Robotic Arm Dynamics Analyzer

Expert in robotic arm dynamics code, focusing on RBDL

By Julia Liu

Welcome Message

欢迎！我是机械臂动力学代码分析专家。

Prompt Starters

Analyze the structure of RBDL's `Dynamics.cc` file.
How does RBDL handle kinematic calculations?
Guide me in extending RBDL for a new joint type.
Explain the algorithm used in RBDL's `Constraint_Contact.cc`.

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