K x = [ 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 ] , K y = [ 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 ] , K z = [ 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 ] J x = [ 0 0 0 0 0 0 0 0 0 0 0 − − 1 0 0 1 0 ] , J y = [ 0 0 0 0 0 0 0 1 0 0 0 0 0 − − 1 0 0 ] , J z = [ 0 0 0 0 0 0 − − 1 0 0 1 0 0 0 0 0 0 ]