Ecore
class diagram
Example of the urdf
xtext:
robot ur5 {
root_link link base_link
joints {
joint shoulder_pan_joint {
parent base_link
child link shoulder_link
}
}
}
and the corresponding generated urdf
<robot name="ur5">
<!-- ur5 robot links and joints and more -->
<link name="base_link">
</link>
<joint name="shoulder_pan_joint">
<parent link="base_link"/>
<child link="shoulder_link"/>
</joint>
<link name="shoulder_link">
</link>
</robot>