The document for kinematic is not fully described

[TranHa-robotics]

Tks for your great work. I am now trying to understand your code but i got stuck in kinematic

I don't see the symbol L, γ, vm1, vm2,vm3 in the image. Can you update it and it would be great if you can explain more on how to build the formula of vm1, vm2 and vm3.