Thomas,<br><br>    I tested the validator with my own urdf files and I have some comments.<br><br>    My robots were using gazebo extension to define some cameras and lasers, and as expected these aren&#39;t validated. I undestand the conceptual changes on the urdf definitions and the use of the Sensor type, but this is not defined on the schema too. Is it intentional? Why?<br>

<br>   The other comment is about the sensor attributes for laser, there is no min and max range for distance readings. I think this information is important to define which sensor is used and select the application.<br>
<br>
Gabriel<br>