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="floating_arm">
  <link name="base">
    <inertial>
      <origin xyz="0.08 -0.03 0.05" rpy="0.2 -0.1 0.3"/>
      <mass value="2.4"/>
      <inertia ixx="0.18" ixy="0.01" ixz="-0.008"
               iyy="0.22" iyz="0.006" izz="0.25"/>
    </inertial>
  </link>
  <link name="link1">
    <inertial>
      <origin xyz="0.12 0.02 -0.04" rpy="-0.1 0.25 0.08"/>
      <mass value="1.3"/>
      <inertia ixx="0.07" ixy="-0.004" ixz="0.003"
               iyy="0.09" iyz="0.005" izz="0.11"/>
    </inertial>
  </link>
  <joint name="shoulder" type="revolute">
    <parent link="base"/><child link="link1"/>
    <origin xyz="0.2 -0.1 0.15" rpy="0.15 -0.2 0.1"/>
    <axis xyz="0.3 0.8 -0.2"/>
    <limit effort="100" lower="-2" upper="2" velocity="5"/>
  </joint>
  <link name="tool">
    <inertial>
      <origin xyz="-0.04 0.03 0.06" rpy="0.12 -0.18 0.22"/>
      <mass value="0.8"/>
      <inertia ixx="0.04" ixy="0.002" ixz="-0.001"
               iyy="0.05" iyz="0.003" izz="0.06"/>
    </inertial>
  </link>
  <joint name="slider" type="prismatic">
    <parent link="link1"/><child link="tool"/>
    <origin xyz="0.35 0.04 -0.02" rpy="-0.2 0.15 0.3"/>
    <axis xyz="0.2 -0.4 1"/>
    <limit effort="80" lower="-0.3" upper="0.5" velocity="2"/>
  </joint>
</robot>