Features:

• Extended kinematics description.

New in this release:

• Top level description of control systems, controllers, actuators, sensors.
• Wrapper for mathematical expressions (wrapped MathML).
• Some basic simple types are specified (units, variable modifiers, sensor types).

To be added:

• Deeper levels of description of control systems.
• A white paper describing the schema.

v0.3: http://www.roboml.org/roboml-hardware-052802.xsd
Latest release: http://www.roboml.org/roboml-hardware.xsd