function [J] = getJacobianNanoHexapod(Hbm)
% getJacobianNanoHexapod -
%
% Syntax: [J] = getJacobianNanoHexapod(Hbm)
%
% Inputs:
%    - Hbm - Height of {B} w.r.t. {M} [m]
%
% Outputs:
%    - J - Jacobian Matrix

Fa = [[-86.05,  -74.78, 22.49],
      [ 86.05,  -74.78, 22.49],
      [ 107.79, -37.13, 22.49],
      [ 21.74,  111.91, 22.49],
      [-21.74,  111.91, 22.49],
      [-107.79, -37.13, 22.49]]'*1e-3; % Ai w.r.t. {F} [m]

Mb = [[-28.47, -106.25, -22.50],
      [ 28.47, -106.25, -22.50],
      [ 106.25, 28.47,  -22.50],
      [ 77.78,  77.78,  -22.50],
      [-77.78,  77.78,  -22.50],
      [-106.25, 28.47,  -22.50]]'*1e-3; % Bi w.r.t. {M} [m]

H = 95e-3; % Stewart platform height [m]
Fb = Mb + [0; 0; H]; % Bi w.r.t. {F} [m]

si = Fb - Fa;
si = si./vecnorm(si); % Normalize

Bb = Mb - [0; 0; Hbm];

J = [si', cross(Bb, si)'];