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

```asm
<test_JacobianBody>:
  endbr64
  push   %r13
  push   %r12
  push   %rbp
  push   %rbx
  sub    $0x278,%rsp
  mov    %fs:0x28,%rax
  mov    %rax,0x268(%rsp)
  xor    %eax,%eax
  movq   $0x0,0xe0(%rsp)
  movsd  D0(%rip),%xmm0
  movsd  %xmm0,0xe8(%rsp)
  movq   $0x0,0xf0(%rsp)
  movsd  %xmm0,0xf8(%rsp)
  movq   $0x0,0x100(%rsp)
  movq   $0x0,0x108(%rsp)
  movsd  %xmm0,0x110(%rsp)
  movq   $0x0,0x118(%rsp)
  movsd  %xmm0,0x120(%rsp)
  movq   $0x0,0x128(%rsp)
  movq   $0x0,0x130(%rsp)
  movq   $0x0,0x138(%rsp)
  movq   $0x0,0x140(%rsp)
  movsd  D34(%rip),%xmm2
  movsd  %xmm2,0x148(%rsp)
  movq   $0x0,0x150(%rsp)
  movsd  D89(%rip),%xmm1
  movsd  %xmm1,0x158(%rsp)
  movsd  %xmm1,0x160(%rsp)
  movq   $0x0,0x168(%rsp)
  movsd  %xmm2,0x170(%rsp)
  mov    D107(%rip),%rax
  mov    %rax,0x178(%rsp)
  movsd  %xmm1,0x180(%rsp)
  mov    D115(%rip),%rax
  mov    %rax,0x188(%rsp)
  movsd  %xmm0,0x190(%rsp)
  mov    D23(%rip),%rax
  mov    %rax,0x198(%rsp)
  lea    0xe0(%rsp),%rax
  lea    0x20(%rsp),%rdx
  lea    0x1a0(%rsp),%rcx
L47:
  movsd  (%rax),%xmm0
  movsd  %xmm0,(%rdx)
  movsd  0x8(%rax),%xmm0
  movsd  %xmm0,0x8(%rdx)
  movsd  0x10(%rax),%xmm0
  movsd  %xmm0,0x10(%rdx)
  movsd  0x18(%rax),%xmm0
  movsd  %xmm0,0x18(%rdx)
  add    $0x20,%rax
  add    $0x20,%rdx
  cmp    %rcx,%rax
  jne    L47
  mov    D89(%rip),%rax
  mov    %rax,(%rsp)
  mov    D93(%rip),%rax
  mov    %rax,0x8(%rsp)
  mov    D108(%rip),%rax
  mov    %rax,0x10(%rsp)
  mov    D25(%rip),%rax
  mov    %rax,0x18(%rsp)
  lea    0x1a0(%rsp),%rdi
  mov    $0x18,%ecx
  mov    $0x0,%eax
  rep stos %rax,%es:(%rdi)
  lea    0x1a0(%rsp),%rcx
  mov    %rsp,%rdx
  lea    0x20(%rsp),%rsi
  mov    $0x4,%edi
  call   <JacobianBody@plt>
  lea    D80(%rip),%rdi
  call   <puts@plt>
  lea    0x1c0(%rsp),%rbp
  lea    0x280(%rsp),%r13
  lea    D55(%rip),%r12
  jmp    L46
L17:
  mov    $0xa,%edi
  call   <putchar@plt>
  add    $0x20,%rbp
  cmp    %rbp,%r13
  je     L53
L46:
  lea    -0x20(%rbp),%rbx
L48:
  movsd  (%rbx),%xmm0
  mov    %r12,%rdi
  mov    $0x1,%eax
  call   <printf@plt>
  add    $0x8,%rbx
  cmp    %rbx,%rbp
  jne    L48
  jmp    L17
L53:
  mov    0x268(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L37
  add    $0x278,%rsp
  pop    %rbx
  pop    %rbp
  pop    %r12
  pop    %r13
  ret
L37:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: parse_data
arguments: tag: D0
type_guessed: byte[8]
name: parse_data
arguments: tag: D34
type_guessed: byte[8]
name: parse_data
arguments: tag: D89
type_guessed: f64
name: parse_data
arguments: tag: D107
type_guessed: f64
name: parse_data
arguments: tag: D115
type_guessed: byte[8]
name: parse_data
arguments: tag: D23
type_guessed: f64
name: parse_data
arguments: tag: D93
type_guessed: f64
name: parse_data
arguments: tag: D108
type_guessed: f64
name: parse_data
arguments: tag: D25
type_guessed: f64
name: parse_data
arguments: tag: D80
type_guessed: string
name: parse_data
arguments: tag: D55
type_guessed: string

tool: {"D0": [0x00,0x00,0x00,0x00,0x00,0x00,0xf0,0x3f]}

tool: {"D34": [0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x40]}

tool: D89: 0.2

tool: D107: 0.3

tool: {"D115": [0x00,0x00,0x00,0x00,0x00,0x00,0x08,0x40]}

tool: D23: 0.4

tool: D93: 1.1

tool: D108: 0.1

tool: D25: 1.2

tool: D80: Jb:

tool: D55: %lf  

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;
}
```