The convenstion of inverseDynamic

[petertheprocess]

/*
 * Function: This function uses forward-backward Newton-Euler iterations to caculate inverse dynamics
 * Inputs: q: joint angles
 *         qd: joint velocities
 *         qdd: joint accelerations
 *         Ftip: Spatial force applied by the end-effector
 * Returns: required joint forces/torques
 */
Vec6 inverseDynamics(Vec6 q, Vec6 qd, Vec6 qdd, Vec6 Ftip);

I want to know what's the convention of Ftip
[Fx Fy Fz Tx Ty Tz] or [Tx Ty Tz Fx Fy Fz]

[Agnel-Wang]

Z1 use the convention of RBDL, rpyxyz