How to generate sample XML documents from their DTD or XSD?

We are developing an application that involves a substantial amount of XML transformations. We do not have any proper input test data per se, only DTD or XSD files. We’d like to generate our test data ourselves from these files. Is there an easy/free way to do that?

Edit

There are apparently no free tools for this, and I agree that OxygenXML is one of the best tools for this.

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