1 | J_manipulator_spatial | Output | 6 x 4 | double | No | |
2 | num_joints | Input | 1 x 1 | double | No | |
3 | g_joints_home | Input | 4 x 4 x 5 | double | No | |
4 | bodyTwists | Input | 6 x 4 | double | No | |
5 | i | Local | 1 x 1 | double | No | |
6 | Ad_joints_home | Local | 6 x 6 | double | No |