dynibo 0.5.2

Tree-structured robot kinematics and dynamics with runtime-size workspace APIs
Documentation 
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<?xml version="1.0"?>
<robot name="fixed_mount_slider">
  <link name="base"/>
  <link name="mount">
    <inertial>
      <mass value="3"/>
      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
  </link>
  <joint name="mount_joint" type="fixed">
    <parent link="base"/><child link="mount"/>
    <origin xyz="0.2 0.3 0.4"/>
  </joint>
  <link name="slider">
    <inertial>
      <mass value="2"/>
      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
  </link>
  <joint name="slider_joint" type="prismatic">
    <parent link="mount"/><child link="slider"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2" upper="2" effort="100" velocity="10"/>
  </joint>
</robot>