Create XML for DAE

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Create XML for DAE

Hi Rosen and all other person.

I have a Denso ve026a robotic arm.

I have found this model.

With ROS tool urdf_to_collada i have exported into a dae file.

Now I would want create a XML to generate ikfast.cpp.
I have read other post but i don't know how create the correct XML.

Can you help me?
What manipulator name i have to use?

<robot file="mio.dae">
	<Manipulator name="arm">
		<joints>j6 j7</joints>
		<closingdirection>0 0</closingdirection>
    		<direction>0 0 1</direction>
		<translation>0 0 0</translation>

 Thanks in advance and best regards.