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="single_revolute">
  <link name="base"/>
  <link name="pendulum">
    <inertial>
      <origin rpy="0 0 0" xyz="0.3 0 0"/>
      <mass value="2"/>
      <inertia ixx="0.02" ixy="0" ixz="0" iyy="0.05" iyz="0" izz="0.04"/>
    </inertial>
  </link>
  <joint name="hinge" type="revolute">
    <parent link="base"/>
    <child link="pendulum"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
  </joint>
</robot>