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

```asm
<RLeg2LLeg>:
  endbr64
  push   %r14
  mov    %rdi,%r14
  push   %r13
  mov    %rsi,%r13
  push   %r12
  push   %rbp
  push   %rbx
  mov    %rdx,%rbx
  sub    $0x1a0,%rsp
  movsd  0x40(%rsi),%xmm4
  movsd  0x58(%rdi),%xmm0
  lea    0x198(%rsp),%rbp
  lea    0x190(%rsp),%r12
  movsd  %xmm4,0x80(%rsp)
  mov    %r12,%rsi
  mov    %rbp,%rdi
  call   <sincos@plt>
  movq   D52(%rip),%xmm7
  mov    %r12,%rsi
  mov    %rbp,%rdi
  movsd  0x190(%rsp),%xmm5
  movsd  0x20(%r13),%xmm1
  movsd  0x198(%rsp),%xmm3
  movsd  0x80(%rsp),%xmm4
  movapd %xmm5,%xmm2
  movsd  %xmm1,0x68(%rsp)
  xorpd  %xmm7,%xmm4
  movapd %xmm3,%xmm0
  movsd  %xmm5,0x28(%rsp)
  mulsd  %xmm1,%xmm0
  movsd  %xmm4,0x70(%rsp)
  mulsd  %xmm4,%xmm2
  movsd  %xmm3,0x30(%rsp)
  subsd  %xmm0,%xmm2
  movsd  0x50(%r14),%xmm0
  movsd  %xmm2,(%rsp)
  call   <sincos@plt>
  movsd  (%rsp),%xmm7
  mov    %r12,%rsi
  mov    %rbp,%rdi
  movsd  0x198(%rsp),%xmm15
  movsd  0x0(%r13),%xmm2
  movsd  0x190(%rsp),%xmm5
  movsd  0x48(%r14),%xmm0
  movsd  %xmm15,0x58(%rsp)
  mulsd  %xmm5,%xmm7
  movsd  %xmm5,0x20(%rsp)
  movapd %xmm15,%xmm5
  mulsd  %xmm2,%xmm5
  movsd  %xmm2,0x10(%rsp)
  movsd  %xmm7,0xb0(%rsp)
  movapd %xmm5,%xmm3
  movapd %xmm7,%xmm5
  movsd  %xmm3,0xb8(%rsp)
  addsd  %xmm3,%xmm5
  movsd  %xmm5,0x8(%rsp)
  call   <sincos@plt>
  movsd  (%rsp),%xmm6
  movsd  0x8(%rsp),%xmm3
  mov    %r12,%rsi
  mulsd  0x58(%rsp),%xmm6
  movsd  0x10(%rsp),%xmm2
  mov    %rbp,%rdi
  movsd  0x190(%rsp),%xmm11
  mulsd  0x20(%rsp),%xmm2
  movsd  0x198(%rsp),%xmm1
  movsd  0x40(%r14),%xmm0
  mulsd  %xmm11,%xmm3
  movsd  %xmm11,0x18(%rsp)
  movapd %xmm1,%xmm4
  movsd  %xmm1,0x50(%rsp)
  movapd %xmm3,%xmm7
  movapd %xmm6,%xmm3
  subsd  %xmm2,%xmm3
  movapd %xmm7,%xmm6
  movsd  %xmm7,0xc0(%rsp)
  mulsd  %xmm3,%xmm4
  movsd  %xmm3,(%rsp)
  movsd  %xmm4,0xc8(%rsp)
  subsd  %xmm4,%xmm6
  movsd  %xmm6,0x38(%rsp)
  call   <sincos@plt>
  movsd  (%rsp),%xmm3
  mov    %r12,%rsi
  mov    %rbp,%rdi
  mulsd  0x18(%rsp),%xmm3
  movsd  0x8(%rsp),%xmm2
  mulsd  0x50(%rsp),%xmm2
  movsd  0x30(%r14),%xmm0
  movq   D52(%rip),%xmm7
  movsd  0x190(%rsp),%xmm8
  movsd  0x198(%rsp),%xmm9
  movsd  %xmm8,0x48(%rsp)
  movsd  %xmm9,0x10(%rsp)
  addsd  %xmm3,%xmm2
  movsd  0x38(%rsp),%xmm3
  xorpd  %xmm7,%xmm3
  mulsd  %xmm9,%xmm3
  movapd %xmm8,%xmm9
  movsd  %xmm2,0x40(%rsp)
  mulsd  %xmm2,%xmm9
  movapd %xmm3,%xmm14
  subsd  %xmm9,%xmm14
  movsd  %xmm14,0x60(%rsp)
  call   <sincos@plt>
  movsd  0x38(%rsp),%xmm0
  mov    %r12,%rsi
  movsd  0x40(%rsp),%xmm2
  mulsd  0x48(%rsp),%xmm0
  movsd  0x70(%rsp),%xmm4
  mov    %rbp,%rdi
  mulsd  0x10(%rsp),%xmm2
  movsd  D102(%rip),%xmm3
  movsd  0x198(%rsp),%xmm13
  mulsd  0x30(%rsp),%xmm4
  movsd  0x190(%rsp),%xmm14
  movsd  %xmm13,(%rsp)
  movsd  %xmm14,0x8(%rsp)
  subsd  %xmm2,%xmm0
  movsd  D88(%rip),%xmm2
  mulsd  %xmm3,%xmm0
  movapd %xmm0,%xmm1
  movsd  0x38(%r14),%xmm0
  mulsd  %xmm2,%xmm1
  movapd %xmm1,%xmm5
  movsd  0x68(%rsp),%xmm1
  mulsd  0x28(%rsp),%xmm1
  movsd  %xmm5,0x68(%rsp)
  addsd  %xmm1,%xmm4
  movapd %xmm5,%xmm1
  mulsd  %xmm3,%xmm4
  mulsd  %xmm2,%xmm4
  subsd  %xmm4,%xmm1
  movsd  %xmm4,0x40(%rsp)
  movsd  %xmm1,0x38(%rsp)
  call   <sincos@plt>
  movsd  0x38(%rsp),%xmm1
  mov    %r12,%rsi
  movsd  0x198(%rsp),%xmm6
  movsd  0x68(%rsp),%xmm5
  movsd  0x40(%rsp),%xmm4
  mov    %rbp,%rdi
  movapd %xmm1,%xmm9
  mov    D102(%rip),%rax
  movsd  0x190(%rsp),%xmm11
  movsd  %xmm6,0x130(%rsp)
  mulsd  %xmm6,%xmm9
  movapd %xmm5,%xmm0
  movq   D52(%rip),%xmm7
  addsd  %xmm4,%xmm0
  movsd  0x60(%rsp),%xmm4
  mulsd  (%rsp),%xmm4
  movq   %rax,%xmm3
  mulsd  %xmm11,%xmm1
  mov    D88(%rip),%rax
  movsd  %xmm11,0x138(%rsp)
  movq   %rax,%xmm2
  movapd %xmm9,%xmm8
  movapd %xmm0,%xmm9
  mulsd  %xmm11,%xmm9
  mulsd  %xmm6,%xmm0
  addsd  %xmm9,%xmm8
  movsd  0x8(%rsp),%xmm9
  subsd  %xmm1,%xmm0
  mulsd  %xmm8,%xmm9
  movsd  %xmm8,0x78(%rsp)
  movapd %xmm0,%xmm12
  mulsd  %xmm3,%xmm12
  addsd  %xmm9,%xmm4
  movsd  %xmm12,0xd8(%rsp)
  movapd %xmm4,%xmm14
  mulsd  %xmm3,%xmm14
  movsd  %xmm14,0xd0(%rsp)
  movapd %xmm14,%xmm1
  mulsd  %xmm2,%xmm1
  movapd %xmm1,%xmm0
  movapd %xmm12,%xmm1
  mulsd  %xmm2,%xmm1
  movapd %xmm1,%xmm4
  movapd %xmm0,%xmm1
  addsd  %xmm4,%xmm1
  subsd  %xmm0,%xmm4
  movsd  0x8(%r14),%xmm0
  mulsd  %xmm3,%xmm1
  mulsd  %xmm3,%xmm4
  xorpd  %xmm7,%xmm1
  mulsd  %xmm2,%xmm1
  mulsd  %xmm2,%xmm4
  movsd  %xmm1,0x88(%rsp)
  movapd %xmm1,%xmm5
  addsd  %xmm4,%xmm5
  movsd  %xmm4,0x68(%rsp)
  movsd  %xmm5,0x70(%rsp)
  call   <sincos@plt>
  movsd  0x78(%rsp),%xmm8
  mov    %r12,%rsi
  mov    %rbp,%rdi
  mulsd  (%rsp),%xmm8
  movsd  0x60(%rsp),%xmm0
  movsd  0x190(%rsp),%xmm12
  mulsd  0x8(%rsp),%xmm0
  movsd  0x198(%rsp),%xmm1
  movsd  %xmm12,0x38(%rsp)
  movsd  %xmm1,0x40(%rsp)
  subsd  %xmm8,%xmm0
  movsd  %xmm0,0x78(%rsp)
  movsd  (%r14),%xmm0
  call   <sincos@plt>
  movsd  0x68(%rsp),%xmm4
  mov    %r12,%rsi
  movsd  0x88(%rsp),%xmm1
  movsd  0x38(%rsp),%xmm12
  movsd  0x70(%rsp),%xmm5
  mov    %rbp,%rdi
  movsd  0x190(%rsp),%xmm9
  subsd  %xmm4,%xmm1
  movsd  0x198(%rsp),%xmm0
  movsd  0x78(%rsp),%xmm4
  mov    D102(%rip),%rax
  movsd  %xmm0,0x68(%rsp)
  mulsd  %xmm0,%xmm4
  movapd %xmm9,%xmm0
  movsd  %xmm1,0x90(%rsp)
  movq   %rax,%xmm3
  mulsd  %xmm1,%xmm0
  movapd %xmm12,%xmm1
  mov    D88(%rip),%rax
  movsd  %xmm9,0x60(%rsp)
  mulsd  %xmm5,%xmm1
  movq   %rax,%xmm2
  subsd  %xmm4,%xmm0
  movapd %xmm1,%xmm4
  movsd  0x40(%rsp),%xmm1
  mulsd  %xmm1,%xmm5
  movapd %xmm1,%xmm14
  mulsd  %xmm0,%xmm14
  mulsd  %xmm12,%xmm0
  addsd  %xmm14,%xmm4
  subsd  %xmm5,%xmm0
  mulsd  %xmm3,%xmm4
  mulsd  %xmm3,%xmm0
  movapd %xmm4,%xmm7
  mulsd  %xmm2,%xmm7
  movapd %xmm0,%xmm13
  movsd  0x10(%r14),%xmm0
  mulsd  %xmm2,%xmm13
  movsd  %xmm7,0x98(%rsp)
  movapd %xmm7,%xmm3
  movsd  %xmm13,0xa0(%rsp)
  subsd  %xmm13,%xmm3
  movsd  %xmm3,0x88(%rsp)
  call   <sincos@plt>
  movsd  0x78(%rsp),%xmm4
  mov    %r12,%rsi
  mov    %rbp,%rdi
  movsd  0x90(%rsp),%xmm1
  mulsd  0x60(%rsp),%xmm4
  mulsd  0x68(%rsp),%xmm1
  movsd  0x18(%r14),%xmm0
  movsd  0x190(%rsp),%xmm13
  movsd  0x198(%rsp),%xmm8
  movsd  0x88(%rsp),%xmm5
  movapd %xmm8,%xmm9
  movsd  %xmm13,0x70(%rsp)
  mulsd  %xmm13,%xmm5
  movsd  %xmm8,0x78(%rsp)
  addsd  %xmm1,%xmm4
  movsd  %xmm4,0xa8(%rsp)
  mulsd  %xmm4,%xmm9
  movsd  %xmm5,0xe0(%rsp)
  movapd %xmm5,%xmm6
  movsd  %xmm9,0xe8(%rsp)
  addsd  %xmm9,%xmm6
  movsd  %xmm6,0x90(%rsp)
  call   <sincos@plt>
  mov    %r12,%rsi
  mov    %rbp,%rdi
  movsd  0x88(%rsp),%xmm0
  movsd  0xa8(%rsp),%xmm4
  mulsd  0x78(%rsp),%xmm0
  movsd  0x190(%rsp),%xmm5
  mulsd  0x70(%rsp),%xmm4
  movsd  0x90(%rsp),%xmm1
  movsd  0x198(%rsp),%xmm9
  movsd  %xmm5,0x108(%rsp)
  movsd  %xmm9,0xa8(%rsp)
  mulsd  %xmm5,%xmm1
  subsd  %xmm0,%xmm4
  movsd  0x20(%r14),%xmm0
  movapd %xmm4,%xmm2
  movapd %xmm1,%xmm5
  movsd  %xmm4,0x100(%rsp)
  movsd  %xmm1,0xf0(%rsp)
  mulsd  %xmm9,%xmm2
  movsd  %xmm2,0xf8(%rsp)
  addsd  %xmm2,%xmm5
  movsd  %xmm5,0x88(%rsp)
  call   <sincos@plt>
  movq   D52(%rip),%xmm7
  mov    %r12,%rsi
  movsd  0xa8(%rsp),%xmm9
  movsd  0x108(%rsp),%xmm5
  movsd  0x20(%rsp),%xmm2
  mov    %rbp,%rdi
  movsd  0x100(%rsp),%xmm4
  movsd  0x10(%rsp),%xmm3
  movsd  0x90(%rsp),%xmm0
  movsd  0x58(%rsp),%xmm15
  movapd %xmm2,%xmm14
  mulsd  %xmm5,%xmm4
  movsd  0x50(%rsp),%xmm10
  movsd  0x190(%rsp),%xmm1
  mulsd  %xmm9,%xmm0
  movapd %xmm15,%xmm11
  movsd  0x198(%rsp),%xmm8
  mov    D102(%rip),%rax
  subsd  %xmm0,%xmm4
  movsd  0x88(%rsp),%xmm0
  mulsd  %xmm8,%xmm0
  movsd  %xmm4,0x100(%rsp)
  mulsd  %xmm1,%xmm4
  subsd  %xmm0,%xmm4
  movsd  0x28(%rsp),%xmm0
  movsd  %xmm4,(%rbx)
  movsd  0x48(%r13),%xmm6
  movsd  0x28(%r13),%xmm13
  movsd  0x30(%rsp),%xmm4
  movsd  %xmm6,0x108(%rsp)
  xorpd  %xmm7,%xmm6
  mulsd  %xmm13,%xmm4
  movapd %xmm6,%xmm12
  mulsd  %xmm6,%xmm0
  mulsd  0x30(%rsp),%xmm12
  mulsd  0x28(%rsp),%xmm13
  subsd  %xmm4,%xmm0
  movsd  0x8(%r13),%xmm4
  mulsd  %xmm4,%xmm11
  addsd  %xmm12,%xmm13
  mulsd  %xmm0,%xmm14
  mulsd  %xmm2,%xmm4
  mulsd  %xmm15,%xmm0
  movsd  %xmm11,0x118(%rsp)
  movsd  %xmm14,0x110(%rsp)
  addsd  %xmm11,%xmm14
  movsd  0x18(%rsp),%xmm11
  subsd  %xmm4,%xmm0
  movapd %xmm11,%xmm6
  movapd %xmm10,%xmm4
  mulsd  %xmm14,%xmm6
  mulsd  %xmm10,%xmm14
  mulsd  %xmm0,%xmm4
  mulsd  %xmm11,%xmm0
  movsd  %xmm6,0x120(%rsp)
  movapd %xmm6,%xmm2
  movsd  0x130(%rsp),%xmm6
  subsd  %xmm4,%xmm2
  movapd %xmm6,%xmm11
  movsd  %xmm4,0x128(%rsp)
  addsd  %xmm0,%xmm14
  movapd %xmm2,%xmm4
  movapd %xmm2,%xmm0
  movsd  0x48(%rsp),%xmm2
  xorpd  %xmm7,%xmm0
  mulsd  %xmm2,%xmm4
  movapd %xmm2,%xmm15
  mulsd  %xmm14,%xmm15
  mulsd  %xmm3,%xmm14
  mulsd  %xmm3,%xmm0
  movq   %rax,%xmm3
  mov    D88(%rip),%rax
  mulsd  %xmm3,%xmm13
  movq   %rax,%xmm2
  subsd  %xmm14,%xmm4
  subsd  %xmm15,%xmm0
  mulsd  %xmm2,%xmm13
  mulsd  %xmm3,%xmm4
  mulsd  %xmm2,%xmm4
  movapd %xmm4,%xmm12
  addsd  %xmm13,%xmm4
  subsd  %xmm13,%xmm12
  mulsd  %xmm12,%xmm11
  movapd %xmm11,%xmm14
  movsd  0x138(%rsp),%xmm11
  mulsd  %xmm11,%xmm12
  movapd %xmm11,%xmm13
  mulsd  %xmm4,%xmm13
  mulsd  %xmm6,%xmm4
  addsd  %xmm13,%xmm14
  movsd  (%rsp),%xmm13
  movsd  0x8(%rsp),%xmm10
  subsd  %xmm12,%xmm4
  mulsd  %xmm0,%xmm13
  movapd %xmm10,%xmm15
  mulsd  %xmm14,%xmm15
  mulsd  %xmm3,%xmm4
  mulsd  (%rsp),%xmm14
  mulsd  %xmm10,%xmm0
  movsd  0x60(%rsp),%xmm10
  addsd  %xmm15,%xmm13
  movapd %xmm4,%xmm12
  movsd  %xmm12,0x138(%rsp)
  mulsd  %xmm2,%xmm12
  mulsd  %xmm3,%xmm13
  subsd  %xmm14,%xmm0
  movsd  %xmm13,0x130(%rsp)
  movapd %xmm13,%xmm4
  mulsd  %xmm2,%xmm4
  movapd %xmm4,%xmm13
  addsd  %xmm12,%xmm4
  subsd  %xmm13,%xmm12
  mulsd  %xmm3,%xmm4
  mulsd  %xmm3,%xmm12
  xorpd  %xmm7,%xmm4
  mulsd  %xmm2,%xmm4
  mulsd  %xmm2,%xmm12
  movapd %xmm4,%xmm15
  addsd  %xmm12,%xmm15
  subsd  %xmm12,%xmm4
  movsd  0x68(%rsp),%xmm12
  mulsd  %xmm0,%xmm12
  mulsd  %xmm10,%xmm0
  movapd %xmm15,%xmm13
  mulsd  0x40(%rsp),%xmm13
  movapd %xmm12,%xmm14
  movapd %xmm10,%xmm12
  movsd  0x78(%rsp),%xmm10
  mulsd  %xmm4,%xmm12
  mulsd  0x68(%rsp),%xmm4
  subsd  %xmm14,%xmm12
  movsd  0x38(%rsp),%xmm14
  addsd  %xmm4,%xmm0
  movapd %xmm10,%xmm4
  mulsd  %xmm15,%xmm14
  movsd  0x40(%rsp),%xmm15
  mulsd  %xmm12,%xmm15
  mulsd  0x38(%rsp),%xmm12
  mulsd  %xmm0,%xmm4
  addsd  %xmm15,%xmm14
  subsd  %xmm13,%xmm12
  movsd  0x70(%rsp),%xmm13
  mulsd  %xmm3,%xmm14
  mulsd  %xmm3,%xmm12
  mulsd  %xmm13,%xmm0
  mulsd  %xmm2,%xmm14
  mulsd  %xmm2,%xmm12
  movapd %xmm14,%xmm15
  movsd  %xmm15,0x90(%rsp)
  movapd %xmm12,%xmm14
  movapd %xmm15,%xmm12
  movapd %xmm4,%xmm15
  movsd  %xmm14,0xa8(%rsp)
  subsd  %xmm14,%xmm12
  movapd %xmm13,%xmm14
  movapd %xmm9,%xmm13
  movsd  %xmm15,0x148(%rsp)
  mulsd  %xmm12,%xmm14
  mulsd  %xmm10,%xmm12
  movsd  %xmm14,0x140(%rsp)
  movapd %xmm14,%xmm4
  movapd %xmm5,%xmm14
  addsd  %xmm15,%xmm4
  subsd  %xmm12,%xmm0
  movsd  0x58(%rsp),%xmm15
  mulsd  %xmm4,%xmm14
  mulsd  %xmm0,%xmm13
  mulsd  %xmm9,%xmm4
  mulsd  %xmm5,%xmm0
  movsd  %xmm14,0x150(%rsp)
  movapd %xmm14,%xmm12
  movsd  %xmm13,0x158(%rsp)
  addsd  %xmm13,%xmm12
  subsd  %xmm4,%xmm0
  movsd  %xmm12,0x160(%rsp)
  movapd %xmm0,%xmm13
  movapd %xmm12,%xmm0
  movsd  0x28(%rsp),%xmm12
  mulsd  %xmm8,%xmm0
  movapd %xmm13,%xmm4
  movsd  %xmm13,0x168(%rsp)
  movsd  0x20(%rsp),%xmm13
  mulsd  %xmm1,%xmm4
  subsd  %xmm0,%xmm4
  movsd  %xmm4,0x8(%rbx)
  movsd  0x50(%r13),%xmm0
  movsd  0x30(%r13),%xmm14
  movsd  %xmm0,0x170(%rsp)
  xorpd  %xmm7,%xmm0
  mulsd  %xmm0,%xmm12
  movapd %xmm0,%xmm4
  movapd %xmm12,%xmm0
  movsd  0x30(%rsp),%xmm12
  mulsd  %xmm14,%xmm12
  subsd  %xmm12,%xmm0
  movapd %xmm15,%xmm12
  mulsd  %xmm0,%xmm13
  mulsd  %xmm0,%xmm15
  movapd %xmm13,%xmm10
  movsd  0x10(%r13),%xmm13
  movsd  %xmm10,0x178(%rsp)
  mulsd  %xmm13,%xmm12
  movsd  %xmm12,0x180(%rsp)
  addsd  %xmm12,%xmm10
  movsd  0x20(%rsp),%xmm0
  mulsd  0x30(%rsp),%xmm4
  mulsd  %xmm13,%xmm0
  movapd %xmm15,%xmm13
  movsd  0x50(%rsp),%xmm15
  movapd %xmm10,%xmm12
  movsd  0x18(%rsp),%xmm10
  mulsd  %xmm12,%xmm10
  mulsd  %xmm15,%xmm12
  subsd  %xmm0,%xmm13
  movsd  %xmm10,0x58(%rsp)
  movapd %xmm15,%xmm10
  movsd  0x58(%rsp),%xmm0
  mulsd  %xmm13,%xmm10
  mulsd  0x18(%rsp),%xmm13
  subsd  %xmm10,%xmm0
  movsd  %xmm10,0x20(%rsp)
  movsd  0x48(%rsp),%xmm10
  addsd  %xmm13,%xmm12
  movapd %xmm10,%xmm15
  movapd %xmm0,%xmm13
  mulsd  %xmm12,%xmm15
  xorpd  %xmm7,%xmm13
  mulsd  0x10(%rsp),%xmm12
  mulsd  %xmm10,%xmm0
  movapd %xmm11,%xmm10
  mulsd  0x10(%rsp),%xmm13
  subsd  %xmm12,%xmm0
  movsd  0x28(%rsp),%xmm12
  subsd  %xmm15,%xmm13
  mulsd  %xmm14,%xmm12
  movsd  (%rsp),%xmm14
  mulsd  %xmm3,%xmm0
  mulsd  %xmm13,%xmm14
  addsd  %xmm12,%xmm4
  mulsd  %xmm2,%xmm0
  mulsd  %xmm3,%xmm4
  movapd %xmm0,%xmm12
  mulsd  %xmm2,%xmm4
  addsd  %xmm4,%xmm0
  subsd  %xmm4,%xmm12
  movapd %xmm6,%xmm4
  mulsd  %xmm0,%xmm10
  mulsd  %xmm12,%xmm4
  mulsd  %xmm0,%xmm6
  mulsd  %xmm11,%xmm12
  addsd  %xmm10,%xmm4
  movsd  0x8(%rsp),%xmm10
  subsd  %xmm12,%xmm6
  mulsd  %xmm10,%xmm13
  movapd %xmm10,%xmm15
  movsd  0x68(%rsp),%xmm10
  mulsd  %xmm4,%xmm15
  movapd %xmm10,%xmm12
  mulsd  %xmm3,%xmm6
  addsd  %xmm15,%xmm14
  movsd  %xmm6,0x10(%rsp)
  mulsd  %xmm2,%xmm6
  movapd %xmm14,%xmm15
  movsd  0x60(%rsp),%xmm14
  mulsd  %xmm3,%xmm15
  movapd %xmm15,%xmm11
  movsd  %xmm15,0x8(%rsp)
  movsd  0x40(%rsp),%xmm15
  mulsd  %xmm2,%xmm11
  movapd %xmm11,%xmm0
  addsd  %xmm6,%xmm0
  subsd  %xmm11,%xmm6
  mulsd  %xmm3,%xmm0
  mulsd  %xmm3,%xmm6
  xorpd  %xmm7,%xmm0
  mulsd  %xmm2,%xmm0
  mulsd  %xmm2,%xmm6
  movapd %xmm0,%xmm11
  addsd  %xmm6,%xmm11
  subsd  %xmm6,%xmm0
  movapd %xmm11,%xmm7
  movsd  (%rsp),%xmm11
  mulsd  %xmm4,%xmm11
  movapd %xmm13,%xmm4
  movsd  0x38(%rsp),%xmm13
  subsd  %xmm11,%xmm4
  movapd %xmm14,%xmm11
  mulsd  %xmm0,%xmm11
  mulsd  %xmm10,%xmm0
  movapd %xmm5,%xmm10
  mulsd  %xmm4,%xmm12
  subsd  %xmm12,%xmm11
  movapd %xmm13,%xmm12
  mulsd  %xmm7,%xmm12
  mulsd  %xmm15,%xmm7
  movapd %xmm12,%xmm6
  movapd %xmm15,%xmm12
  movsd  0x70(%rsp),%xmm15
  mulsd  %xmm11,%xmm12
  mulsd  %xmm13,%xmm11
  movapd %xmm15,%xmm13
  addsd  %xmm12,%xmm6
  movapd %xmm14,%xmm12
  subsd  %xmm7,%xmm11
  mulsd  %xmm4,%xmm12
  mulsd  %xmm3,%xmm6
  mulsd  %xmm3,%xmm11
  addsd  %xmm0,%xmm12
  mulsd  %xmm2,%xmm6
  mulsd  %xmm2,%xmm11
  movsd  %xmm6,0x188(%rsp)
  movapd %xmm6,%xmm3
  subsd  %xmm11,%xmm3
  movsd  %xmm11,0x68(%rsp)
  movsd  0x78(%rsp),%xmm11
  movapd %xmm11,%xmm0
  mulsd  %xmm3,%xmm13
  movapd %xmm3,%xmm2
  mulsd  %xmm12,%xmm0
  mulsd  %xmm11,%xmm2
  movapd %xmm9,%xmm11
  mulsd  %xmm15,%xmm12
  movsd  %xmm13,(%rsp)
  addsd  %xmm0,%xmm13
  movsd  %xmm0,0x60(%rsp)
  subsd  %xmm2,%xmm12
  mulsd  %xmm13,%xmm10
  movapd %xmm13,%xmm0
  mulsd  %xmm9,%xmm0
  movapd %xmm1,%xmm9
  mulsd  %xmm12,%xmm11
  mulsd  %xmm12,%xmm5
  movsd  %xmm10,0x50(%rsp)
  movapd %xmm11,%xmm7
  movapd %xmm10,%xmm11
  addsd  %xmm7,%xmm11
  subsd  %xmm0,%xmm5
  movsd  %xmm7,0x48(%rsp)
  mulsd  %xmm5,%xmm9
  movapd %xmm11,%xmm10
  movsd  %xmm11,0x18(%rsp)
  mulsd  %xmm8,%xmm10
  movsd  %xmm5,0x40(%rsp)
  movapd %xmm9,%xmm2
  subsd  %xmm10,%xmm2
  movsd  %xmm2,0x10(%rbx)
  movq   $0x0,0x18(%rbx)
  movsd  0x28(%r14),%xmm0
  movsd  0x88(%rsp),%xmm2
  movsd  %xmm1,0x38(%rsp)
  movsd  0x100(%rsp),%xmm10
  movsd  %xmm8,0x30(%rsp)
  mulsd  %xmm8,%xmm10
  mulsd  %xmm1,%xmm2
  addsd  %xmm10,%xmm2
  movsd  %xmm2,0x28(%rsp)
  call   <sincos@plt>
  movsd  0x28(%rsp),%xmm2
  movsd  0x198(%rsp),%xmm13
  movq   $0x0,0x38(%rbx)
  movsd  0x98(%rsp),%xmm12
  movsd  0x38(%rsp),%xmm1
  movq   $0x0,0x58(%rbx)
  movapd %xmm2,%xmm8
  movapd %xmm13,%xmm5
  addsd  0xa0(%rsp),%xmm12
  movsd  0x190(%rsp),%xmm14
  mulsd  %xmm13,%xmm8
  movsd  0x68(%rsp),%xmm11
  movsd  0x188(%rsp),%xmm6
  movsd  0xf0(%rsp),%xmm3
  mulsd  %xmm14,%xmm2
  addsd  %xmm6,%xmm11
  movapd %xmm8,%xmm9
  movapd %xmm12,%xmm8
  mulsd  %xmm14,%xmm8
  mulsd  %xmm13,%xmm12
  subsd  %xmm8,%xmm9
  movsd  0x160(%rsp),%xmm8
  mulsd  %xmm1,%xmm8
  movsd  %xmm9,0x20(%rbx)
  mulsd  0x18(%rsp),%xmm1
  movsd  0x168(%rsp),%xmm9
  movapd %xmm8,%xmm0
  movsd  0x30(%rsp),%xmm8
  mulsd  %xmm8,%xmm9
  addsd  %xmm9,%xmm0
  movsd  0x90(%rsp),%xmm9
  addsd  0xa8(%rsp),%xmm9
  mulsd  %xmm0,%xmm5
  mulsd  %xmm14,%xmm0
  movapd %xmm5,%xmm10
  movapd %xmm14,%xmm5
  mulsd  %xmm9,%xmm5
  mulsd  %xmm13,%xmm9
  subsd  %xmm5,%xmm10
  movsd  0x40(%rsp),%xmm5
  mulsd  %xmm5,%xmm8
  movapd %xmm2,%xmm5
  movsd  %xmm10,0x28(%rbx)
  movsd  D73(%rip),%xmm10
  addsd  %xmm8,%xmm1
  movapd %xmm13,%xmm8
  mulsd  %xmm1,%xmm8
  mulsd  %xmm14,%xmm1
  movapd %xmm8,%xmm6
  movapd %xmm14,%xmm8
  mulsd  %xmm11,%xmm8
  movapd %xmm1,%xmm4
  mulsd  %xmm13,%xmm11
  subsd  %xmm8,%xmm6
  movapd %xmm2,%xmm8
  movsd  0xf8(%rsp),%xmm2
  addsd  %xmm12,%xmm8
  mulsd  %xmm10,%xmm12
  movsd  %xmm6,0x30(%rbx)
  movsd  D166(%rip),%xmm6
  movsd  %xmm8,0x40(%rbx)
  movapd %xmm0,%xmm8
  addsd  %xmm9,%xmm8
  mulsd  %xmm10,%xmm9
  movsd  %xmm8,0x48(%rbx)
  movapd %xmm1,%xmm8
  addsd  %xmm11,%xmm8
  mulsd  %xmm10,%xmm11
  movsd  %xmm8,0x50(%rbx)
  movsd  D60(%rip),%xmm8
  mulsd  %xmm8,%xmm5
  mulsd  %xmm8,%xmm0
  mulsd  %xmm8,%xmm4
  movapd %xmm5,%xmm13
  movsd  D144(%rip),%xmm5
  subsd  %xmm12,%xmm13
  subsd  %xmm9,%xmm0
  movsd  0xe0(%rsp),%xmm12
  mulsd  %xmm5,%xmm3
  mulsd  %xmm5,%xmm2
  mulsd  %xmm6,%xmm12
  movapd %xmm0,%xmm9
  subsd  %xmm3,%xmm13
  subsd  %xmm2,%xmm13
  subsd  %xmm12,%xmm13
  movsd  0xe8(%rsp),%xmm12
  mulsd  %xmm6,%xmm12
  subsd  %xmm12,%xmm13
  movsd  D21(%rip),%xmm12
  movsd  0xd0(%rsp),%xmm2
  movsd  0xb8(%rsp),%xmm3
  movsd  0x58(%rsp),%xmm1
  movsd  0x80(%rsp),%xmm7
  mulsd  %xmm12,%xmm2
  movsd  0x140(%rsp),%xmm15
  movsd  0x138(%rsp),%xmm0
  mulsd  %xmm5,%xmm3
  movsd  0x110(%rsp),%xmm14
  mulsd  %xmm10,%xmm7
  mulsd  %xmm6,%xmm15
  mulsd  %xmm12,%xmm0
  addsd  %xmm13,%xmm2
  mulsd  %xmm5,%xmm14
  movsd  0xd8(%rsp),%xmm13
  mulsd  %xmm6,%xmm1
  mulsd  %xmm12,%xmm13
  addsd  %xmm13,%xmm2
  movsd  0xc0(%rsp),%xmm13
  mulsd  %xmm6,%xmm13
  subsd  %xmm13,%xmm2
  movsd  0xc8(%rsp),%xmm13
  mulsd  %xmm6,%xmm13
  addsd  %xmm13,%xmm2
  movsd  0xb0(%rsp),%xmm13
  mulsd  %xmm5,%xmm13
  subsd  %xmm13,%xmm2
  movsd  (%rsp),%xmm13
  mulsd  %xmm6,%xmm13
  subsd  %xmm3,%xmm2
  movsd  0x60(%rsp),%xmm3
  mulsd  %xmm6,%xmm3
  addsd  %xmm7,%xmm2
  addsd  0x60(%r13),%xmm2
  movsd  0x158(%rsp),%xmm7
  mulsd  %xmm5,%xmm7
  movsd  %xmm2,0x60(%rbx)
  movsd  0x150(%rsp),%xmm2
  mulsd  %xmm5,%xmm2
  subsd  %xmm2,%xmm9
  movsd  0x130(%rsp),%xmm2
  mulsd  %xmm12,%xmm2
  subsd  %xmm7,%xmm9
  movsd  0x48(%rsp),%xmm7
  mulsd  %xmm5,%xmm7
  subsd  %xmm15,%xmm9
  movsd  0x148(%rsp),%xmm15
  mulsd  %xmm6,%xmm15
  subsd  %xmm15,%xmm9
  movsd  0x120(%rsp),%xmm15
  mulsd  %xmm6,%xmm15
  addsd  %xmm9,%xmm2
  movsd  0x118(%rsp),%xmm9
  mulsd  %xmm5,%xmm9
  addsd  %xmm0,%xmm2
  movsd  0x128(%rsp),%xmm0
  mulsd  %xmm6,%xmm0
  subsd  %xmm15,%xmm2
  movsd  0x8(%rsp),%xmm15
  mulsd  %xmm12,%xmm15
  addsd  %xmm2,%xmm0
  movsd  0x108(%rsp),%xmm2
  mulsd  %xmm10,%xmm2
  subsd  %xmm14,%xmm0
  subsd  %xmm9,%xmm0
  addsd  %xmm2,%xmm0
  addsd  0x68(%r13),%xmm0
  movsd  0x10(%rsp),%xmm2
  mulsd  %xmm12,%xmm2
  movsd  %xmm0,0x68(%rbx)
  movapd %xmm4,%xmm0
  movsd  0x50(%rsp),%xmm4
  subsd  %xmm11,%xmm0
  mulsd  %xmm5,%xmm4
  subsd  %xmm4,%xmm0
  subsd  %xmm7,%xmm0
  movsd  0x178(%rsp),%xmm7
  mulsd  %xmm5,%xmm7
  subsd  %xmm13,%xmm0
  subsd  %xmm3,%xmm0
  movsd  0x20(%rsp),%xmm3
  mulsd  %xmm6,%xmm3
  addsd  %xmm15,%xmm0
  addsd  %xmm2,%xmm0
  subsd  %xmm1,%xmm0
  movsd  0x180(%rsp),%xmm1
  mulsd  %xmm5,%xmm1
  addsd  %xmm3,%xmm0
  subsd  %xmm7,%xmm0
  subsd  %xmm1,%xmm0
  movsd  0x170(%rsp),%xmm1
  mov    D57(%rip),%rax
  mulsd  %xmm10,%xmm1
  addsd  %xmm1,%xmm0
  addsd  0x70(%r13),%xmm0
  mov    %rax,0x78(%rbx)
  movsd  %xmm0,0x70(%rbx)
  add    $0x1a0,%rsp
  pop    %rbx
  pop    %rbp
  pop    %r12
  pop    %r13
  pop    %r14
  ret
```

tool_calls: name: disassemble_data
arguments: tag: D52
type_guessed: f32[2]
name: disassemble_data
arguments: tag: D102
type_guessed: byte[8]
name: disassemble_data
arguments: tag: D88
type_guessed: f32[2]
name: disassemble_data
arguments: tag: D73
type_guessed: byte[8]
name: disassemble_data
arguments: tag: D166
type_guessed: f64
name: disassemble_data
arguments: tag: D60
type_guessed: byte[8]
name: disassemble_data
arguments: tag: D144
type_guessed: f64
name: disassemble_data
arguments: tag: D21
type_guessed: byte[8]
name: disassemble_data
arguments: tag: D57
type_guessed: f64

tool: {"D52": [0.0,-0.0]}

tool: {"D102": [0xcd,0x3b,0x7f,0x66,0x9e,0xa0,0xf6,0x3f]}

tool: {"D88": [0.0,1.75]}

tool: {"D73": [0x62,0xf3,0x71,0x6d,0xa8,0x18,0xa7,0x3f]}

tool: D166: 0.1

tool: {"D60": [0x62,0xf3,0x71,0x6d,0xa8,0x18,0xa7,0xbf]}

tool: D144: 0.10274

tool: {"D21": [0x9a,0x99,0x99,0x99,0x99,0x99,0xa9,0x3f]}

tool: D57: 1

assistant: ```c
void RLeg2LLeg(q, RL, T) double q[24];
double RL[16];
double T[16];
{
  double t1;
  double t10;
  double t101;
  double t102;
  double t103;
  double t104;
  double t105;
  double t106;
  double t107;
  double t11;
  double t110;
  double t111;
  double t112;
  double t113;
  double t114;
  double t115;
  double t119;
  double t12;
  double t120;
  double t122;
  double t124;
  double t126;
  double t127;
  double t128;
  double t129;
  double t13;
  double t130;
  double t131;
  double t134;
  double t135;
  double t136;
  double t14;
  double t140;
  double t142;
  double t147;
  double t15;
  double t151;
  double t153;
  double t156;
  double t158;
  double t16;
  double t161;
  double t165;
  double t168;
  double t17;
  double t171;
  double t173;
  double t177;
  double t18;
  double t180;
  double t182;
  double t185;
  double t189;
  double t191;
  double t192;
  double t195;
  double t196;
  double t197;
  double t198;
  double t2;
  double t201;
  double t202;
  double t203;
  double t207;
  double t209;
  double t21;
  double t211;
  double t213;
  double t214;
  double t215;
  double t216;
  double t217;
  double t218;
  double t22;
  double t221;
  double t222;
  double t223;
  double t227;
  double t229;
  double t23;
  double t234;
  double t238;
  double t24;
  double t240;
  double t243;
  double t245;
  double t248;
  double t25;
  double t252;
  double t255;
  double t258;
  double t26;
  double t260;
  double t264;
  double t267;
  double t269;
  double t272;
  double t276;
  double t278;
  double t279;
  double t282;
  double t283;
  double t284;
  double t285;
  double t288;
  double t289;
  double t290;
  double t294;
  double t298;
  double t299;
  double t3;
  double t30;
  double t300;
  double t303;
  double t304;
  double t308;
  double t31;
  double t311;
  double t315;
  double t318;
  double t320;
  double t321;
  double t322;
  double t323;
  double t324;
  double t325;
  double t33;
  double t34;
  double t35;
  double t40;
  double t41;
  double t45;
  double t47;
  double t48;
  double t49;
  double t5;
  double t52;
  double t53;
  double t55;
  double t56;
  double t59;
  double t6;
  double t63;
  double t66;
  double t69;
  double t71;
  double t72;
  double t73;
  double t77;
  double t78;
  double t79;
  double t8;
  double t82;
  double t83;
  double t85;
  double t86;
  double t89;
  double t9;
  double t93;
  double t95;
  double t96;
  double t97;
  double t98;
  {
    t1 = RL[8];
    t2 = q[11];
    t3 = cos(t2);
    t5 = RL[4];
    t6 = sin(t2);
    t8 = -t1 * t3 - t5 * t6;
    t9 = q[10];
    t10 = cos(t9);
    t11 = t8 * t10;
    t12 = RL[0];
    t13 = sin(t9);
    t14 = t12 * t13;
    t15 = t11 + t14;
    t16 = q[9];
    t17 = cos(t16);
    t18 = t15 * t17;
    t21 = t8 * t13 - t12 * t10;
    t22 = sin(t16);
    t23 = t21 * t22;
    t24 = t18 - t23;
    t25 = q[8];
    t26 = sin(t25);
    t30 = t15 * t22 + t21 * t17;
    t31 = cos(t25);
    t33 = -t24 * t26 - t30 * t31;
    t34 = q[6];
    t35 = sin(t34);
    t40 = sqrt(2.0);
    t41 = (t24 * t31 - t30 * t26) * t40;
    t45 = (-t1 * t6 + t5 * t3) * t40;
    t47 = t41 / 2.0 - t45 / 2.0;
    t48 = q[7];
    t49 = sin(t48);
    t52 = t41 / 2.0 + t45 / 2.0;
    t53 = cos(t48);
    t55 = t47 * t49 + t52 * t53;
    t56 = cos(t34);
    t59 = (t33 * t35 + t55 * t56) * t40;
    t63 = (-t47 * t53 + t52 * t49) * t40;
    t66 = (t59 / 2.0 + t63 / 2.0) * t40;
    t69 = (-t59 / 2.0 + t63 / 2.0) * t40;
    t71 = -t66 / 2.0 + t69 / 2.0;
    t72 = q[1];
    t73 = cos(t72);
    t77 = t33 * t56 - t55 * t35;
    t78 = q[0];
    t79 = sin(t78);
    t82 = -t66 / 2.0 - t69 / 2.0;
    t83 = cos(t78);
    t85 = -t77 * t79 + t82 * t83;
    t86 = sin(t72);
    t89 = (t71 * t73 + t85 * t86) * t40;
    t93 = (-t71 * t86 + t85 * t73) * t40;
    t95 = t89 / 2.0 - t93 / 2.0;
    t96 = q[2];
    t97 = cos(t96);
    t98 = t95 * t97;
    t101 = t77 * t83 + t82 * t79;
    t102 = sin(t96);
    t103 = t101 * t102;
    t104 = t98 + t103;
    t105 = q[3];
    t106 = cos(t105);
    t107 = t104 * t106;
    t110 = -t95 * t102 + t101 * t97;
    t111 = sin(t105);
    t112 = t110 * t111;
    t113 = t107 + t112;
    t114 = q[4];
    t115 = sin(t114);
    t119 = -t104 * t111 + t110 * t106;
    t120 = cos(t114);
    T[0] = -t113 * t115 + t119 * t120;
    t122 = RL[9];
    t124 = RL[5];
    t126 = -t122 * t3 - t124 * t6;
    t127 = t126 * t10;
    t128 = RL[1];
    t129 = t128 * t13;
    t130 = t127 + t129;
    t131 = t130 * t17;
    t134 = t126 * t13 - t128 * t10;
    t135 = t134 * t22;
    t136 = t131 - t135;
    t140 = t130 * t22 + t134 * t17;
    t142 = -t136 * t26 - t140 * t31;
    t147 = (t136 * t31 - t140 * t26) * t40;
    t151 = (-t122 * t6 + t124 * t3) * t40;
    t153 = t147 / 2.0 - t151 / 2.0;
    t156 = t147 / 2.0 + t151 / 2.0;
    t158 = t153 * t49 + t156 * t53;
    t161 = (t142 * t35 + t158 * t56) * t40;
    t165 = (-t153 * t53 + t156 * t49) * t40;
    t168 = (t161 / 2.0 + t165 / 2.0) * t40;
    t171 = (-t161 / 2.0 + t165 / 2.0) * t40;
    t173 = -t168 / 2.0 + t171 / 2.0;
    t177 = t142 * t56 - t158 * t35;
    t180 = -t168 / 2.0 - t171 / 2.0;
    t182 = -t177 * t79 + t180 * t83;
    t185 = (t173 * t73 + t182 * t86) * t40;
    t189 = (-t173 * t86 + t182 * t73) * t40;
    t191 = t185 / 2.0 - t189 / 2.0;
    t192 = t191 * t97;
    t195 = t177 * t83 + t180 * t79;
    t196 = t195 * t102;
    t197 = t192 + t196;
    t198 = t197 * t106;
    t201 = -t191 * t102 + t195 * t97;
    t202 = t201 * t111;
    t203 = t198 + t202;
    t207 = -t197 * t111 + t201 * t106;
    T[1] = -t203 * t115 + t207 * t120;
    t209 = RL[10];
    t211 = RL[6];
    t213 = -t209 * t3 - t211 * t6;
    t214 = t213 * t10;
    t215 = RL[2];
    t216 = t215 * t13;
    t217 = t214 + t216;
    t218 = t217 * t17;
    t221 = t213 * t13 - t215 * t10;
    t222 = t221 * t22;
    t223 = t218 - t222;
    t227 = t217 * t22 + t221 * t17;
    t229 = -t223 * t26 - t227 * t31;
    t234 = (t223 * t31 - t227 * t26) * t40;
    t238 = (-t209 * t6 + t211 * t3) * t40;
    t240 = t234 / 2.0 - t238 / 2.0;
    t243 = t234 / 2.0 + t238 / 2.0;
    t245 = t240 * t49 + t243 * t53;
    t248 = (t229 * t35 + t245 * t56) * t40;
    t252 = (-t240 * t53 + t243 * t49) * t40;
    t255 = (t248 / 2.0 + t252 / 2.0) * t40;
    t258 = (-t248 / 2.0 + t252 / 2.0) * t40;
    t260 = -t255 / 2.0 + t258 / 2.0;
    t264 = t229 * t56 - t245 * t35;
    t267 = -t255 / 2.0 - t258 / 2.0;
    t269 = -t264 * t79 + t267 * t83;
    t272 = (t260 * t73 + t269 * t86) * t40;
    t276 = (-t260 * t86 + t269 * t73) * t40;
    t278 = t272 / 2.0 - t276 / 2.0;
    t279 = t278 * t97;
    t282 = t264 * t83 + t267 * t79;
    t283 = t282 * t102;
    t284 = t279 + t283;
    t285 = t284 * t106;
    t288 = -t278 * t102 + t282 * t97;
    t289 = t288 * t111;
    t290 = t285 + t289;
    t294 = -t284 * t111 + t288 * t106;
    T[2] = -t290 * t115 + t294 * t120;
    T[3] = 0.0;
    t298 = t113 * t120 + t119 * t115;
    t299 = q[5];
    t300 = sin(t299);
    t303 = t89 / 2.0 + t93 / 2.0;
    t304 = cos(t299);
    T[4] = t298 * t300 - t303 * t304;
    t308 = t203 * t120 + t207 * t115;
    t311 = t185 / 2.0 + t189 / 2.0;
    T[5] = t308 * t300 - t311 * t304;
    t315 = t290 * t120 + t294 * t115;
    t318 = t272 / 2.0 + t276 / 2.0;
    T[6] = t315 * t300 - t318 * t304;
    T[7] = 0.0;
    t320 = t298 * t304;
    t321 = t303 * t300;
    T[8] = t320 + t321;
    t322 = t308 * t304;
    t323 = t311 * t300;
    T[9] = t322 + t323;
    t324 = t315 * t304;
    t325 = t318 * t300;
    T[10] = t324 + t325;
    T[11] = 0.0;
    T[12] = -0.4511E-1 * t320 - 0.4511E-1 * t321 - 0.10274 * t107 - 0.10274 * t112 - 0.1 * t98 - 0.1 * t103 + 0.5E-1 * t59 + 0.5E-1 * t63 - 0.1 * t18 + 0.1 * t23 - 0.10274 * t11 - 0.10274 * t14 + 0.4511E-1 * t1 + RL[12];
    T[13] = -0.4511E-1 * t322 - 0.4511E-1 * t323 - 0.10274 * t198 - 0.10274 * t202 - 0.1 * t192 - 0.1 * t196 + 0.5E-1 * t161 + 0.5E-1 * t165 - 0.1 * t131 + 0.1 * t135 - 0.10274 * t127 - 0.10274 * t129 + 0.4511E-1 * t122 + RL[13];
    T[14] = -0.4511E-1 * t324 - 0.4511E-1 * t325 - 0.10274 * t285 - 0.10274 * t289 - 0.1 * t279 - 0.1 * t283 + 0.5E-1 * t248 + 0.5E-1 * t252 - 0.1 * t218 + 0.1 * t222 - 0.10274 * t214 - 0.10274 * t216 + 0.4511E-1 * t209 + RL[14];
    T[15] = 1.0;
    return;
  }
}
```