user: What is the c source code of the assembly code below?

```asm
<test_JacobianBody>:
  endbr64
  push   %r13
  push   %r12
  push   %rbp
  push   %rbx
  sub    $0x278,%rsp
  movsd  D108(%rip),%xmm0
  movsd  D27(%rip),%xmm2
  mov    %fs:0x28,%rax
  mov    %rax,0x268(%rsp)
  xor    %eax,%eax
  mov    D32(%rip),%rax
  movsd  D5(%rip),%xmm1
  movq   $0x0,0xe0(%rsp)
  movq   $0x0,0xf0(%rsp)
  lea    0x20(%rsp),%rsi
  lea    0xe0(%rsp),%rdx
  mov    %rax,0x178(%rsp)
  mov    D49(%rip),%rax
  lea    0x1a0(%rsp),%rcx
  movq   $0x0,0x100(%rsp)
  movq   $0x0,0x108(%rsp)
  movq   $0x0,0x118(%rsp)
  movq   $0x0,0x128(%rsp)
  movq   $0x0,0x130(%rsp)
  movq   $0x0,0x138(%rsp)
  movq   $0x0,0x140(%rsp)
  movq   $0x0,0x150(%rsp)
  movq   $0x0,0x168(%rsp)
  movsd  %xmm0,0xe8(%rsp)
  movsd  %xmm0,0x110(%rsp)
  movsd  %xmm0,0x120(%rsp)
  movsd  %xmm1,0x148(%rsp)
  movsd  %xmm2,0x158(%rsp)
  movsd  %xmm2,0x160(%rsp)
  movsd  %xmm1,0x170(%rsp)
  movsd  %xmm2,0x180(%rsp)
  mov    %rax,0x188(%rsp)
  mov    D8(%rip),%rax
  movsd  %xmm0,0x190(%rsp)
  mov    %rax,0x198(%rsp)
  mov    %rsi,%rax
  jmp    L39
  nopl   0x0(%rax,%rax,1)
L22:
  movsd  0x18(%rdx),%xmm0
L39:
  movsd  (%rdx),%xmm1
  add    $0x20,%rdx
  movsd  %xmm0,0x18(%rax)
  add    $0x20,%rax
  movsd  %xmm1,-0x20(%rax)
  movsd  -0x18(%rdx),%xmm1
  movsd  %xmm1,-0x18(%rax)
  movsd  -0x10(%rdx),%xmm1
  movsd  %xmm1,-0x10(%rax)
  cmp    %rcx,%rdx
  jne    L22
  mov    D10(%rip),%rax
  mov    %rdx,%rdi
  mov    %rsp,%rdx
  mov    $0x18,%ecx
  movsd  %xmm2,(%rsp)
  lea    0x1c0(%rsp),%rbp
  lea    0x280(%rsp),%r13
  mov    %rax,0x8(%rsp)
  mov    D4(%rip),%rax
  lea    D105(%rip),%r12
  mov    %rax,0x10(%rsp)
  mov    D77(%rip),%rax
  mov    %rax,0x18(%rsp)
  xor    %eax,%eax
  rep stos %rax,%es:(%rdi)
  lea    0x1a0(%rsp),%rcx
  mov    $0x4,%edi
  call   <JacobianBody@plt>
  lea    D70(%rip),%rdi
  call   <puts@plt>
  nopw   0x0(%rax,%rax,1)
L31:
  lea    -0x20(%rbp),%rbx
L25:
  movsd  (%rbx),%xmm0
  mov    %r12,%rdi
  mov    $0x1,%eax
  add    $0x8,%rbx
  call   <printf@plt>
  cmp    %rbp,%rbx
  jne    L25
  mov    $0xa,%edi
  lea    0x20(%rbx),%rbp
  call   <putchar@plt>
  cmp    %r13,%rbp
  jne    L31
  mov    0x268(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L12
  add    $0x278,%rsp
  pop    %rbx
  pop    %rbp
  pop    %r12
  pop    %r13
  ret
L12:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: disassemble_data
arguments: tag: D108
type: byte[8]
name: disassemble_data
arguments: tag: D27
type: f64
name: disassemble_data
arguments: tag: D32
type: f64
name: disassemble_data
arguments: tag: D5
type: byte[8]
name: disassemble_data
arguments: tag: D49
type: byte[8]
name: disassemble_data
arguments: tag: D8
type: f64
name: disassemble_data
arguments: tag: D10
type: f64
name: disassemble_data
arguments: tag: D4
type: f64
name: disassemble_data
arguments: tag: D105
type: string
name: disassemble_data
arguments: tag: D77
type: f64
name: disassemble_data
arguments: tag: D70
type: string

tool: {"D108": [0x00,0x00,0x00,0x00,0x00,0x00,0xf0,0x3f]}

tool: D27: 0.2

tool: D32: 0.3

tool: {"D5": [0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x40]}

tool: {"D49": [0x00,0x00,0x00,0x00,0x00,0x00,0x08,0x40]}

tool: D8: 0.4

tool: D10: 1.1

tool: D4: 0.1

tool: D105: %lf  

tool: D77: 1.2

tool: D70: 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;
}
```