1 J_geometric_body Output6 x 10 double No
2 g_joints_home Input4 x 4 x 5 double No
3 num_joints Input1 x 1 double No
4 bodyTwists Input6 x 4 double No
5 J_manipulator Local6 x 4 double No
6 g_be Local4 x 4 double No
7 Ad_be_inv Local6 x 6 double No