Update DHRobot.py #1
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update the vd rne_python of mdh module. vd_ = Rt @ (_cross(wd, pstar) + _cross(w, _cross(w, pstar)) + vd)
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update the vd rne_python of mdh module.
vd_ = Rt @ (_cross(wd, pstar) + _cross(w, _cross(w, pstar)) + vd)