update the rne_python of vd in mdh module #267
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update the vd rne_python of mdh module. vd_ = Rt @ (_cross(wd, pstar) + _cross(w, _cross(w, pstar)) + vd)
Update DHRobot.py
nn_ = R@nn + pstar x (R @ f) + r x F + N
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in issue #266