Input data Input the body and joint number Input initial position of each body Input joint kind and driving information Q Input inner and outer body number for each joint Input relative position vectors of the joint points Input kinematic coefficients Q Input driving coefficients (only for driving constraintsInput data Input the body and joint number Input initial position of each body Input joint kind and driving information Input inner and outer body number for each joint Input relative position vectors of the joint points Input kinematic coefficients Input driving coefficients (only for driving constraints