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This contains a function that calculates matrixes needed to simulate manipulator dinamics from given DH table. It also has a simulation example script.

mass (list (n)): list of all link and tool masses lengths (list (n)): list of all link and tool lengths orients (list (n)): list of each link's orientation where 0 = z, 1 = y, 2 = x, so for eg. [0,2,1 ...