user: 提供的汇编代码用C语言表示会是什么样子：

```asm
<test_JacobianBody>:
  endbr64
  push   %r13
  mov    $0x18,%ecx
  push   %r12
  lea    D95(%rip),%r12
  push   %rbp
  push   %rbx
  sub    $0x1b8,%rsp
  movapd D116(%rip),%xmm0
  movq   D81(%rip),%xmm1
  mov    %fs:0x28,%rax
  mov    %rax,0x1a8(%rsp)
  xor    %eax,%eax
  lea    0xe0(%rsp),%rdi
  mov    %rsp,%rdx
  lea    0x20(%rsp),%rsi
  movaps %xmm0,0x20(%rsp)
  lea    0x100(%rsp),%rbp
  lea    0x1c0(%rsp),%r13
  movaps %xmm0,0x30(%rsp)
  pxor   %xmm0,%xmm0
  movaps %xmm0,0x40(%rsp)
  movaps %xmm0,0x70(%rsp)
  movapd D103(%rip),%xmm0
  movaps %xmm1,0x50(%rsp)
  rep stos %rax,%es:(%rdi)
  mov    $0x4,%edi
  movaps %xmm1,0x60(%rsp)
  lea    0xe0(%rsp),%rcx
  movaps %xmm0,0x80(%rsp)
  movapd D70(%rip),%xmm0
  movaps %xmm0,0x90(%rsp)
  movq   D50(%rip),%xmm0
  movaps %xmm0,0xa0(%rsp)
  movapd D19(%rip),%xmm0
  movaps %xmm0,0xb0(%rsp)
  movapd D4(%rip),%xmm0
  movaps %xmm0,0xc0(%rsp)
  movapd D75(%rip),%xmm0
  movaps %xmm0,0xd0(%rsp)
  movapd D60(%rip),%xmm0
  movaps %xmm0,(%rsp)
  movapd D91(%rip),%xmm0
  movaps %xmm0,0x10(%rsp)
  call   <JacobianBody@plt>
  lea    D34(%rip),%rdi
  call   <puts@plt>
  nopl   0x0(%rax)
L6:
  lea    -0x20(%rbp),%rbx
L27:
  movsd  (%rbx),%xmm0
  mov    %r12,%rdi
  mov    $0x1,%eax
  add    $0x8,%rbx
  call   <printf@plt>
  cmp    %rbx,%rbp
  jne    L27
  mov    $0xa,%edi
  add    $0x20,%rbp
  call   <putchar@plt>
  cmp    %r13,%rbp
  jne    L6
  mov    0x1a8(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L10
  add    $0x1b8,%rsp
  pop    %rbx
  pop    %rbp
  pop    %r12
  pop    %r13
  ret
L10:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: unpack_data
arguments: tag: D95
type: string
name: unpack_data
arguments: tag: D116
type: byte[16]
name: unpack_data
arguments: tag: D81
type: byte[8]
name: unpack_data
arguments: tag: D103
type: byte[16]
name: unpack_data
arguments: tag: D70
type: byte[16]
name: unpack_data
arguments: tag: D50
type: f64
name: unpack_data
arguments: tag: D19
type: byte[16]
name: unpack_data
arguments: tag: D4
type: f64[2]
name: unpack_data
arguments: tag: D75
type: byte[16]
name: unpack_data
arguments: tag: D60
type: f64[2]
name: unpack_data
arguments: tag: D91
type: f64[2]
name: unpack_data
arguments: tag: D34
type: string

tool: D95: %lf  

tool: {"D116": [0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xf0,0x3f]}

tool: {"D81": [0x00,0x00,0x00,0x00,0x00,0x00,0xf0,0x3f]}

tool: {"D103": [0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x40]}

tool: {"D70": [0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x9a,0x99,0x99,0x99,0x99,0x99,0xc9,0x3f]}

tool: D50: 0.2

tool: {"D19": [0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x40,0x33,0x33,0x33,0x33,0x33,0x33,0xd3,0x3f]}

tool: {"D4": [0.2,3.0]}

tool: {"D75": [0x00,0x00,0x00,0x00,0x00,0x00,0xf0,0x3f,0x9a,0x99,0x99,0x99,0x99,0x99,0xd9,0x3f]}

tool: {"D60": [0.2,1.1]}

tool: {"D91": [0.1,1.2]}

tool: D34: Jb:

assistant: ```c
void test_JacobianBody() {
  int JointNum = 4;
  int i;
  int j;
  double Blist[6][4];
  double Bi[6][4] = {0, 1, 0, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 2, 0, 0.2, 0.2, 0, 2, 0.3, 0.2, 3, 1, 0.4};
  for (i = 0; i < 6; i++) {
    for (j = 0; j < JointNum; j++) {
      Blist[i][j] = Bi[i][j];
    }
  }
  double thetalist[4] = {0.2, 1.1, 0.1, 1.2};
  double Jb[6][4] = {{0}};
  JacobianBody(JointNum, (double *)Blist, thetalist, (double *)Jb);
  printf("Jb:\n");
  for (i = 0; i < 6; i++) {
    for (j = 0; j < JointNum; j++) {
      printf("%lf  ", Jb[i][j]);
    }
    printf("\n");
  }
  return;
}
```