RoboML Hardware Definition Schema, v0.3.2 http://www.roboml.org/roboml-hardware-021603.xsd The URI of the most recent release is http://www.roboml.org/roboml-hardware.xsd Release notes: http://www.roboml.org/techdocs/notes/release-hardware-v0.3.2.html Relation of the value with other values, actuators, sensors. Semantics of this attribute depends on the message semenatics. It can be: default, initial, desired, actual value. Any info not classified by this ontology. Name of the variable that will be used inside mathml:math element. The variable of type="numericValue" from hardware ontology that var-name refers to. Possible values include: initial, time offset of a discrete-time variable. Description of the reference frame. Description of the origin of the reference frame. Description of the vector basis of the reference frame. Description of abody geometry. Description of a control system, including actuator plants, controllers and sensors. Sensors should include the clock. Description of an actuator plant. Description of a controller. For reference to a variable described in kinematics or dynamics. Description of a sensor.