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="small_floating_base">
  <link name="base">
    <inertial>
      <mass value="1"/>
      <inertia ixx="1e-9" ixy="0" ixz="0" iyy="1e-9" iyz="0" izz="1e-9"/>
    </inertial>
  </link>
</robot>