#ifndef CNOID_URDF_BODY_LOADER_URDF_KEYWORDS_H
#define CNOID_URDF_BODY_LOADER_URDF_KEYWORDS_H

namespace cnoid {

const char AXIS[] = "axis";
const char BOX[] = "box";
const char CHILD[] = "child";
const char COLOR[] = "color";
const char COLLISION[] = "collision";
const char CONTINUOUS[] = "continuous";
const char CYLINDER[] = "cylinder";
const char DYNAMICS[] = "dynamics";
const char EFFORT[] = "effort";
const char FILENAME[] = "filename";
const char FIXED[] = "fixed";
const char GEOMETRY[] = "geometry";
const char INERTIA[] = "inertia";
const char INERTIAL[] = "inertial";
const char IXX[] = "ixx";
const char IXY[] = "ixy";
const char IXZ[] = "ixz";
const char IYY[] = "iyy";
const char IYZ[] = "iyz";
const char IZZ[] = "izz";
const char JOINT[] = "joint";
const char LENGTH[] = "length";
const char LIMIT[] = "limit";
const char LINK[] = "link";
const char LOWER[] = "lower";
const char MASS[] = "mass";
const char MATERIAL[] = "material";
const char MESH[] = "mesh";
const char MIMIC[] = "mimic";
const char NAME[] = "name";
const char ORIGIN[] = "origin";
const char PARENT[] = "parent";
const char PRISMATIC[] = "prismatic";
const char RADIUS[] = "radius";
const char REVOLUTE[] = "revolute";
const char RGBA[] = "rgba";
const char ROBOT[] = "robot";
const char RPY[] = "rpy";
const char SCALE[] = "scale";
const char SIZE[] = "size";
const char SPHERE[] = "sphere";
const char TEXTURE[] = "texture";
const char TYPE[] = "type";
const char UPPER[] = "upper";
const char VALUE[] = "value";
const char VELOCITY[] = "velocity";
const char VISUAL[] = "visual";
const char XYZ[] = "xyz";

// for sensors
const char CAMERA[] = "camera";
const char DEPTH_FORMAT[] = "depth_format";
const char FAR[] = "far";
const char HEIGHT[] = "height";
const char HFOV[] = "hfov";
const char HORIZONTAL[] = "horizontal";
const char IMAGE[] = "image";
const char MAX_ANGLE[] = "max_angle";
const char MIN_ANGLE[] = "min_angle";
const char MONO8[] = "mono8";
const char MONO16[] = "mono16";
const char NEAR[] = "near";
const char RAY[] = "ray";
const char SAMPLES[] = "samples";
const char SENSOR[] = "sensor";
const char UPDATE_RATE[] = "update_rate";
const char VERTICAL[] = "vertical";
const char WIDTH[] = "width";

}  // namespace cnoid

#endif  // CNOID_URDF_BODY_LOADER_URDF_KEYWORDS_H
