user: Demonstrate the C code that generates the assembly output below:

```asm
<bpstep_par>:
  endbr64
  push   %r15
  push   %r14
  push   %r13
  push   %r12
  push   %rbp
  push   %rbx
  sub    $0x128,%rsp
  mov    %rdi,0x30(%rsp)
  mov    %rsi,%r12
  mov    %rdx,%r14
  mov    %rcx,%r13
  mov    %r8,0x8(%rsp)
  mov    %r9,%rbx
  mov    0x160(%rsp),%rax
  mov    %rax,0x38(%rsp)
  mov    %fs:0x28,%rax
  mov    %rax,0x118(%rsp)
  xor    %eax,%eax
  mov    $0x1,%eax
  mov    %rdi,%rcx
L46:
  mov    (%rcx,%rax,8),%rdx
  movsd  0x18(%rdx),%xmm0
  movsd  %xmm0,0xd0(%rsp,%rax,8)
  mov    (%r14,%rax,8),%rdx
  movsd  0x18(%rdx),%xmm0
  movsd  %xmm0,0xf0(%rsp,%rax,8)
  add    $0x1,%rax
  cmp    $0x4,%rax
  jne    L46
  lea    0x50(%rsp),%rax
  lea    0xf0(%rsp),%r15
  lea    0xd0(%rsp),%rbp
  mov    %rax,0x20(%rsp)
  mov    %rax,%rdx
  mov    %r15,%rsi
  mov    %rbp,%rdi
  call   <cross@plt>
  mov    %r15,%rsi
  mov    %rbp,%rdi
  call   <magang@plt>
  movsd  %xmm0,0x10(%rsp)
  mov    $0x3,%ecx
  mov    $0x1,%edx
  mov    $0x3,%esi
  mov    $0x1,%edi
  call   <dmatrix@plt>
  mov    %rax,%r15
  mov    $0x3,%ecx
  mov    $0x1,%edx
  mov    $0x3,%esi
  mov    $0x1,%edi
  call   <dmatrix@plt>
  mov    %rax,%rbp
  mov    $0x3,%ecx
  mov    $0x1,%edx
  mov    $0x3,%esi
  mov    $0x1,%edi
  call   <dmatrix@plt>
  movsd  0x10(%rsp),%xmm0
  mulsd  D53(%rip),%xmm0
  movsd  %xmm0,0x28(%rsp)
  mov    %rax,0x18(%rsp)
  mov    %rax,%rsi
  mov    0x20(%rsp),%rdi
  call   <arb_rotation@plt>
  sub    $0x8,%rsp
  push   %rbp
  mov    $0x3,%r9d
  mov    $0x3,%r8d
  mov    %r14,%rcx
  mov    $0x3,%edx
  mov    $0x3,%esi
  mov    0x28(%rsp),%r14
  mov    %r14,%rdi
  call   <multi_matrix@plt>
  movsd  0x38(%rsp),%xmm0
  xorpd  D35(%rip),%xmm0
  mov    %r14,%rsi
  mov    0x30(%rsp),%rdi
  call   <arb_rotation@plt>
  mov    %r15,(%rsp)
  mov    $0x3,%r9d
  mov    $0x3,%r8d
  mov    0x40(%rsp),%rcx
  mov    $0x3,%edx
  mov    $0x3,%esi
  mov    %r14,%rdi
  call   <multi_matrix@plt>
  add    $0x10,%rsp
  mov    $0x1,%eax
L20:
  mov    0x0(%rbp,%rax,8),%rdx
  movsd  0x18(%rdx),%xmm0
  movsd  %xmm0,0xb0(%rsp,%rax,8)
  mov    (%r15,%rax,8),%rdx
  movsd  0x10(%rdx),%xmm0
  movsd  %xmm0,0xd0(%rsp,%rax,8)
  mov    0x0(%rbp,%rax,8),%rdx
  movsd  0x10(%rdx),%xmm0
  movsd  %xmm0,0xf0(%rsp,%rax,8)
  add    $0x1,%rax
  cmp    $0x4,%rax
  jne    L20
  lea    0xb0(%rsp),%rdx
  lea    0xf0(%rsp),%rsi
  lea    0xd0(%rsp),%rdi
  call   <vec_ang@plt>
  mov    0x8(%rsp),%rax
  movsd  %xmm0,0x30(%rax)
  mov    $0xb4,%edi
  call   <ddiff@plt>
  movsd  D16(%rip),%xmm1
  comisd %xmm0,%xmm1
  jbe    L63
  mov    0x8(%rbp),%rax
  movsd  0x8(%rax),%xmm0
  movsd  %xmm0,0x98(%rsp)
  mov    0x10(%rbp),%rax
  movsd  0x8(%rax),%xmm0
  movsd  %xmm0,0xa0(%rsp)
  mov    0x18(%rbp),%rax
  movsd  0x8(%rax),%xmm0
  movsd  %xmm0,0xa8(%rsp)
L41:
  lea    0x70(%rsp),%rdx
  lea    0xb0(%rsp),%rsi
  lea    0x90(%rsp),%rdi
  call   <cross@plt>
  mov    $0x1,%eax
  movsd  D48(%rip),%xmm1
  mov    0x38(%rsp),%rcx
L66:
  movsd  (%r12,%rax,8),%xmm0
  addsd  0x0(%r13,%rax,8),%xmm0
  mulsd  %xmm1,%xmm0
  movsd  %xmm0,(%rcx,%rax,8)
  movsd  0x0(%r13,%rax,8),%xmm0
  subsd  (%r12,%rax,8),%xmm0
  movsd  %xmm0,0xd0(%rsp,%rax,8)
  mov    (%rbx,%rax,8),%rdx
  movsd  0x70(%rsp,%rax,8),%xmm0
  movsd  %xmm0,0x8(%rdx)
  mov    (%rbx,%rax,8),%rdx
  movsd  0x90(%rsp,%rax,8),%xmm0
  movsd  %xmm0,0x10(%rdx)
  mov    (%rbx,%rax,8),%rdx
  movsd  0xb0(%rsp,%rax,8),%xmm0
  movsd  %xmm0,0x18(%rdx)
  add    $0x1,%rax
  cmp    $0x4,%rax
  jne    L66
  mov    0x8(%rsp),%rax
  lea    0x8(%rax),%rdi
  mov    $0x8,%ecx
  lea    0xd0(%rsp),%r8
L34:
  mov    %rdi,%rdx
  movq   $0x0,(%rdi)
  mov    $0x1,%eax
L86:
  mov    (%rbx,%rax,8),%rsi
  movsd  (%rsi,%rcx,1),%xmm0
  mulsd  (%r8,%rax,8),%xmm0
  addsd  (%rdx),%xmm0
  movsd  %xmm0,(%rdx)
  add    $0x1,%rax
  cmp    $0x4,%rax
  jne    L86
  add    $0x8,%rdi
  add    $0x8,%rcx
  cmp    $0x20,%rcx
  jne    L34
  lea    0xb0(%rsp),%rdx
  lea    0x90(%rsp),%rsi
  lea    0x50(%rsp),%rdi
  call   <vec_ang@plt>
  call   <deg2rad@plt>
  lea    0x48(%rsp),%rdi
  lea    0x40(%rsp),%rsi
  call   <sincos@plt>
  movsd  0x10(%rsp),%xmm2
  movapd %xmm2,%xmm0
  mulsd  0x40(%rsp),%xmm0
  mov    0x8(%rsp),%rax
  movsd  %xmm0,0x28(%rax)
  mulsd  0x48(%rsp),%xmm2
  movsd  %xmm2,0x20(%rax)
  mov    $0x3,%r8d
  mov    $0x1,%ecx
  mov    $0x3,%edx
  mov    $0x1,%esi
  mov    %r15,%rdi
  call   <free_dmatrix@plt>
  mov    $0x3,%r8d
  mov    $0x1,%ecx
  mov    $0x3,%edx
  mov    $0x1,%esi
  mov    %rbp,%rdi
  call   <free_dmatrix@plt>
  mov    $0x3,%r8d
  mov    $0x1,%ecx
  mov    $0x3,%edx
  mov    $0x1,%esi
  mov    0x18(%rsp),%rdi
  call   <free_dmatrix@plt>
  mov    0x118(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L42
  add    $0x128,%rsp
  pop    %rbx
  pop    %rbp
  pop    %r12
  pop    %r13
  pop    %r14
  pop    %r15
  ret
L63:
  mov    0x8(%rsp),%rax
  movsd  0x30(%rax),%xmm0
  mov    $0xffffff4c,%edi
  call   <ddiff@plt>
  movsd  D16(%rip),%xmm1
  comisd %xmm0,%xmm1
  jbe    L27
  mov    0x8(%rbp),%rax
  movsd  0x8(%rax),%xmm0
  movq   D35(%rip),%xmm1
  xorpd  %xmm1,%xmm0
  movsd  %xmm0,0x98(%rsp)
  mov    0x10(%rbp),%rax
  movsd  0x8(%rax),%xmm0
  xorpd  %xmm1,%xmm0
  movsd  %xmm0,0xa0(%rsp)
  mov    0x18(%rbp),%rax
  movsd  0x8(%rax),%xmm0
  xorpd  %xmm1,%xmm0
  movsd  %xmm0,0xa8(%rsp)
  jmp    L41
L27:
  movsd  0xd8(%rsp),%xmm0
  addsd  0xf8(%rsp),%xmm0
  movsd  %xmm0,0x98(%rsp)
  movsd  0xe0(%rsp),%xmm0
  addsd  0x100(%rsp),%xmm0
  movsd  %xmm0,0xa0(%rsp)
  movsd  0xe8(%rsp),%xmm0
  addsd  0x108(%rsp),%xmm0
  movsd  %xmm0,0xa8(%rsp)
  lea    0x90(%rsp),%rdi
  call   <vec_norm@plt>
  jmp    L41
L42:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: read_data
arguments: data_tag: D53
type_guessed: f32[2]
name: read_data
arguments: data_tag: D35
type_guessed: f32[4]
name: read_data
arguments: data_tag: D16
type_guessed: byte[8]
name: read_data
arguments: data_tag: D48
type_guessed: f64

tool: {"D53": [0.0,-1.75]}

tool: {"D35": [0.0,-0.0,0.0,0.0]}

tool: {"D16": [0x48,0xaf,0xbc,0x9a,0xf2,0xd7,0x7a,0x3e]}

tool: D48: 0.5

assistant: ```c
void bpstep_par(double **rot1, double *org1, double **rot2, double *org2, double *pars, double **mst_orien, double *mst_org) {
  double phi, rolltilt;
  double hinge[4], mstx[4], msty[4], mstz[4], t1[4], t2[4];
  double **para_bp1, **para_bp2, **temp;
  long i, j;
  for (i = 1; i <= 3; i++) {
    t1[i] = rot1[i][3];
    t2[i] = rot2[i][3];
  }
  cross(t1, t2, hinge);
  rolltilt = magang(t1, t2);
  para_bp1 = dmatrix(1, 3, 1, 3);
  para_bp2 = dmatrix(1, 3, 1, 3);
  temp = dmatrix(1, 3, 1, 3);
  arb_rotation(hinge, -0.5 * rolltilt, temp);
  multi_matrix(temp, 3, 3, rot2, 3, 3, para_bp2);
  arb_rotation(hinge, 0.5 * rolltilt, temp);
  multi_matrix(temp, 3, 3, rot1, 3, 3, para_bp1);
  for (i = 1; i <= 3; i++) {
    mstz[i] = para_bp2[i][3];
    t1[i] = para_bp1[i][2];
    t2[i] = para_bp2[i][2];
  }
  pars[6] = vec_ang(t1, t2, mstz);
  if (ddiff(pars[6], 180) < 1.0e-7)
    for (i = 1; i <= 3; i++)
      msty[i] = para_bp2[i][1];
  else if (ddiff(pars[6], -180) < 1.0e-7)
    for (i = 1; i <= 3; i++)
      msty[i] = -para_bp2[i][1];
  else {
    for (i = 1; i <= 3; i++)
      msty[i] = t1[i] + t2[i];
    vec_norm(msty);
  }
  cross(msty, mstz, mstx);
  for (i = 1; i <= 3; i++) {
    mst_org[i] = 0.5 * (org1[i] + org2[i]);
    t1[i] = org2[i] - org1[i];
    mst_orien[i][1] = mstx[i];
    mst_orien[i][2] = msty[i];
    mst_orien[i][3] = mstz[i];
  }
  for (i = 1; i <= 3; i++) {
    pars[i] = 0.0;
    for (j = 1; j <= 3; j++)
      pars[i] += t1[j] * mst_orien[j][i];
  }
  phi = deg2rad(vec_ang(hinge, msty, mstz));
  pars[5] = rolltilt * cos(phi);
  pars[4] = rolltilt * sin(phi);
  free_dmatrix(para_bp1, 1, 3, 1, 3);
  free_dmatrix(para_bp2, 1, 3, 1, 3);
  free_dmatrix(temp, 1, 3, 1, 3);
}
```