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validate xml against xsd

I am looking for a simple command-line utility that allows me to validate a given xml file against a given xsd file. For example:

$ validate test.xml test.xsd
Error on line 41: <foobar> element missing

For this project, I don't need a programming library that gives me a DOM or SAX view of the file. I just need pure command-line driven validation. Does such a utility exist, either as a Debian package or out there as source code?

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