Robotic Arm Dynamics Analyzer

By Julia Liu

Expert in robotic arm dynamics code, focusing on RBDL

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• 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`.

• NaN GB