fix: fix the specification for link's visual/collision

Signed-off-by: Amin Yahyaabadi <[email protected]>
ros · Apr 16, 2024 · 3b6d6e7 · 3b6d6e7
1 parent 52bdf1c
commit 3b6d6e7
Showing 1 changed file with 8 additions and 8 deletions.
diff --git a/xsd/urdf.xsd b/xsd/urdf.xsd
@@ -159,14 +159,14 @@
 
   <!-- link node type -->
   <xs:complexType name="link">
-    <xs:all>
-      <xs:element name="inertial"
-		  type="inertial" minOccurs="0" maxOccurs="1" />
-      <xs:element name="visual"
-		  type="visual" minOccurs="0" maxOccurs="unbounded" />
-      <xs:element name="collision"
-		  type="collision" minOccurs="0" maxOccurs="unbounded" />
-    </xs:all>
+    <xs:sequence>
+        <xs:element name="inertial"
+            type="inertial" minOccurs="0" maxOccurs="1" />
+        <xs:choice minOccurs="0" maxOccurs="unbounded">
+            <xs:element name="visual" type="visual" />
+            <xs:element name="collision" type="collision" />
+        </xs:choice>
+    </xs:sequence>
     <xs:attribute name="name" type="xs:string" use="required" />
 
     <!-- FIXME: undocumented but used by PR2 -->