Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr ModelicaTest_3.2.3_ModelicaTest.MultiBody.Joints.JointUSP2.conf.json
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.3+maint.om/package.mo", uses=false)
Using package ModelicaTest with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.3+maint.om/package.mo)
Using package Modelica with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo)
Using package Complex with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo)
Using package ModelicaServices with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo)
Running command: "" <> buildModelFMU(ModelicaTest.MultiBody.Joints.JointUSP2,fileNamePrefix="ModelicaTest_3_2_3_ModelicaTest_MultiBody_Joints_JointUSP2",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(ModelicaTest.MultiBody.Joints.JointUSP2,fileNamePrefix="ModelicaTest_3_2_3_ModelicaTest_MultiBody_Joints_JointUSP2",fmuType="me",version="2.0",platforms={"static"})
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo): time 0.001032/0.001032, allocations: 97.48 kB / 16.02 MB, free: 84 kB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001274/0.001274, allocations: 178.2 kB / 16.92 MB, free: 6.668 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.477/1.477, allocations: 205.4 MB / 223.1 MB, free: 5.547 MB / 174.1 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.3+maint.om/package.mo): time 0.3764/0.3764, allocations: 43.57 MB / 315 MB, free: 9.074 MB / 254.1 MB
Notification: Modelica requested package Complex of version 3.2.3. Complex 4.0.0 is used instead which states that it is fully compatible without conversion script needed.
Notification: Modelica requested package ModelicaServices of version 3.2.3. ModelicaServices 4.0.0 is used instead which states that it is fully compatible without conversion script needed.
Notification: Performance of FrontEnd - loaded program: time 0.0005531/0.0005531, allocations: 12.52 kB / 384.7 MB, free: 7.785 MB / 318.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.1267/0.1273, allocations: 58.87 MB / 443.5 MB, free: 12.82 MB / 382.1 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.JointUSP2): time 0.268/0.3953, allocations: 46.95 MB / 490.5 MB, free: 19.95 MB / 382.1 MB
Notification: Performance of NFInst.instExpressions: time 0.0199/0.4153, allocations: 10.64 MB / 0.4894 GB, free: 13.75 MB / 382.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.01005/0.4254, allocations: 207.6 kB / 0.4896 GB, free: 13.72 MB / 382.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.001413/0.4268, allocations: 0.5104 MB / 0.4901 GB, free: 13.52 MB / 382.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.004646/0.4315, allocations: 2.079 MB / 0.4921 GB, free: 12.6 MB / 382.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.002428/0.4339, allocations: 1.08 MB / 0.4932 GB, free: 12.14 MB / 382.1 MB
Notification: Performance of NFFlatten.flatten: time 0.01014/0.4441, allocations: 8.039 MB / 0.501 GB, free: 9.816 MB / 382.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.01013/0.4542, allocations: 7.057 MB / 0.5079 GB, free: 6.938 MB / 382.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.003025/0.4573, allocations: 1.589 MB / 0.5095 GB, free: 6.348 MB / 382.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.005134/0.4624, allocations: 2.702 MB / 0.5121 GB, free: 5.512 MB / 382.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.001033/0.4635, allocations: 200.9 kB / 0.5123 GB, free: 5.512 MB / 382.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.003422/0.4669, allocations: 1.447 MB / 0.5137 GB, free: 5.145 MB / 382.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.002634/0.4696, allocations: 2.327 MB / 0.516 GB, free: 3.902 MB / 382.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.003371/0.4729, allocations: 2.694 MB / 0.5186 GB, free: 1.875 MB / 382.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.01314/0.4861, allocations: 9.463 MB / 0.5278 GB, free: 9.383 MB / 398.1 MB
Notification: Performance of FrontEnd - DAE generated: time 4.939e-06/0.4861, allocations: 0 / 0.5278 GB, free: 9.383 MB / 398.1 MB
Notification: Performance of FrontEnd: time 2.344e-06/0.4862, allocations: 0 / 0.5278 GB, free: 9.383 MB / 398.1 MB
Notification: Performance of Transformations before backend: time 0.0002688/0.4864, allocations: 0 / 0.5278 GB, free: 9.383 MB / 398.1 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 1932
 * Number of variables: 1932
Notification: Performance of Generate backend data structure: time 0.01945/0.5059, allocations: 5.526 MB / 0.5332 GB, free: 3.781 MB / 398.1 MB
Notification: Performance of prepare preOptimizeDAE: time 5.414e-05/0.506, allocations: 8.031 kB / 0.5333 GB, free: 3.773 MB / 398.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.003198/0.5092, allocations: 0.9177 MB / 0.5341 GB, free: 2.844 MB / 398.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.09665/0.6059, allocations: 7.608 MB / 0.5416 GB, free: 11.22 MB / 414.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.009748/0.6156, allocations: 4.595 MB / 0.5461 GB, free: 6.562 MB / 414.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0003902/0.6161, allocations: 357.8 kB / 0.5464 GB, free: 6.203 MB / 414.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.001666/0.6178, allocations: 423.7 kB / 0.5468 GB, free: 5.789 MB / 414.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.02559/0.6434, allocations: 13.81 MB / 0.5603 GB, free: 7.121 MB / 430.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0002069/0.6436, allocations: 55.53 kB / 0.5604 GB, free: 7.066 MB / 430.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.001067/0.6447, allocations: 195.8 kB / 0.5605 GB, free: 6.875 MB / 430.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.003802/0.6485, allocations: 2.418 MB / 0.5629 GB, free: 4.457 MB / 430.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02461/0.6731, allocations: 11.65 MB / 0.5743 GB, free: 8.785 MB / 446.1 MB
Warning: The model contains alias variables with redundant start and/or conflicting nominal values. It is recommended to resolve the conflicts, because otherwise the system could be hard to solve. To print the conflicting alias sets and the chosen candidates please use -d=aliasConflicts.
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.06979/0.7429, allocations: 51.37 MB / 0.6244 GB, free: 3.941 MB / 494.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.2012/0.9442, allocations: 4.669 MB / 0.629 GB, free: 136.8 MB / 494.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.003867/0.9481, allocations: 2.777 MB / 0.6317 GB, free: 136.8 MB / 494.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.02232/0.9705, allocations: 12.36 MB / 0.6438 GB, free: 132 MB / 494.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 6.847e-05/0.9706, allocations: 57.59 kB / 0.6438 GB, free: 131.9 MB / 494.1 MB
Notification: Performance of pre-optimization done (n=191): time 7.454e-06/0.9706, allocations: 0 / 0.6438 GB, free: 131.9 MB / 494.1 MB
Notification: Performance of matching and sorting (n=242): time 0.1533/1.124, allocations: 42.49 MB / 0.6853 GB, free: 120.6 MB / 494.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 8.473e-05/1.124, allocations: 233.6 kB / 0.6856 GB, free: 120.3 MB / 494.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.007186/1.131, allocations: 4.824 MB / 0.6903 GB, free: 116.3 MB / 494.1 MB
Notification: Performance of collectPreVariables (initialization): time 0.0005794/1.132, allocations: 61.7 kB / 0.6903 GB, free: 116.2 MB / 494.1 MB
Notification: Performance of collectInitialEqns (initialization): time 0.002364/1.134, allocations: 3.914 MB / 0.6941 GB, free: 112.3 MB / 494.1 MB
Notification: Performance of collectInitialBindings (initialization): time 0.001151/1.135, allocations: 0.9155 MB / 0.695 GB, free: 111.4 MB / 494.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0007962/1.136, allocations: 0.607 MB / 0.6956 GB, free: 110.8 MB / 494.1 MB
Notification: Performance of setup shared object (initialization): time 5.48e-05/1.136, allocations: 309.2 kB / 0.6959 GB, free: 110.5 MB / 494.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.004065/1.14, allocations: 3.251 MB / 0.6991 GB, free: 107.3 MB / 494.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.005425/1.146, allocations: 7.548 MB / 0.7065 GB, free: 97.59 MB / 494.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.0104/1.156, allocations: 11.59 MB / 0.7178 GB, free: 83.88 MB / 494.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.000105/1.156, allocations: 40 kB / 0.7178 GB, free: 83.84 MB / 494.1 MB
Notification: Performance of matching and sorting (n=940) (initialization): time 0.02589/1.182, allocations: 13.85 MB / 0.7314 GB, free: 69.97 MB / 494.1 MB
Notification: Performance of prepare postOptimizeDAE: time 0.0001625/1.182, allocations: 72.56 kB / 0.7314 GB, free: 69.9 MB / 494.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0001945/1.183, allocations: 152 kB / 0.7316 GB, free: 69.75 MB / 494.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.01108/1.194, allocations: 3.775 MB / 0.7353 GB, free: 65.97 MB / 494.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.005259/1.199, allocations: 1.595 MB / 0.7368 GB, free: 64.38 MB / 494.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.0237/1.223, allocations: 18.03 MB / 0.7544 GB, free: 46.2 MB / 494.1 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.006733/1.23, allocations: 450.4 kB / 0.7549 GB, free: 45.77 MB / 494.1 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001445/1.231, allocations: 435.1 kB / 0.7553 GB, free: 45.34 MB / 494.1 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 687
 * Number of states: 0 ()
 * Number of discrete variables: 37 (jointUSP.prismatic.positiveBranch,bodyBox.color[3],bodyBox.color[2],bodyBox.color[1],bodyBox.body.sphereColor[3],bodyBox.body.sphereColor[2],bodyBox.body.sphereColor[1],revolute.cylinderColor[3],revolute.cylinderColor[2],revolute.cylinderColor[1],fixedTranslation.color[3],fixedTranslation.color[2],fixedTranslation.color[1],body.sphereColor[3],body.sphereColor[2],body.sphereColor[1],jointUSP.rod1Color[3],jointUSP.rod1Color[2],jointUSP.rod1Color[1],jointUSP.cylinderColor[3],jointUSP.cylinderColor[2],jointUSP.cylinderColor[1],jointUSP.sphereColor[3],jointUSP.sphereColor[2],jointUSP.sphereColor[1],world.gravityArrowColor[3],world.gravityArrowColor[2],world.gravityArrowColor[1],world.axisColor_x[3],world.axisColor_x[2],world.axisColor_x[1],world.groundColor[3],world.groundColor[2],world.groundColor[1],world.gravitySphereColor[3],world.gravitySphereColor[2],world.gravitySphereColor[1])
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (857):
 * Single equations (assignments): 853
 * Array equations: 3
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (not torn): 0
 * Torn equation systems: 1
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems (#iteration vars, #inner vars, density): 1 system
   {(2,58,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of prepare postOptimizeDAE: time 0.005733/1.237, allocations: 2.669 MB / 0.7579 GB, free: 42.66 MB / 494.1 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001228/1.238, allocations: 434.4 kB / 0.7583 GB, free: 42.23 MB / 494.1 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01684/1.255, allocations: 8.142 MB / 0.7662 GB, free: 34.06 MB / 494.1 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 5.241e-05/1.255, allocations: 24 kB / 0.7663 GB, free: 34.04 MB / 494.1 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 2.157e-05/1.255, allocations: 12 kB / 0.7663 GB, free: 34.03 MB / 494.1 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 5.122e-05/1.255, allocations: 11.95 kB / 0.7663 GB, free: 34.02 MB / 494.1 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.03057/1.286, allocations: 17.37 MB / 0.7833 GB, free: 16.62 MB / 494.1 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.706e-05/1.286, allocations: 0 / 0.7833 GB, free: 16.62 MB / 494.1 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.001964/1.288, allocations: 391.4 kB / 0.7836 GB, free: 16.24 MB / 494.1 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.01098/1.299, allocations: 3.831 MB / 0.7874 GB, free: 12.4 MB / 494.1 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0005659/1.299, allocations: 40 kB / 0.7874 GB, free: 12.36 MB / 494.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.0214/1.321, allocations: 16.46 MB / 0.8035 GB, free: 11.76 MB / 0.4981 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 4.489e-06/1.321, allocations: 4 kB / 0.8035 GB, free: 11.76 MB / 0.4981 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.2275/1.548, allocations: 12.52 MB / 0.8157 GB, free: 137.7 MB / 0.4981 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.002296/1.551, allocations: 0.9422 MB / 0.8166 GB, free: 137.6 MB / 0.4981 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0007325/1.551, allocations: 33.12 kB / 0.8167 GB, free: 137.6 MB / 0.4981 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002454/1.554, allocations: 206 kB / 0.8169 GB, free: 137.6 MB / 0.4981 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0006202/1.554, allocations: 145.7 kB / 0.817 GB, free: 137.6 MB / 0.4981 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0001897/1.555, allocations: 60.88 kB / 0.8171 GB, free: 137.6 MB / 0.4981 GB
Notification: Performance of sorting global known variables: time 0.004766/1.559, allocations: 3.025 MB / 0.82 GB, free: 137.5 MB / 0.4981 GB
Notification: Performance of sort global known variables: time 1.563e-06/1.559, allocations: 0 / 0.82 GB, free: 137.5 MB / 0.4981 GB
Notification: Performance of remove unused functions: time 0.007114/1.567, allocations: 1.451 MB / 0.8214 GB, free: 137.5 MB / 0.4981 GB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 5
 * Number of states: 2 (revolute.phi,revolute.w)
 * Number of discrete variables: 0 ()
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (167):
 * Single equations (assignments): 163
 * Array equations: 3
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (not torn): 0
 * Torn equation systems: 1
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems (#iteration vars, #inner vars, density): 1 system
   {(2,52,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of Backend phase and start with SimCode phase: time 0.02208/1.589, allocations: 13.25 MB / 0.8344 GB, free: 134.7 MB / 0.4981 GB
Notification: Performance of simCode: created initialization part: time 0.01211/1.601, allocations: 7.891 MB / 0.8421 GB, free: 131.8 MB / 0.4981 GB
Notification: Performance of simCode: created event and clocks part: time 6.843e-06/1.601, allocations: 3.312 kB / 0.8421 GB, free: 131.8 MB / 0.4981 GB
Notification: Performance of simCode: created simulation system equations: time 0.004147/1.605, allocations: 2.968 MB / 0.845 GB, free: 130.5 MB / 0.4981 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.003821/1.609, allocations: 0.5181 MB / 0.8455 GB, free: 130.2 MB / 0.4981 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.1194/1.728, allocations: 77.59 MB / 0.9213 GB, free: 68.41 MB / 0.4981 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.005438/1.734, allocations: 4.102 MB / 0.9253 GB, free: 64.53 MB / 0.4981 GB
Notification: Performance of simCode: alias equations: time 0.005694/1.739, allocations: 2.173 MB / 0.9274 GB, free: 62.35 MB / 0.4981 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.003456/1.743, allocations: 2.491 MB / 0.9298 GB, free: 59.86 MB / 0.4981 GB
Notification: Performance of SimCode: time 1.032e-06/1.743, allocations: 0 / 0.9298 GB, free: 59.86 MB / 0.4981 GB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.406/2.149, allocations: 103.4 MB / 1.031 GB, free: 138.1 MB / 0.5137 GB
Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0001622/2.149, allocations: 215.2 kB / 1.031 GB, free: 137.8 MB / 0.5137 GB
Notification: Performance of buildModelFMU: Generate platform static: time 4.169/6.319, allocations: 1.438 kB / 1.031 GB, free: 137.8 MB / 0.5137 GB
(rm -f ModelicaTest_3.2.3_ModelicaTest.MultiBody.Joints.JointUSP2.pipe ; mkfifo ModelicaTest_3.2.3_ModelicaTest.MultiBody.Joints.JointUSP2.pipe ; head -c 1048576 < ModelicaTest_3.2.3_ModelicaTest.MultiBody.Joints.JointUSP2.pipe >> ../files/ModelicaTest_3.2.3_ModelicaTest.MultiBody.Joints.JointUSP2.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=ModelicaTest_3.2.3_ModelicaTest.MultiBody.Joints.JointUSP2_res.mat --tempDir=temp_ModelicaTest_3_2_3_ModelicaTest_MultiBody_Joints_JointUSP2_fmu --startTime=0 --stopTime=4 --timeout=50 --tolerance=1e-06 ModelicaTest_3_2_3_ModelicaTest_MultiBody_Joints_JointUSP2.fmu > ModelicaTest_3.2.3_ModelicaTest.MultiBody.Joints.JointUSP2.pipe 2>&1)
diffSimulationResults("ModelicaTest_3.2.3_ModelicaTest.MultiBody.Joints.JointUSP2_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v3.2.3+build.4/ModelicaTest/MultiBody/Joints/JointUSP2/JointUSP2.csv","../files/ModelicaTest_3.2.3_ModelicaTest.MultiBody.Joints.JointUSP2.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
""

Variables in the reference:time,revolute.phi,revolute.w

Variables in the result:body.I[1,1],body.I[1,2],body.I[1,3],body.I[2,1],body.I[2,2],body.I[2,3],body.I[3,1],body.I[3,2],body.I[3,3],body.I_11,body.I_21,body.I_22,body.I_31,body.I_32,body.I_33,body.R_start.T[1,1],body.R_start.T[1,2],body.R_start.T[1,3],body.R_start.T[2,1],body.R_start.T[2,2],body.R_start.T[2,3],body.R_start.T[3,1],body.R_start.T[3,2],body.R_start.T[3,3],body.R_start.w[1],body.R_start.w[2],body.R_start.w[3],body.a_0[1],body.a_0[2],body.a_0[3],body.angles_fixed,body.angles_start[1],body.angles_start[2],body.angles_start[3],body.animation,body.cylinderColor[1],body.cylinderColor[2],body.cylinderColor[3],body.cylinderDiameter,body.enforceStates,body.frame_a.R.T[1,1],body.frame_a.R.T[1,2],body.frame_a.R.T[1,3],body.frame_a.R.T[2,1],body.frame_a.R.T[2,2],body.frame_a.R.T[2,3],body.frame_a.R.T[3,1],body.frame_a.R.T[3,2],body.frame_a.R.T[3,3],body.frame_a.R.w[1],body.frame_a.R.w[2],body.frame_a.R.w[3],body.frame_a.f[1],body.frame_a.f[2],body.frame_a.f[3],body.frame_a.r_0[1],body.frame_a.r_0[2],body.frame_a.r_0[3],body.frame_a.t[1],body.frame_a.t[2],body.frame_a.t[3],body.g_0[1],body.g_0[2],body.g_0[3],body.m,body.r_0[1],body.r_0[2],body.r_0[3],body.r_CM[1],body.r_CM[2],body.r_CM[3],body.sequence_angleStates[1],body.sequence_angleStates[2],body.sequence_angleStates[3],body.sequence_start[1],body.sequence_start[2],body.sequence_start[3],body.specularCoefficient,body.sphereColor[1],body.sphereColor[2],body.sphereColor[3],body.sphereDiameter,body.useQuaternions,body.v_0[1],body.v_0[2],body.v_0[3],body.w_0_fixed,body.w_0_start[1],body.w_0_start[2],body.w_0_start[3],body.w_a[1],body.w_a[2],body.w_a[3],body.z_0_fixed,body.z_0_start[1],body.z_0_start[2],body.z_0_start[3],body.z_a[1],body.z_a[2],body.z_a[3],body.z_a_start[1],body.z_a_start[2],body.z_a_start[3],bodyBox.I[1,1],bodyBox.I[1,2],bodyBox.I[1,3],bodyBox.I[2,1],bodyBox.I[2,2],bodyBox.I[2,3],bodyBox.I[3,1],bodyBox.I[3,2],bodyBox.I[3,3],bodyBox.R.T[1,1],bodyBox.R.T[1,2],bodyBox.R.T[1,3],bodyBox.R.T[2,1],bodyBox.R.T[2,2],bodyBox.R.T[2,3],bodyBox.R.T[3,1],bodyBox.R.T[3,2],bodyBox.R.T[3,3],bodyBox.R.w[1],bodyBox.R.w[2],bodyBox.R.w[3],bodyBox.a_0[1],bodyBox.a_0[2],bodyBox.a_0[3],bodyBox.angles_fixed,bodyBox.angles_start[1],bodyBox.angles_start[2],bodyBox.angles_start[3],bodyBox.animation,bodyBox.body.I[1,1],bodyBox.body.I[1,2],bodyBox.body.I[1,3],bodyBox.body.I[2,1],bodyBox.body.I[2,2],bodyBox.body.I[2,3],bodyBox.body.I[3,1],bodyBox.body.I[3,2],bodyBox.body.I[3,3],bodyBox.body.I_11,bodyBox.body.I_21,bodyBox.body.I_22,bodyBox.body.I_31,bodyBox.body.I_32,bodyBox.body.I_33,bodyBox.body.R_start.T[1,1],bodyBox.body.R_start.T[1,2],bodyBox.body.R_start.T[1,3],bodyBox.body.R_start.T[2,1],bodyBox.body.R_start.T[2,2],bodyBox.body.R_start.T[2,3],bodyBox.body.R_start.T[3,1],bodyBox.body.R_start.T[3,2],bodyBox.body.R_start.T[3,3],bodyBox.body.R_start.w[1],bodyBox.body.R_start.w[2],bodyBox.body.R_start.w[3],bodyBox.body.a_0[1],bodyBox.body.a_0[2],bodyBox.body.a_0[3],bodyBox.body.angles_fixed,bodyBox.body.angles_start[1],bodyBox.body.angles_start[2],bodyBox.body.angles_start[3],bodyBox.body.animation,bodyBox.body.cylinderColor[1],bodyBox.body.cylinderColor[2],bodyBox.body.cylinderColor[3],bodyBox.body.cylinderDiameter,bodyBox.body.enforceStates,bodyBox.body.frame_a.R.T[1,1],bodyBox.body.frame_a.R.T[1,2],bodyBox.body.frame_a.R.T[1,3],bodyBox.body.frame_a.R.T[2,1],bodyBox.body.frame_a.R.T[2,2],bodyBox.body.frame_a.R.T[2,3],bodyBox.body.frame_a.R.T[3,1],bodyBox.body.frame_a.R.T[3,2],bodyBox.body.frame_a.R.T[3,3],bodyBox.body.frame_a.R.w[1],bodyBox.body.frame_a.R.w[2],bodyBox.body.frame_a.R.w[3],bodyBox.body.frame_a.f[1],bodyBox.body.frame_a.f[2],bodyBox.body.frame_a.f[3],bodyBox.body.frame_a.r_0[1],bodyBox.body.frame_a.r_0[2],bodyBox.body.frame_a.r_0[3],bodyBox.body.frame_a.t[1],bodyBox.body.frame_a.t[2],bodyBox.body.frame_a.t[3],bodyBox.body.g_0[1],bodyBox.body.g_0[2],bodyBox.body.g_0[3],bodyBox.body.m,bodyBox.body.r_0[1],bodyBox.body.r_0[2],bodyBox.body.r_0[3],bodyBox.body.r_CM[1],bodyBox.body.r_CM[2],bodyBox.body.r_CM[3],bodyBox.body.sequence_angleStates[1],bodyBox.body.sequence_angleStates[2],bodyBox.body.sequence_angleStates[3],bodyBox.body.sequence_start[1],bodyBox.body.sequence_start[2],bodyBox.body.sequence_start[3],bodyBox.body.specularCoefficient,bodyBox.body.sphereColor[1],bodyBox.body.sphereColor[2],bodyBox.body.sphereColor[3],bodyBox.body.sphereDiameter,bodyBox.body.useQuaternions,bodyBox.body.v_0[1],bodyBox.body.v_0[2],bodyBox.body.v_0[3],bodyBox.body.w_0_fixed,bodyBox.body.w_0_start[1],bodyBox.body.w_0_start[2],bodyBox.body.w_0_start[3],bodyBox.body.w_a[1],bodyBox.body.w_a[2],bodyBox.body.w_a[3],bodyBox.body.z_0_fixed,bodyBox.body.z_0_start[1],bodyBox.body.z_0_start[2],bodyBox.body.z_0_start[3],bodyBox.body.z_a[1],bodyBox.body.z_a[2],bodyBox.body.z_a[3],bodyBox.body.z_a_start[1],bodyBox.body.z_a_start[2],bodyBox.body.z_a_start[3],bodyBox.color[1],bodyBox.color[2],bodyBox.color[3],bodyBox.density,bodyBox.enforceStates,bodyBox.frameTranslation.animation,bodyBox.frameTranslation.color[1],bodyBox.frameTranslation.color[2],bodyBox.frameTranslation.color[3],bodyBox.frameTranslation.extra,bodyBox.frameTranslation.frame_a.R.T[1,1],bodyBox.frameTranslation.frame_a.R.T[1,2],bodyBox.frameTranslation.frame_a.R.T[1,3],bodyBox.frameTranslation.frame_a.R.T[2,1],bodyBox.frameTranslation.frame_a.R.T[2,2],bodyBox.frameTranslation.frame_a.R.T[2,3],bodyBox.frameTranslation.frame_a.R.T[3,1],bodyBox.frameTranslation.frame_a.R.T[3,2],bodyBox.frameTranslation.frame_a.R.T[3,3],bodyBox.frameTranslation.frame_a.R.w[1],bodyBox.frameTranslation.frame_a.R.w[2],bodyBox.frameTranslation.frame_a.R.w[3],bodyBox.frameTranslation.frame_a.f[1],bodyBox.frameTranslation.frame_a.f[2],bodyBox.frameTranslation.frame_a.f[3],bodyBox.frameTranslation.frame_a.r_0[1],bodyBox.frameTranslation.frame_a.r_0[2],bodyBox.frameTranslation.frame_a.r_0[3],bodyBox.frameTranslation.frame_a.t[1],bodyBox.frameTranslation.frame_a.t[2],bodyBox.frameTranslation.frame_a.t[3],bodyBox.frameTranslation.frame_b.R.T[1,1],bodyBox.frameTranslation.frame_b.R.T[1,2],bodyBox.frameTranslation.frame_b.R.T[1,3],bodyBox.frameTranslation.frame_b.R.T[2,1],bodyBox.frameTranslation.frame_b.R.T[2,2],bodyBox.frameTranslation.frame_b.R.T[2,3],bodyBox.frameTranslation.frame_b.R.T[3,1],bodyBox.frameTranslation.frame_b.R.T[3,2],bodyBox.frameTranslation.frame_b.R.T[3,3],bodyBox.frameTranslation.frame_b.R.w[1],bodyBox.frameTranslation.frame_b.R.w[2],bodyBox.frameTranslation.frame_b.R.w[3],bodyBox.frameTranslation.frame_b.f[1],bodyBox.frameTranslation.frame_b.f[2],bodyBox.frameTranslation.frame_b.f[3],bodyBox.frameTranslation.frame_b.r_0[1],bodyBox.frameTranslation.frame_b.r_0[2],bodyBox.frameTranslation.frame_b.r_0[3],bodyBox.frameTranslation.frame_b.t[1],bodyBox.frameTranslation.frame_b.t[2],bodyBox.frameTranslation.frame_b.t[3],bodyBox.frameTranslation.height,bodyBox.frameTranslation.length,bodyBox.frameTranslation.lengthDirection[1],bodyBox.frameTranslation.lengthDirection[2],bodyBox.frameTranslation.lengthDirection[3],bodyBox.frameTranslation.r[1],bodyBox.frameTranslation.r[2],bodyBox.frameTranslation.r[3],bodyBox.frameTranslation.r_shape[1],bodyBox.frameTranslation.r_shape[2],bodyBox.frameTranslation.r_shape[3],bodyBox.frameTranslation.specularCoefficient,bodyBox.frameTranslation.width,bodyBox.frameTranslation.widthDirection[1],bodyBox.frameTranslation.widthDirection[2],bodyBox.frameTranslation.widthDirection[3],bodyBox.frame_a.R.T[1,1],bodyBox.frame_a.R.T[1,2],bodyBox.frame_a.R.T[1,3],bodyBox.frame_a.R.T[2,1],bodyBox.frame_a.R.T[2,2],bodyBox.frame_a.R.T[2,3],bodyBox.frame_a.R.T[3,1],bodyBox.frame_a.R.T[3,2],bodyBox.frame_a.R.T[3,3],bodyBox.frame_a.R.w[1],bodyBox.frame_a.R.w[2],bodyBox.frame_a.R.w[3],bodyBox.frame_a.f[1],bodyBox.frame_a.f[2],bodyBox.frame_a.f[3],bodyBox.frame_a.r_0[1],bodyBox.frame_a.r_0[2],bodyBox.frame_a.r_0[3],bodyBox.frame_a.t[1],bodyBox.frame_a.t[2],bodyBox.frame_a.t[3],bodyBox.frame_b.R.T[1,1],bodyBox.frame_b.R.T[1,2],bodyBox.frame_b.R.T[1,3],bodyBox.frame_b.R.T[2,1],bodyBox.frame_b.R.T[2,2],bodyBox.frame_b.R.T[2,3],bodyBox.frame_b.R.T[3,1],bodyBox.frame_b.R.T[3,2],bodyBox.frame_b.R.T[3,3],bodyBox.frame_b.R.w[1],bodyBox.frame_b.R.w[2],bodyBox.frame_b.R.w[3],bodyBox.frame_b.f[1],bodyBox.frame_b.f[2],bodyBox.frame_b.f[3],bodyBox.frame_b.r_0[1],bodyBox.frame_b.r_0[2],bodyBox.frame_b.r_0[3],bodyBox.frame_b.t[1],bodyBox.frame_b.t[2],bodyBox.frame_b.t[3],bodyBox.height,bodyBox.innerHeight,bodyBox.innerWidth,bodyBox.length,bodyBox.lengthDirection[1],bodyBox.lengthDirection[2],bodyBox.lengthDirection[3],bodyBox.m,bodyBox.mi,bodyBox.mo,bodyBox.r[1],bodyBox.r[2],bodyBox.r[3],bodyBox.r_0[1],bodyBox.r_0[2],bodyBox.r_0[3],bodyBox.r_CM[1],bodyBox.r_CM[2],bodyBox.r_CM[3],bodyBox.r_shape[1],bodyBox.r_shape[2],bodyBox.r_shape[3],bodyBox.sequence_angleStates[1],bodyBox.sequence_angleStates[2],bodyBox.sequence_angleStates[3],bodyBox.sequence_start[1],bodyBox.sequence_start[2],bodyBox.sequence_start[3],bodyBox.specularCoefficient,bodyBox.useQuaternions,bodyBox.v_0[1],bodyBox.v_0[2],bodyBox.v_0[3],bodyBox.w_0_fixed,bodyBox.w_0_start[1],bodyBox.w_0_start[2],bodyBox.w_0_start[3],bodyBox.width,bodyBox.widthDirection[1],bodyBox.widthDirection[2],bodyBox.widthDirection[3],bodyBox.z_0_fixed,bodyBox.z_0_start[1],bodyBox.z_0_start[2],bodyBox.z_0_start[3],der(body.frame_a.r_0[1]),der(body.frame_a.r_0[2]),der(body.frame_a.r_0[3]),der(body.v_0[1]),der(body.v_0[2]),der(body.v_0[3]),der(body.w_a[1]),der(body.w_a[2]),der(body.w_a[3]),der(bodyBox.frame_b.R.T[1,2]),der(der(jointUSP.frame_b.r_0[1])),der(der(jointUSP.frame_b.r_0[2])),der(der(jointUSP.frame_b.r_0[3])),der(der(jointUSP.frame_ib.r_0[1])),der(der(jointUSP.frame_ib.r_0[2])),der(der(jointUSP.frame_ib.r_0[3])),der(der(jointUSP.prismatic.B)),der(der(jointUSP.prismatic.C)),der(der(jointUSP.prismatic.k1)),der(der(jointUSP.prismatic.k1a)),der(der(jointUSP.prismatic.k1b)),der(der(jointUSP.prismatic.k2)),der(der(jointUSP.prismatic.r_a[1])),der(der(jointUSP.prismatic.r_a[2])),der(der(jointUSP.prismatic.r_a[3])),der(der(jointUSP.prismatic.r_rel_a[3])),der(der(jointUSP.prismatic.rbra[1])),der(der(jointUSP.prismatic.rbra[2])),der(der(jointUSP.prismatic.rbra[3])),der(jointUSP.frame_b.r_0[1]),der(jointUSP.frame_b.r_0[2]),der(jointUSP.frame_b.r_0[3]),der(jointUSP.frame_ib.r_0[1]),der(jointUSP.frame_ib.r_0[2]),der(jointUSP.frame_ib.r_0[3]),der(jointUSP.prismatic.B),der(jointUSP.prismatic.C),der(jointUSP.prismatic.k1),der(jointUSP.prismatic.k1a),der(jointUSP.prismatic.k1b),der(jointUSP.prismatic.k2),der(jointUSP.prismatic.r_a[1]),der(jointUSP.prismatic.r_a[2]),der(jointUSP.prismatic.r_a[3]),der(jointUSP.prismatic.r_rel_a[3]),der(jointUSP.prismatic.rbra[1]),der(jointUSP.prismatic.rbra[2]),der(jointUSP.prismatic.rbra[3]),der(revolute.R_rel.w[1]),der(revolute.R_rel.w[2]),der(revolute.R_rel.w[3]),der(revolute.phi),der(revolute.w),fixedTranslation.animation,fixedTranslation.color[1],fixedTranslation.color[2],fixedTranslation.color[3],fixedTranslation.extra,fixedTranslation.frame_a.R.T[1,1],fixedTranslation.frame_a.R.T[1,2],fixedTranslation.frame_a.R.T[1,3],fixedTranslation.frame_a.R.T[2,1],fixedTranslation.frame_a.R.T[2,2],fixedTranslation.frame_a.R.T[2,3],fixedTranslation.frame_a.R.T[3,1],fixedTranslation.frame_a.R.T[3,2],fixedTranslation.frame_a.R.T[3,3],fixedTranslation.frame_a.R.w[1],fixedTranslation.frame_a.R.w[2],fixedTranslation.frame_a.R.w[3],fixedTranslation.frame_a.f[1],fixedTranslation.frame_a.f[2],fixedTranslation.frame_a.f[3],fixedTranslation.frame_a.r_0[1],fixedTranslation.frame_a.r_0[2],fixedTranslation.frame_a.r_0[3],fixedTranslation.frame_a.t[1],fixedTranslation.frame_a.t[2],fixedTranslation.frame_a.t[3],fixedTranslation.frame_b.R.T[1,1],fixedTranslation.frame_b.R.T[1,2],fixedTranslation.frame_b.R.T[1,3],fixedTranslation.frame_b.R.T[2,1],fixedTranslation.frame_b.R.T[2,2],fixedTranslation.frame_b.R.T[2,3],fixedTranslation.frame_b.R.T[3,1],fixedTranslation.frame_b.R.T[3,2],fixedTranslation.frame_b.R.T[3,3],fixedTranslation.frame_b.R.w[1],fixedTranslation.frame_b.R.w[2],fixedTranslation.frame_b.R.w[3],fixedTranslation.frame_b.f[1],fixedTranslation.frame_b.f[2],fixedTranslation.frame_b.f[3],fixedTranslation.frame_b.r_0[1],fixedTranslation.frame_b.r_0[2],fixedTranslation.frame_b.r_0[3],fixedTranslation.frame_b.t[1],fixedTranslation.frame_b.t[2],fixedTranslation.frame_b.t[3],fixedTranslation.height,fixedTranslation.length,fixedTranslation.lengthDirection[1],fixedTranslation.lengthDirection[2],fixedTranslation.lengthDirection[3],fixedTranslation.r[1],fixedTranslation.r[2],fixedTranslation.r[3],fixedTranslation.r_shape[1],fixedTranslation.r_shape[2],fixedTranslation.r_shape[3],fixedTranslation.specularCoefficient,fixedTranslation.width,fixedTranslation.widthDirection[1],fixedTranslation.widthDirection[2],fixedTranslation.widthDirection[3],jointUSP.animation,jointUSP.axis.f,jointUSP.axis.s,jointUSP.bearing.f,jointUSP.bearing.s,jointUSP.boxColor[1],jointUSP.boxColor[2],jointUSP.boxColor[3],jointUSP.boxHeight,jointUSP.boxWidth,jointUSP.boxWidthDirection[1],jointUSP.boxWidthDirection[2],jointUSP.boxWidthDirection[3],jointUSP.checkTotalPower,jointUSP.cylinderColor[1],jointUSP.cylinderColor[2],jointUSP.cylinderColor[3],jointUSP.cylinderDiameter,jointUSP.cylinderLength,jointUSP.e2_ia[1],jointUSP.e2_ia[2],jointUSP.e2_ia[3],jointUSP.eRod1_ia[1],jointUSP.eRod1_ia[2],jointUSP.eRod1_ia[3],jointUSP.f_rod,jointUSP.frame_a.R.T[1,1],jointUSP.frame_a.R.T[1,2],jointUSP.frame_a.R.T[1,3],jointUSP.frame_a.R.T[2,1],jointUSP.frame_a.R.T[2,2],jointUSP.frame_a.R.T[2,3],jointUSP.frame_a.R.T[3,1],jointUSP.frame_a.R.T[3,2],jointUSP.frame_a.R.T[3,3],jointUSP.frame_a.R.w[1],jointUSP.frame_a.R.w[2],jointUSP.frame_a.R.w[3],jointUSP.frame_a.f[1],jointUSP.frame_a.f[2],jointUSP.frame_a.f[3],jointUSP.frame_a.r_0[1],jointUSP.frame_a.r_0[2],jointUSP.frame_a.r_0[3],jointUSP.frame_a.t[1],jointUSP.frame_a.t[2],jointUSP.frame_a.t[3],jointUSP.frame_b.R.T[1,1],jointUSP.frame_b.R.T[1,2],jointUSP.frame_b.R.T[1,3],jointUSP.frame_b.R.T[2,1],jointUSP.frame_b.R.T[2,2],jointUSP.frame_b.R.T[2,3],jointUSP.frame_b.R.T[3,1],jointUSP.frame_b.R.T[3,2],jointUSP.frame_b.R.T[3,3],jointUSP.frame_b.R.w[1],jointUSP.frame_b.R.w[2],jointUSP.frame_b.R.w[3],jointUSP.frame_b.f[1],jointUSP.frame_b.f[2],jointUSP.frame_b.f[3],jointUSP.frame_b.r_0[1],jointUSP.frame_b.r_0[2],jointUSP.frame_b.r_0[3],jointUSP.frame_b.t[1],jointUSP.frame_b.t[2],jointUSP.frame_b.t[3],jointUSP.frame_ia.R.T[1,1],jointUSP.frame_ia.R.T[1,2],jointUSP.frame_ia.R.T[1,3],jointUSP.frame_ia.R.T[2,1],jointUSP.frame_ia.R.T[2,2],jointUSP.frame_ia.R.T[2,3],jointUSP.frame_ia.R.T[3,1],jointUSP.frame_ia.R.T[3,2],jointUSP.frame_ia.R.T[3,3],jointUSP.frame_ia.R.w[1],jointUSP.frame_ia.R.w[2],jointUSP.frame_ia.R.w[3],jointUSP.frame_ia.f[1],jointUSP.frame_ia.f[2],jointUSP.frame_ia.f[3],jointUSP.frame_ia.r_0[1],jointUSP.frame_ia.r_0[2],jointUSP.frame_ia.r_0[3],jointUSP.frame_ia.t[1],jointUSP.frame_ia.t[2],jointUSP.frame_ia.t[3],jointUSP.frame_ib.R.T[1,1],jointUSP.frame_ib.R.T[1,2],jointUSP.frame_ib.R.T[1,3],jointUSP.frame_ib.R.T[2,1],jointUSP.frame_ib.R.T[2,2],jointUSP.frame_ib.R.T[2,3],jointUSP.frame_ib.R.T[3,1],jointUSP.frame_ib.R.T[3,2],jointUSP.frame_ib.R.T[3,3],jointUSP.frame_ib.R.w[1],jointUSP.frame_ib.R.w[2],jointUSP.frame_ib.R.w[3],jointUSP.frame_ib.f[1],jointUSP.frame_ib.f[2],jointUSP.frame_ib.f[3],jointUSP.frame_ib.r_0[1],jointUSP.frame_ib.r_0[2],jointUSP.frame_ib.r_0[3],jointUSP.frame_ib.t[1],jointUSP.frame_ib.t[2],jointUSP.frame_ib.t[3],jointUSP.frame_im.R.T[1,1],jointUSP.frame_im.R.T[1,2],jointUSP.frame_im.R.T[1,3],jointUSP.frame_im.R.T[2,1],jointUSP.frame_im.R.T[2,2],jointUSP.frame_im.R.T[2,3],jointUSP.frame_im.R.T[3,1],jointUSP.frame_im.R.T[3,2],jointUSP.frame_im.R.T[3,3],jointUSP.frame_im.R.w[1],jointUSP.frame_im.R.w[2],jointUSP.frame_im.R.w[3],jointUSP.frame_im.f[1],jointUSP.frame_im.f[2],jointUSP.frame_im.f[3],jointUSP.frame_im.r_0[1],jointUSP.frame_im.r_0[2],jointUSP.frame_im.r_0[3],jointUSP.frame_im.t[1],jointUSP.frame_im.t[2],jointUSP.frame_im.t[3],jointUSP.n1_a[1],jointUSP.n1_a[2],jointUSP.n1_a[3],jointUSP.n_b[1],jointUSP.n_b[2],jointUSP.n_b[3],jointUSP.position_b[1].k,jointUSP.position_b[1].y,jointUSP.position_b[2].k,jointUSP.position_b[2].y,jointUSP.position_b[3].k,jointUSP.position_b[3].y,jointUSP.prismatic.animation,jointUSP.prismatic.axis.f,jointUSP.prismatic.axis.s,jointUSP.prismatic.bearing.f,jointUSP.prismatic.bearing.s,jointUSP.prismatic.boxColor[1],jointUSP.prismatic.boxColor[2],jointUSP.prismatic.boxColor[3],jointUSP.prismatic.boxHeight,jointUSP.prismatic.boxWidth,jointUSP.prismatic.boxWidthDirection[1],jointUSP.prismatic.boxWidthDirection[2],jointUSP.prismatic.boxWidthDirection[3],jointUSP.prismatic.distance,jointUSP.prismatic.e[1],jointUSP.prismatic.e[2],jointUSP.prismatic.e[3],jointUSP.prismatic.f,jointUSP.prismatic.frame_a.R.T[1,1],jointUSP.prismatic.frame_a.R.T[1,2],jointUSP.prismatic.frame_a.R.T[1,3],jointUSP.prismatic.frame_a.R.T[2,1],jointUSP.prismatic.frame_a.R.T[2,2],jointUSP.prismatic.frame_a.R.T[2,3],jointUSP.prismatic.frame_a.R.T[3,1],jointUSP.prismatic.frame_a.R.T[3,2],jointUSP.prismatic.frame_a.R.T[3,3],jointUSP.prismatic.frame_a.R.w[1],jointUSP.prismatic.frame_a.R.w[2],jointUSP.prismatic.frame_a.R.w[3],jointUSP.prismatic.frame_a.f[1],jointUSP.prismatic.frame_a.f[2],jointUSP.prismatic.frame_a.f[3],jointUSP.prismatic.frame_a.r_0[1],jointUSP.prismatic.frame_a.r_0[2],jointUSP.prismatic.frame_a.r_0[3],jointUSP.prismatic.frame_a.t[1],jointUSP.prismatic.frame_a.t[2],jointUSP.prismatic.frame_a.t[3],jointUSP.prismatic.frame_b.R.T[1,1],jointUSP.prismatic.frame_b.R.T[1,2],jointUSP.prismatic.frame_b.R.T[1,3],jointUSP.prismatic.frame_b.R.T[2,1],jointUSP.prismatic.frame_b.R.T[2,2],jointUSP.prismatic.frame_b.R.T[2,3],jointUSP.prismatic.frame_b.R.T[3,1],jointUSP.prismatic.frame_b.R.T[3,2],jointUSP.prismatic.frame_b.R.T[3,3],jointUSP.prismatic.frame_b.R.w[1],jointUSP.prismatic.frame_b.R.w[2],jointUSP.prismatic.frame_b.R.w[3],jointUSP.prismatic.frame_b.f[1],jointUSP.prismatic.frame_b.f[2],jointUSP.prismatic.frame_b.f[3],jointUSP.prismatic.frame_b.r_0[1],jointUSP.prismatic.frame_b.r_0[2],jointUSP.prismatic.frame_b.r_0[3],jointUSP.prismatic.frame_b.t[1],jointUSP.prismatic.frame_b.t[2],jointUSP.prismatic.frame_b.t[3],jointUSP.prismatic.length,jointUSP.prismatic.n[1],jointUSP.prismatic.n[2],jointUSP.prismatic.n[3],jointUSP.prismatic.position_a[1],jointUSP.prismatic.position_a[2],jointUSP.prismatic.position_a[3],jointUSP.prismatic.position_b[1],jointUSP.prismatic.position_b[2],jointUSP.prismatic.position_b[3],jointUSP.prismatic.positiveBranch,jointUSP.prismatic.r_rel_a[1],jointUSP.prismatic.r_rel_a[2],jointUSP.prismatic.r_rel_a[3],jointUSP.prismatic.s,jointUSP.prismatic.s_guess,jointUSP.prismatic.s_offset,jointUSP.prismatic.specularCoefficient,jointUSP.rRod1_ia[1],jointUSP.rRod1_ia[2],jointUSP.rRod1_ia[3],jointUSP.rRod2_ib[1],jointUSP.rRod2_ib[2],jointUSP.rRod2_ib[3],jointUSP.relativePosition.frame_a.R.T[1,1],jointUSP.relativePosition.frame_a.R.T[1,2],jointUSP.relativePosition.frame_a.R.T[1,3],jointUSP.relativePosition.frame_a.R.T[2,1],jointUSP.relativePosition.frame_a.R.T[2,2],jointUSP.relativePosition.frame_a.R.T[2,3],jointUSP.relativePosition.frame_a.R.T[3,1],jointUSP.relativePosition.frame_a.R.T[3,2],jointUSP.relativePosition.frame_a.R.T[3,3],jointUSP.relativePosition.frame_a.R.w[1],jointUSP.relativePosition.frame_a.R.w[2],jointUSP.relativePosition.frame_a.R.w[3],jointUSP.relativePosition.frame_a.f[1],jointUSP.relativePosition.frame_a.f[2],jointUSP.relativePosition.frame_a.f[3],jointUSP.relativePosition.frame_a.r_0[1],jointUSP.relativePosition.frame_a.r_0[2],jointUSP.relativePosition.frame_a.r_0[3],jointUSP.relativePosition.frame_a.t[1],jointUSP.relativePosition.frame_a.t[2],jointUSP.relativePosition.frame_a.t[3],jointUSP.relativePosition.frame_b.R.T[1,1],jointUSP.relativePosition.frame_b.R.T[1,2],jointUSP.relativePosition.frame_b.R.T[1,3],jointUSP.relativePosition.frame_b.R.T[2,1],jointUSP.relativePosition.frame_b.R.T[2,2],jointUSP.relativePosition.frame_b.R.T[2,3],jointUSP.relativePosition.frame_b.R.T[3,1],jointUSP.r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