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="mixed_arm">
  <link name="base"/>
  <link name="rotation_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.2 0 0"/>
      <mass value="1"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <joint name="rotation" type="revolute">
    <parent link="base"/>
    <child link="rotation_link"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000" lower="-10" upper="10" velocity="100"/>
  </joint>
  <link name="translation_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.1 0 0"/>
      <mass value="1"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <joint name="translation" type="prismatic">
    <parent link="rotation_link"/>
    <child link="translation_link"/>
    <origin rpy="0 0 0" xyz="1 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-10" upper="10" velocity="100"/>
  </joint>
</robot>