diff --git a/xsd/urdf.xsd b/xsd/urdf.xsd
index 01476393..455b93e7 100644
--- a/xsd/urdf.xsd
+++ b/xsd/urdf.xsd
@@ -159,14 +159,11 @@
 
   <!-- link node type -->
   <xs:complexType name="link">
-    <xs:all>
-      <xs:element name="inertial"
-		  type="inertial" minOccurs="0" maxOccurs="1" />
-      <xs:element name="visual"
-		  type="visual" minOccurs="0" maxOccurs="unbounded" />
-      <xs:element name="collision"
-		  type="collision" minOccurs="0" maxOccurs="unbounded" />
-    </xs:all>
+    <xs:choice minOccurs="0" maxOccurs="unbounded">
+      <xs:element name="inertial" type="inertial" />
+      <xs:element name="visual" type="visual" />
+      <xs:element name="collision" type="collision" />
+    </xs:choice>
     <xs:attribute name="name" type="xs:string" use="required" />
 
     <!-- FIXME: undocumented but used by PR2 -->