urdf

type Axis struct {
	X float64
	Y float64
	Z float64
}

type Box struct {
	Size Size `xml:"size,attr"`
}

type Calibration struct {
	Rising  *float64 `xml:"rising,attr"`
	Falling *float64 `xml:"falling,attr"`
}

type Collision struct {
	Name     *string  `xml:"name,attr"`
	Origin   Origin   `xml:"origin"`
	Geometry Geometry `xml:"geometry"`
}

type Color struct {
	R float64
	G float64
	B float64
	A float64
}

type Cylinder struct {
	Radius float64 `xml:"radius,attr"`
	Length float64 `xml:"length,attr"`
}

type Dynamics struct {
	Damping  *float64 `xml:"damping,attr"`
	Friction *float64 `xml:"friction,attr"`
}

type Geometry struct {
	Box      *Box      `xml:"box"`
	Cylinder *Cylinder `xml:"cylinder"`
	Sphere   *Sphere   `xml:"sphere"`
	Mesh     *Resource `xml:"mesh"`
}

type Inertia struct {
	Ixx float64 `xml:"ixx,attr"`
	Ixy float64 `xml:"ixy,attr"`
	Ixz float64 `xml:"ixz,attr"`
	Iyy float64 `xml:"iyy,attr"`
	Iyz float64 `xml:"iyz,attr"`
	Izz float64 `xml:"izz,attr"`
}

type Inertial struct {
	Origin  Origin  `xml:"origin"`
	Mass    Mass    `xml:"mass"`
	Inertia Inertia `xml:"inertia"`
}

type Joint struct {
	Name             string            `xml:"name,attr"`
	Type             string            `xml:"type,attr"`
	Origin           Origin            `xml:"origin"`
	Parent           LinkRef           `xml:"parent"`
	Child            LinkRef           `xml:"child"`
	Axis             Axis              `xml:"axis"`
	Calibration      *Calibration      `xml:"calibration"`
	Dyanmics         *Dynamics         `xml:"dynamics"`
	Limit            *Limit            `xml:"limit"`
	Mimic            *Mimic            `xml:"mimic"`
	SafetyController *SafetyController `xml:"safety_controller"`
}

type Limit struct {
	Lower    *float64 `xml:"lower,attr"`
	Upper    *float64 `xml:"upper,attr"`
	Effort   float64  `xml:"effort,attr"`
	Velocity float64  `xml:"velocity,attr"`
}

type Link struct {
	Name       string      `xml:"name,attr"`
	Inertial   *Inertial   `xml:"inertial"`
	Visuals    []Visual    `xml:"visual"`
	Collisions []Collision `xml:"collision"`
}

type LinkRef struct {
	Link string `xml:"link,attr"`
}

type Mass struct {
	Value float64 `xml:"value,attr"`
}

type Material struct {
	Name    string    `xml:"name,attr"`
	Color   *Color    `xml:"color"`
	Texture *Resource `xml:"texture"`
}

type Mimic struct {
	Joint      string   `xml:"joint"`
	Multiplier *float64 `xml:"multiplier"`
	Offset     *float64 `xml:"offset"`
}

type Origin struct {
	X     float64
	Y     float64
	Z     float64
	Roll  float64
	Pitch float64
	Yaw   float64
}

type Resource struct {
	Filename string `xml:"filename,attr"`
}

type Robot struct {
	Name   string  `xml:"name,attr"`
	Links  []Link  `xml:"link"`
	Joints []Joint `xml:"joint"`
}

type SafetyController struct {
	SoftLowerLimit *float64 `xml:"soft_lower_limit"`
	SoftUpperLimit *float64 `xml:"soft_upper_limit"`
	KPosition      *float64 `xml:"k_position"`
	KVelocity      float64  `xml:"k_velocity"`
}

type Size struct {
	X float64
	Y float64
	Z float64
}

type Sphere struct {
	Radius float64 `xml:"radius,attr"`
}

type Visual struct {
	Name     *string   `xml:"name,attr"`
	Origin   Origin    `xml:"origin"`
	Geometry Geometry  `xml:"geometry"`
	Material *Material `xml:"material"`
}