1 g_joints Output4 x 4 x 8 double No
2 g_joints_home Output4 x 4 x 9 double No
3 q Input8 x 1 double No
4 num_joints Input1 x 1 double No
5 joint_tr Input9 x 3 double No
6 joint_ax Input8 x 1 char -
7 i Local1 x 1 double No
8 g_nextJoint Local4 x 4 double No
9 g_nextJoint_home Local4 x 4 double No
10 g_ne Local4 x 4 double No