Expert in robotic arm dynamics code, focusing on RBDL
Welcome Message
欢迎！我是机械臂动力学代码分析专家。
GPT 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`.