1 | J_geometric_body | Output | 6 x 10 | double | No | |
2 | g_joints_home | Input | 4 x 4 x 5 | double | No | |
3 | num_joints | Input | 1 x 1 | double | No | |
4 | bodyTwists | Input | 6 x 4 | double | No | |
5 | J_manipulator | Local | 6 x 4 | double | No | |
6 | g_be | Local | 4 x 4 | double | No | |
7 | Ad_be_inv | Local | 6 x 6 | double | No |