energy absorption, and torque measurement resolution (torque = stiffness x deflection).
      • unit Attribute
        Type: xs:string: Physical unit. Optional; SI default applies if omitted.
      • min Attribute
        Type: xs:double: Minimum acceptable value in the specified unit.
      • max Attribute
        Type: xs:double: Maximum acceptable value in the specified unit.
    • <max-deflection> Element
      Maximum spring deflection before mechanical hard stop. Unit: "rad" for rotary, "m" for linear. Defines the torque saturation limit: max_torque = stiffness x max_deflection. Beyond this deflection the actuator behaves rigidly. Example: 0.15 rad for a typical SEA torsion spring. Also determines maximum stored elastic energy: E = 0.5 x stiffness x max_deflection^2.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <damping> Element
      Viscous damping in the spring element. Unit: "Nm.s/rad" for rotary, "N.s/m" for linear. Most springs have minimal inherent damping; this captures any intentional damping added to the compliant element. Affects oscillation settling time and force control stability.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <equilibrium> Element
      Fixed spring rest position (equilibrium point) for PEA configurations. Unit: "rad" for rotary, "m" for linear. The joint angle at which the parallel spring exerts zero force. Typically tuned to the most common operating posture for optimal gravity compensation. For AE-PEA (adjustable equilibrium), use equilibrium-range instead.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <equilibrium-range> Element
      Adjustable equilibrium range for AE-PEA configurations. Unit: "rad" for rotary, "m" for linear. min and max define the range over which the equilibrium motor can shift the spring rest position. The equilibrium-actuator attribute identifies the motor that performs this adjustment. Example: min="-1.57" max="0.0" for a knee joint that needs gravity compensation anywhere from full flexion to standing.
      • unit Attribute
        Type: xs:string: Physical unit. Optional; SI default applies if omitted.
      • min Attribute
        Type: xs:double: Minimum acceptable value in the specified unit.
      • max Attribute
        Type: xs:double: Maximum acceptable value in the specified unit.
    • <clutch-power> Element
      Electrical power required to operate the clutch mechanism for CPEA configurations. Unit: "W". For electromagnetic clutches: power to hold engaged (typically 1-5W). For mechanical latches: power for the actuation pulse only (zero holding power). Only applicable when the clutch attribute is set.
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
    • <engage-time> Element
      Clutch engagement/disengagement latency for CPEA configurations. Unit: "ms". Time from command to full engagement. Electromagnetic clutches: 2-10 ms. Mechanical latches: 10-50 ms. Affects how quickly the system can switch between compliant and rigid behavior (e.g., switching between stance and swing phase in walking).
      • unit Attribute
        Type: xs:string: Physical unit of the measurement. Optional; if omitted, the SI default for the parent element applies. Specify explicitly for non-SI units (e.g., "RPM/V", "deg", "rpm", "g", "dps", "mK") or when the unit is ambiguous.
  • name Attribute
    Type: xs:string: Optional. At document level, declares a reusable color by this name (must be unique). On a visual, either references a document-level color by name (omit @rgba) or names a one-off inline color. Maps to/from URDF's <material name> wrapper.
  • rgba Attribute
    Type: xs:string, default="0 0 0 1": Four space-separated floats "R G B A" each in [0, 1]. R=red, G=green, B=blue, A=alpha (1=opaque, 0=transparent). Default: "0 0 0 1" (opaque black). Omit when referencing a named color by @name alone.
  • description Attribute
    Type: xs:string: Optional human-readable note (e.g., "carbon fiber", "anodized aluminum") -- carries intent when a color is named after a material/substance.
  • <box> Element
    Axis-aligned box primitive.
    • <size> Element
      (required)
      Type: xs:string
      Box dimensions as three space-separated doubles "width depth height" in meters (X Y Z extents).
  • <cylinder> Element
    Cylinder primitive aligned with the Z axis.
    • <radius> Element
      (required)
      Type: xs:double
      Cylinder radius in meters.
    • <length> Element
      (required)
      Type: xs:double
      Cylinder length (height) along the Z axis in meters.
  • <sphere> Element
    Sphere primitive.
    • <radius> Element
      (required)
      Type: xs:double
      Sphere radius in meters.
  • <capsule> Element
    Capsule (cylinder + hemispherical caps) primitive.
    • <radius> Element
      (required)
      Type: xs:double
      Capsule radius (cylinder and hemisphere radius) in meters.
    • <length> Element
      (required)
      Type: xs:double
      Length of the cylindrical section in meters (excludes hemispherical caps).
  • <cone> Element
    Solid cone primitive (base radius + height).
    • <radius> Element
      (required)
      Type: xs:double
      Radius of the cone base in meters.
    • <length> Element
      (required)
      Type: xs:double
      Height of the cone from base to apex in meters.
  • <ellipsoid> Element
    Ellipsoid with three semi-axis radii.
    • <radii> Element
      (required)
      Type: xs:string
      Three semi-axis radii as "rx ry rz" in meters. Example: "0.1 0.08 0.15" for an egg-shaped ellipsoid.
  • <mesh> Element
    External 3D mesh file reference (GLB, glTF, STL, OBJ).
    • uri Attribute
      Type: xs:anyURI (required): URI of the mesh file (relative to the HCDF document or absolute). Required.
    • scale Attribute
      Type: xs:string, default="1 1 1": Scale factors as three space-separated doubles "sx sy sz" applied to the mesh. Default: "1 1 1" (no scaling).
    • sha Attribute
      Type: xs:string: SHA-256 hash of the mesh file for content integrity and content-addressed caching. Optional but recommended for reproducible builds. Mirrors model_ref/@sha so primitive mesh refs are integrity-checkable too.
    • source-uri Attribute
      Type: xs:anyURI: URI of the original pre-conversion asset (e.g. the STL/DAE/OBJ this mesh was converted from when targeting GLB/glTF). Optional; lets tooling reuse the source for a higher-fidelity reverse conversion.
    • <submesh> Element
      Optional selection of a single named sub-part within the mesh file (SDF mesh/submesh). Absent => load the whole file.
      • name Attribute
        Type: xs:string (required): Name of the sub-part (submesh/node) within the mesh file to load. SDF mesh/submesh/name. Required.
      • center Attribute
        Type: xs:boolean: If true, recenter the selected submesh so its geometric center is at the mesh origin. SDF mesh/submesh/center. Default: false.
  • <frustum> Element
    Frustum for sensor FOV (conical or pyramidal cross-section).
    • shape Attribute
      Type: conical | pyramidal (required): Cross-section shape: "conical" (circular, single fov angle) or "pyramidal" (rectangular, hfov + vfov).
    • <near> Element
      (required)
      Type: xs:double
      Near plane distance from sensor origin in meters.
    • <far> Element
      (required)
      Type: xs:double
      Far plane distance from sensor origin in meters.
    • <fov> Element
      Type: xs:double
      Full cone angle in radians (for shape="conical"). Defines a circular cross-section FOV.
    • <hfov> Element
      Type: xs:double
      Horizontal field of view in radians (for shape="pyramidal").
    • <vfov> Element
      Type: xs:double
      Vertical field of view in radians (for shape="pyramidal").