diff --git a/.DS_Store b/.DS_Store
new file mode 100644
index 000000000..9a874b576
Binary files /dev/null and b/.DS_Store differ
diff --git a/format_schema.py b/format_schema.py
new file mode 100644
index 000000000..1a6e415fe
--- /dev/null
+++ b/format_schema.py
@@ -0,0 +1,72 @@
+import os
+
+lines = os.listdir('./sdf/1.11/')
+# Only keep the files that end with .sdf
+lines = [line for line in lines if line.endswith('.sdf')]
+
+for line in lines:
+    # Remove .sdf extension
+    snake_case = line.strip().split('.')[0]
+    
+    # Convert from snake_case to CamelCase
+    camel_case = ''.join([word.capitalize() for word in snake_case.split('_')])
+
+    addHeader = """
+    /// \\brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    """
+
+    addImpl = f"""
+/////////////////////////////////////////////////
+const std::string& {camel_case}::SchemaFile() 
+{{
+    static const std::string* kSchemaFile = new std::string("{line}");
+    return *kSchemaFile;
+}}"""
+    
+    addTest = f"""EXPECT_EQ({camel_case}::SchemaFile(), "{line}");"""
+
+    # Debug print statements
+    # print(addHeader)
+    # print(addImpl)
+    # print(addTest)
+    # print("\n")
+
+    # Edit './include/sdf/{camel_case}.hh'
+    # Find the line with 'class SDFFORMAT_VISIBLE {camel_case}`
+    try:
+        f = open('./include/sdf/' + camel_case + '.hh', 'r')
+        lines = f.readlines()
+        f.close()
+        line_number = 0
+        for i, line in enumerate(lines):
+            if line == "  class SDFORMAT_VISIBLE " + camel_case + '\n':
+                line_number = i+3 # After the class line there is `\n{\n` and then the constructor
+                break
+        if line_number == 0:
+            print("Error: Could not find class declaration in " + camel_case + ".hh")
+            exit(1)
+
+        try:
+            with open('./include/sdf/' + camel_case + '.hh', 'w') as file:
+                for i, line in enumerate(lines):
+                    file.write(line)
+                    if i == line_number:
+                        file.write(addHeader)
+        except:
+            print("Unexpected error while writing to: " + camel_case + ".hh.")
+    except:
+        print("Error while writing to: " + camel_case + ".hh." + " Check if file exists.")
+
+    # Edit './src/{camel_case}.cc' if it exists
+    # Add implementation to end of document
+    if os.path.exists('./src/' + camel_case + '.cc'):
+        with open('./src/' + camel_case + '.cc', 'a') as file:
+            file.write(addImpl)
+    else:
+        print("Error: Could not find " + camel_case + ".cc")
+
+    print("Changes written to source successfully")
+
+    # TODO: Add tests
+    # Edit './test/{camel_case}_TEST.cc'
diff --git a/include/sdf/Actor.hh b/include/sdf/Actor.hh
index 509ae58a9..239c20ce8 100644
--- a/include/sdf/Actor.hh
+++ b/include/sdf/Actor.hh
@@ -193,6 +193,9 @@ namespace sdf
     /// \brief Default constructor
     public: Actor();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the actor based on a element pointer. This is *not* the
     /// usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
diff --git a/include/sdf/AirPressure.hh b/include/sdf/AirPressure.hh
index 798474dd5..85e6b7f29 100644
--- a/include/sdf/AirPressure.hh
+++ b/include/sdf/AirPressure.hh
@@ -36,6 +36,9 @@ namespace sdf
     /// \brief Default constructor
     public: AirPressure();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the airPressure based on an element pointer.
     /// This is *not* the usual entry point. Typical usage of the SDF DOM is
     /// through the Root object.
diff --git a/include/sdf/AirSpeed.hh b/include/sdf/AirSpeed.hh
index 90a1be025..93f51ca69 100644
--- a/include/sdf/AirSpeed.hh
+++ b/include/sdf/AirSpeed.hh
@@ -36,6 +36,9 @@ namespace sdf
     /// \brief Default constructor
     public: AirSpeed();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the air speed based on an element pointer.
     /// This is *not* the usual entry point. Typical usage of the SDF DOM is
     /// through the Root object.
diff --git a/include/sdf/Altimeter.hh b/include/sdf/Altimeter.hh
index c27a6daf1..047d51d1f 100644
--- a/include/sdf/Altimeter.hh
+++ b/include/sdf/Altimeter.hh
@@ -35,6 +35,9 @@ namespace sdf
     /// \brief Default constructor
     public: Altimeter();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the altimeter based on an element pointer. This is *not*
     /// the usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
diff --git a/include/sdf/Atmosphere.hh b/include/sdf/Atmosphere.hh
index ed4042128..83e102215 100644
--- a/include/sdf/Atmosphere.hh
+++ b/include/sdf/Atmosphere.hh
@@ -47,6 +47,9 @@ namespace sdf
     /// \brief Default constructor
     public: Atmosphere();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the atmosphere based on a element pointer. This is *not* the
     /// usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
diff --git a/include/sdf/Camera.hh b/include/sdf/Camera.hh
index 5c46827c8..14eb59260 100644
--- a/include/sdf/Camera.hh
+++ b/include/sdf/Camera.hh
@@ -62,6 +62,9 @@ namespace sdf
     /// \brief Constructor
     public: Camera();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Return true if both Camera objects contain the same values.
     /// \param[_in] _alt Camera value to compare.
     /// \returen True if 'this' == _alt.
diff --git a/include/sdf/Collision.hh b/include/sdf/Collision.hh
index 2ab4114ce..1c6186e47 100644
--- a/include/sdf/Collision.hh
+++ b/include/sdf/Collision.hh
@@ -52,6 +52,9 @@ namespace sdf
     /// \brief Default constructor
     public: Collision();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the collision based on a element pointer. This is *not* the
     /// usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
diff --git a/include/sdf/ForceTorque.hh b/include/sdf/ForceTorque.hh
index 2a9a693ed..5b9493972 100644
--- a/include/sdf/ForceTorque.hh
+++ b/include/sdf/ForceTorque.hh
@@ -66,6 +66,9 @@ namespace sdf
     /// \brief Default constructor
     public: ForceTorque();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the force torque sensor based on an element pointer. This is
     /// *not* the usual entry point. Typical usage of the SDF DOM is through the
     /// Root object.
diff --git a/include/sdf/Frame.hh b/include/sdf/Frame.hh
index cecb63ea9..e8cd9cc8a 100644
--- a/include/sdf/Frame.hh
+++ b/include/sdf/Frame.hh
@@ -44,6 +44,9 @@ namespace sdf
     /// \brief Default constructor
     public: Frame();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the frame based on a element pointer. This is *not* the
     /// usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
diff --git a/include/sdf/Geometry.hh b/include/sdf/Geometry.hh
index 35fd1e1cd..9cd3156a8 100644
--- a/include/sdf/Geometry.hh
+++ b/include/sdf/Geometry.hh
@@ -90,6 +90,9 @@ namespace sdf
     /// \brief Default constructor
     public: Geometry();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the geometry based on a element pointer. This is *not* the
     /// usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
diff --git a/include/sdf/Gui.hh b/include/sdf/Gui.hh
index 67435fdb0..a8c487c78 100644
--- a/include/sdf/Gui.hh
+++ b/include/sdf/Gui.hh
@@ -33,6 +33,9 @@ namespace sdf
     /// \brief Default constructor
     public: Gui();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the gui based on a element pointer. This is *not* the
     /// usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
diff --git a/include/sdf/Imu.hh b/include/sdf/Imu.hh
index e3ced1181..4def15fab 100644
--- a/include/sdf/Imu.hh
+++ b/include/sdf/Imu.hh
@@ -35,6 +35,9 @@ namespace sdf
     /// \brief Default constructor
     public: Imu();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the IMU based on an element pointer. This is *not*
     /// the usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
diff --git a/include/sdf/Joint.hh b/include/sdf/Joint.hh
index 26c4b226f..4f859fb63 100644
--- a/include/sdf/Joint.hh
+++ b/include/sdf/Joint.hh
@@ -87,6 +87,9 @@ namespace sdf
     /// \brief Default constructor
     public: Joint();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the joint based on a element pointer. This is *not* the
     /// usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
diff --git a/include/sdf/Lidar.hh b/include/sdf/Lidar.hh
index 89cfa612b..253f66a8b 100644
--- a/include/sdf/Lidar.hh
+++ b/include/sdf/Lidar.hh
@@ -107,6 +107,9 @@ namespace sdf
     /// \brief Default constructor
     public: Lidar();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the lidar based on an element pointer. This is *not*
     /// the usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
diff --git a/include/sdf/Light.hh b/include/sdf/Light.hh
index fc19e02f1..1f97c9a97 100644
--- a/include/sdf/Light.hh
+++ b/include/sdf/Light.hh
@@ -65,6 +65,9 @@ namespace sdf
     /// \brief Default constructor
     public: Light();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the light based on a element pointer. This is *not* the
     /// usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
diff --git a/include/sdf/Link.hh b/include/sdf/Link.hh
index 3e5260e73..714a8a39c 100644
--- a/include/sdf/Link.hh
+++ b/include/sdf/Link.hh
@@ -53,6 +53,9 @@ namespace sdf
     /// \brief Default constructor
     public: Link();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the link based on a element pointer. This is *not* the
     /// usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
diff --git a/include/sdf/Magnetometer.hh b/include/sdf/Magnetometer.hh
index 3f6d9ae74..88b9676e9 100644
--- a/include/sdf/Magnetometer.hh
+++ b/include/sdf/Magnetometer.hh
@@ -36,6 +36,9 @@ namespace sdf
     /// \brief Default constructor
     public: Magnetometer();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the magnetometer based on an element pointer. This is *not*
     /// the usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
diff --git a/include/sdf/Material.hh b/include/sdf/Material.hh
index 6891a8899..c2a5c069a 100644
--- a/include/sdf/Material.hh
+++ b/include/sdf/Material.hh
@@ -48,6 +48,9 @@ namespace sdf
     /// \brief Default constructor
     public: Material();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the material based on a element pointer. This is *not* the
     /// usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
diff --git a/include/sdf/Model.hh b/include/sdf/Model.hh
index 86cc3d422..3923467d8 100644
--- a/include/sdf/Model.hh
+++ b/include/sdf/Model.hh
@@ -56,6 +56,9 @@ namespace sdf
     /// \brief Default constructor
     public: Model();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the model based on a element pointer. This is *not* the
     /// usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
diff --git a/include/sdf/NavSat.hh b/include/sdf/NavSat.hh
index 9b1677d77..8b69becfc 100644
--- a/include/sdf/NavSat.hh
+++ b/include/sdf/NavSat.hh
@@ -76,7 +76,10 @@ namespace sdf
   {
     /// \brief Default constructor
     public: NavSat();
-    /// \brief Load the navsat based on an element pointer. This is *not*
+
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+        /// \brief Load the navsat based on an element pointer. This is *not*
     /// the usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
     /// \param[in] _sdf The SDF Element pointer
diff --git a/include/sdf/Noise.hh b/include/sdf/Noise.hh
index 361e12f7e..a1a3b72fb 100644
--- a/include/sdf/Noise.hh
+++ b/include/sdf/Noise.hh
@@ -49,6 +49,9 @@ namespace sdf
     /// \brief Default constructor
     public: Noise();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Return true if both Noise objects contain the same values.
     /// \param[_in] _noise Noise value to compare.
     /// \return True if 'this' == _noise.
diff --git a/include/sdf/ParticleEmitter.hh b/include/sdf/ParticleEmitter.hh
index bf592de24..23ff8a0f4 100644
--- a/include/sdf/ParticleEmitter.hh
+++ b/include/sdf/ParticleEmitter.hh
@@ -62,6 +62,9 @@ namespace sdf
     /// \brief Default constructor
     public: ParticleEmitter();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the particle emitter based on an element pointer. This is
     /// *not* the usual entry point. Typical usage of the SDF DOM is through
     /// the Root object.
diff --git a/include/sdf/Physics.hh b/include/sdf/Physics.hh
index 0fa5ea5ef..078282c5f 100644
--- a/include/sdf/Physics.hh
+++ b/include/sdf/Physics.hh
@@ -38,6 +38,9 @@ namespace sdf
     /// \brief Default constructor
     public: Physics();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the physics based on an element pointer. This is *not* the
     /// usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
diff --git a/include/sdf/Plugin.hh b/include/sdf/Plugin.hh
index def211593..1efe7fc9f 100644
--- a/include/sdf/Plugin.hh
+++ b/include/sdf/Plugin.hh
@@ -47,6 +47,9 @@ namespace sdf
     /// \brief Default constructor
     public: Plugin();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Default destructor
     public: ~Plugin();
 
diff --git a/include/sdf/Projector.hh b/include/sdf/Projector.hh
index b13fd8797..befe7c834 100644
--- a/include/sdf/Projector.hh
+++ b/include/sdf/Projector.hh
@@ -45,6 +45,9 @@ namespace sdf
     /// \brief Default constructor
     public: Projector();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the projector based on an element pointer. This is
     /// *not* the usual entry point. Typical usage of the SDF DOM is through
     /// the Root object.
diff --git a/include/sdf/Root.hh b/include/sdf/Root.hh
index 9ad5f1632..2e342163e 100644
--- a/include/sdf/Root.hh
+++ b/include/sdf/Root.hh
@@ -59,6 +59,9 @@ namespace sdf
     /// \brief Default constructor
     public: Root();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Get the name of the world without loading the entire world
     /// Users shouldn't normally need to use this API.
     /// This doesn't load the world, it might return the world name even if the
diff --git a/include/sdf/Scene.hh b/include/sdf/Scene.hh
index e11f51596..4760a9f5d 100644
--- a/include/sdf/Scene.hh
+++ b/include/sdf/Scene.hh
@@ -35,6 +35,9 @@ namespace sdf
     /// \brief Default constructor
     public: Scene();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the scene based on a element pointer. This is *not* the
     /// usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
diff --git a/include/sdf/Sensor.hh b/include/sdf/Sensor.hh
index 7b62572ec..479b8a31f 100644
--- a/include/sdf/Sensor.hh
+++ b/include/sdf/Sensor.hh
@@ -142,6 +142,9 @@ namespace sdf
     /// \brief Default constructor
     public: Sensor();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the sensor based on a element pointer. This is *not* the
     /// usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
diff --git a/include/sdf/Surface.hh b/include/sdf/Surface.hh
index 02fd98be5..4afdcf684 100644
--- a/include/sdf/Surface.hh
+++ b/include/sdf/Surface.hh
@@ -161,6 +161,9 @@ namespace sdf
     /// \brief Default constructor
     public: Surface();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the surface based on a element pointer. This is *not* the
     /// usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
diff --git a/include/sdf/Visual.hh b/include/sdf/Visual.hh
index ff9da957f..7ac38dadb 100644
--- a/include/sdf/Visual.hh
+++ b/include/sdf/Visual.hh
@@ -50,6 +50,9 @@ namespace sdf
     /// \brief Default constructor
     public: Visual();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the visual based on a element pointer. This is *not* the
     /// usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
diff --git a/include/sdf/World.hh b/include/sdf/World.hh
index 7e449abab..144bb48ac 100644
--- a/include/sdf/World.hh
+++ b/include/sdf/World.hh
@@ -60,6 +60,9 @@ namespace sdf
     /// \brief Default constructor
     public: World();
 
+    /// \brief Get the schema file name accessor
+    public: static const std::string& SchemaFile();
+    
     /// \brief Load the world based on a element pointer. This is *not* the
     /// usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.
diff --git a/sdf/1.11/forcetorque.sdf b/sdf/1.11/force_torque.sdf
similarity index 100%
rename from sdf/1.11/forcetorque.sdf
rename to sdf/1.11/force_torque.sdf
diff --git a/sdf/1.11/navsat.sdf b/sdf/1.11/nav_sat.sdf
similarity index 100%
rename from sdf/1.11/navsat.sdf
rename to sdf/1.11/nav_sat.sdf
diff --git a/src/Actor.cc b/src/Actor.cc
index 0a0eebb93..3bdb37ca5 100644
--- a/src/Actor.cc
+++ b/src/Actor.cc
@@ -819,3 +819,10 @@ void Actor::AddPlugin(const Plugin &_plugin)
 {
   this->dataPtr->plugins.push_back(_plugin);
 }
+
+/////////////////////////////////////////////////
+const std::string& Actor::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("actor.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/AirPressure.cc b/src/AirPressure.cc
index 9cc58a8a0..e2de6e8da 100644
--- a/src/AirPressure.cc
+++ b/src/AirPressure.cc
@@ -139,3 +139,10 @@ sdf::ElementPtr AirPressure::ToElement(sdf::Errors &_errors) const
 
   return elem;
 }
+
+/////////////////////////////////////////////////
+const std::string& AirPressure::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("air_pressure.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/AirSpeed.cc b/src/AirSpeed.cc
index 2ca0e16c9..27d5e2e33 100644
--- a/src/AirSpeed.cc
+++ b/src/AirSpeed.cc
@@ -106,3 +106,10 @@ sdf::ElementPtr AirSpeed::ToElement() const
 
   return elem;
 }
+
+/////////////////////////////////////////////////
+const std::string& AirSpeed::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("air_speed.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Altimeter.cc b/src/Altimeter.cc
index 83fcad037..d445a9587 100644
--- a/src/Altimeter.cc
+++ b/src/Altimeter.cc
@@ -169,3 +169,10 @@ sdf::ElementPtr Altimeter::ToElement(sdf::Errors &_errors) const
 
   return elem;
 }
+
+/////////////////////////////////////////////////
+const std::string& Altimeter::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("altimeter.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Atmosphere.cc b/src/Atmosphere.cc
index 597504658..34517c77b 100644
--- a/src/Atmosphere.cc
+++ b/src/Atmosphere.cc
@@ -172,3 +172,10 @@ sdf::ElementPtr Atmosphere::ToElement(sdf::Errors &_errors) const
 
   return elem;
 }
+
+/////////////////////////////////////////////////
+const std::string& Atmosphere::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("atmosphere.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Camera.cc b/src/Camera.cc
index 2f2ea7a2b..a1af42571 100644
--- a/src/Camera.cc
+++ b/src/Camera.cc
@@ -1337,3 +1337,10 @@ sdf::ElementPtr Camera::ToElement() const
 
   return elem;
 }
+
+/////////////////////////////////////////////////
+const std::string& Camera::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("camera.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Collision.cc b/src/Collision.cc
index ca944712d..56b01942e 100644
--- a/src/Collision.cc
+++ b/src/Collision.cc
@@ -392,3 +392,10 @@ sdf::ElementPtr Collision::ToElement(sdf::Errors &_errors) const
 
   return elem;
 }
+
+/////////////////////////////////////////////////
+const std::string& Collision::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("collision.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/ForceTorque.cc b/src/ForceTorque.cc
index 4386629c1..d39f759e8 100644
--- a/src/ForceTorque.cc
+++ b/src/ForceTorque.cc
@@ -367,3 +367,10 @@ sdf::ElementPtr ForceTorque::ToElement(sdf::Errors &_errors) const
 
   return elem;
 }
+
+/////////////////////////////////////////////////
+const std::string& ForceTorque::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("force_torque.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Frame.cc b/src/Frame.cc
index de9870915..db59a5cd8 100644
--- a/src/Frame.cc
+++ b/src/Frame.cc
@@ -250,3 +250,10 @@ sdf::ElementPtr Frame::ToElement(sdf::Errors &_errors) const
 
   return elem;
 }
+
+/////////////////////////////////////////////////
+const std::string& Frame::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("frame.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Geometry.cc b/src/Geometry.cc
index 9afb20212..a513a1478 100644
--- a/src/Geometry.cc
+++ b/src/Geometry.cc
@@ -421,3 +421,10 @@ sdf::ElementPtr Geometry::ToElement(sdf::Errors &_errors) const
 
   return elem;
 }
+
+/////////////////////////////////////////////////
+const std::string& Geometry::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("geometry.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Gui.cc b/src/Gui.cc
index f64fd61ca..d84ee0be2 100644
--- a/src/Gui.cc
+++ b/src/Gui.cc
@@ -147,3 +147,10 @@ sdf::Plugins &Gui::Plugins()
 }
 
 
+
+/////////////////////////////////////////////////
+const std::string& Gui::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("gui.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Imu.cc b/src/Imu.cc
index 65ea2e6e6..7bd1a4c1e 100644
--- a/src/Imu.cc
+++ b/src/Imu.cc
@@ -454,3 +454,10 @@ sdf::ElementPtr Imu::ToElement(sdf::Errors &_errors) const
 
   return elem;
 }
+
+/////////////////////////////////////////////////
+const std::string& Imu::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("imu.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Joint.cc b/src/Joint.cc
index 2b8fd8282..6b8c74078 100644
--- a/src/Joint.cc
+++ b/src/Joint.cc
@@ -630,3 +630,10 @@ void Joint::ClearSensors()
 {
   this->dataPtr->sensors.clear();
 }
+
+/////////////////////////////////////////////////
+const std::string& Joint::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("joint.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Lidar.cc b/src/Lidar.cc
index 56803c695..fa513ec0f 100644
--- a/src/Lidar.cc
+++ b/src/Lidar.cc
@@ -450,3 +450,10 @@ sdf::ElementPtr Lidar::ToElement() const
 
   return elem;
 }
+
+/////////////////////////////////////////////////
+const std::string& Lidar::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("lidar.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Light.cc b/src/Light.cc
index 02fb48001..9d363b0b9 100644
--- a/src/Light.cc
+++ b/src/Light.cc
@@ -556,3 +556,10 @@ sdf::ElementPtr Light::ToElement(sdf::Errors &_errors) const
       _errors, this->SpotFalloff());
   return elem;
 }
+
+/////////////////////////////////////////////////
+const std::string& Light::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("light.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Link.cc b/src/Link.cc
index 085feab93..0b24fdd9f 100644
--- a/src/Link.cc
+++ b/src/Link.cc
@@ -1060,3 +1060,10 @@ sdf::ElementPtr Link::ToElement() const
 
   return elem;
 }
+
+/////////////////////////////////////////////////
+const std::string& Link::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("link.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Magnetometer.cc b/src/Magnetometer.cc
index 80498158d..f9c8e40d3 100644
--- a/src/Magnetometer.cc
+++ b/src/Magnetometer.cc
@@ -155,3 +155,10 @@ sdf::ElementPtr Magnetometer::ToElement() const
 
   return elem;
 }
+
+/////////////////////////////////////////////////
+const std::string& Magnetometer::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("magnetometer.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Material.cc b/src/Material.cc
index 6a0456686..c6ebb18c4 100644
--- a/src/Material.cc
+++ b/src/Material.cc
@@ -528,3 +528,10 @@ sdf::ElementPtr Material::ToElement(sdf::Errors &_errors) const
 
   return elem;
 }
+
+/////////////////////////////////////////////////
+const std::string& Material::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("material.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Model.cc b/src/Model.cc
index 944e50b87..6655e94de 100644
--- a/src/Model.cc
+++ b/src/Model.cc
@@ -1414,3 +1414,10 @@ sdf::Frame Model::PrepareForMerge(sdf::Errors &_errors,
 
   return proxyFrame;
 }
+
+/////////////////////////////////////////////////
+const std::string& Model::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("model.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/NavSat.cc b/src/NavSat.cc
index 8ab7d7e64..e62784266 100644
--- a/src/NavSat.cc
+++ b/src/NavSat.cc
@@ -191,3 +191,10 @@ bool NavSat::operator!=(const NavSat &_navsat) const
 {
   return !(*this == _navsat);
 }
+
+/////////////////////////////////////////////////
+const std::string& NavSat::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("nav_sat.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Noise.cc b/src/Noise.cc
index b4507e957..9f20c318e 100644
--- a/src/Noise.cc
+++ b/src/Noise.cc
@@ -300,3 +300,10 @@ sdf::ElementPtr Noise::ToElement(sdf::Errors &_errors) const
 
   return elem;
 }
+
+/////////////////////////////////////////////////
+const std::string& Noise::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("noise.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/ParticleEmitter.cc b/src/ParticleEmitter.cc
index 605b58812..bc9812695 100644
--- a/src/ParticleEmitter.cc
+++ b/src/ParticleEmitter.cc
@@ -573,3 +573,10 @@ sdf::ElementPtr ParticleEmitter::ToElement(sdf::Errors &_errors) const
 }
 
 
+
+/////////////////////////////////////////////////
+const std::string& ParticleEmitter::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("particle_emitter.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Physics.cc b/src/Physics.cc
index b9dd69317..8b7caac5e 100644
--- a/src/Physics.cc
+++ b/src/Physics.cc
@@ -232,3 +232,10 @@ sdf::ElementPtr Physics::ToElement(sdf::Errors &_errors) const
 
   return elem;
 }
+
+/////////////////////////////////////////////////
+const std::string& Physics::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("physics.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Plugin.cc b/src/Plugin.cc
index c85563519..dc46327ba 100644
--- a/src/Plugin.cc
+++ b/src/Plugin.cc
@@ -311,3 +311,10 @@ bool Plugin::operator!=(const Plugin &_plugin) const
 {
   return !(*this == _plugin);
 }
+
+/////////////////////////////////////////////////
+const std::string& Plugin::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("plugin.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Projector.cc b/src/Projector.cc
index b8c1f7b98..dd7e2d331 100644
--- a/src/Projector.cc
+++ b/src/Projector.cc
@@ -331,3 +331,10 @@ sdf::ElementPtr Projector::ToElement() const
 
   return elem;
 }
+
+/////////////////////////////////////////////////
+const std::string& Projector::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("projector.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Root.cc b/src/Root.cc
index 03349d2af..7a5972e01 100644
--- a/src/Root.cc
+++ b/src/Root.cc
@@ -644,3 +644,10 @@ sdf::ElementPtr Root::ToElement(const OutputConfig &_config) const
 
   return elem;
 }
+
+/////////////////////////////////////////////////
+const std::string& Root::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("root.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Scene.cc b/src/Scene.cc
index 429d16aee..304e359ef 100644
--- a/src/Scene.cc
+++ b/src/Scene.cc
@@ -212,3 +212,10 @@ sdf::ElementPtr Scene::ToElement(sdf::Errors &_errors) const
 
   return elem;
 }
+
+/////////////////////////////////////////////////
+const std::string& Scene::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("scene.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Sensor.cc b/src/Sensor.cc
index 78ac7087b..37decf82e 100644
--- a/src/Sensor.cc
+++ b/src/Sensor.cc
@@ -848,3 +848,10 @@ void Sensor::AddPlugin(const Plugin &_plugin)
 {
   this->dataPtr->plugins.push_back(_plugin);
 }
+
+/////////////////////////////////////////////////
+const std::string& Sensor::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("sensor.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Surface.cc b/src/Surface.cc
index 5bc84970d..5c7afe03f 100644
--- a/src/Surface.cc
+++ b/src/Surface.cc
@@ -431,3 +431,10 @@ sdf::ElementPtr Surface::ToElement(sdf::Errors &_errors) const
 
   return elem;
 }
+
+/////////////////////////////////////////////////
+const std::string& Surface::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("surface.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/Visual.cc b/src/Visual.cc
index 5ffdf3d33..b64146223 100644
--- a/src/Visual.cc
+++ b/src/Visual.cc
@@ -378,3 +378,10 @@ void Visual::AddPlugin(const Plugin &_plugin)
 {
   this->dataPtr->plugins.push_back(_plugin);
 }
+
+/////////////////////////////////////////////////
+const std::string& Visual::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("visual.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file
diff --git a/src/World.cc b/src/World.cc
index d94ff685a..0f1eea436 100644
--- a/src/World.cc
+++ b/src/World.cc
@@ -1271,3 +1271,10 @@ void World::AddPlugin(const Plugin &_plugin)
 {
   this->dataPtr->plugins.push_back(_plugin);
 }
+
+/////////////////////////////////////////////////
+const std::string& World::SchemaFile() 
+{
+    static const std::string* kSchemaFile = new std::string("world.sdf");
+    return *kSchemaFile;
+}
\ No newline at end of file