1 J_manipulator_spatial Output6 x 4 double No
2 num_joints Input1 x 1 double No
3 g_joints_home Input4 x 4 x 5 double No
4 bodyTwists Input6 x 4 double No
5 i Local1 x 1 double No
6 Ad_joints_home Local6 x 6 double No