Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr ModelicaTest_4.0.0_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 4.0.0+maint.om/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/package.mo", uses=false)
Using package ModelicaTest with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/package.mo)
Using package Modelica with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+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_4_0_0_ModelicaTest_MultiBody_Joints_JointUSP2",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(ModelicaTest.MultiBody.Joints.JointUSP2,fileNamePrefix="ModelicaTest_4_0_0_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 0.0009613/0.0009612, allocations: 95.34 kB / 17.35 MB, free: 6.344 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001163/0.001163, allocations: 173.8 kB / 18.25 MB, free: 5.504 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo): time 1.282/1.282, allocations: 223.3 MB / 242.3 MB, free: 272 kB / 190.1 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/package.mo): time 0.1813/0.1813, allocations: 44.25 MB / 337.7 MB, free: 2.707 MB / 270.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.0002846/0.0002847, allocations: 9.438 kB / 410.4 MB, free: 27.25 MB / 302.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.09829/0.09859, allocations: 61.92 MB / 472.4 MB, free: 13.3 MB / 350.1 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.JointUSP2): time 0.2327/0.3313, allocations: 46.91 MB / 0.5071 GB, free: 9.797 MB / 382.1 MB
Notification: Performance of NFInst.instExpressions: time 0.01906/0.3504, allocations: 10.65 MB / 0.5175 GB, free: 9.547 MB / 382.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.007406/0.3578, allocations: 208.1 kB / 0.5177 GB, free: 9.547 MB / 382.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.001461/0.3593, allocations: 0.5092 MB / 0.5182 GB, free: 9.43 MB / 382.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.004952/0.3643, allocations: 2.076 MB / 0.5202 GB, free: 9.039 MB / 382.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.002267/0.3666, allocations: 1.086 MB / 0.5213 GB, free: 8.719 MB / 382.1 MB
Notification: Performance of NFFlatten.flatten: time 0.009623/0.3762, allocations: 8.262 MB / 0.5293 GB, free: 5.895 MB / 382.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.0076/0.3838, allocations: 7.043 MB / 0.5362 GB, free: 2.371 MB / 382.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.002345/0.3862, allocations: 1.582 MB / 0.5378 GB, free: 1.656 MB / 382.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.002895/0.3891, allocations: 2.693 MB / 0.5404 GB, free: 332 kB / 382.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.0005138/0.3896, allocations: 200.3 kB / 0.5406 GB, free: 332 kB / 382.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.002453/0.3921, allocations: 1.453 MB / 0.542 GB, free: 15.7 MB / 398.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.002157/0.3943, allocations: 2.316 MB / 0.5443 GB, free: 13.73 MB / 398.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.002913/0.3972, allocations: 2.69 MB / 0.5469 GB, free: 11.03 MB / 398.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.01014/0.4073, allocations: 9.44 MB / 0.5561 GB, free: 1.793 MB / 398.1 MB
Notification: Performance of FrontEnd - DAE generated: time 6.472e-06/0.4074, allocations: 8 kB / 0.5561 GB, free: 1.785 MB / 398.1 MB
Notification: Performance of FrontEnd: time 1.833e-06/0.4074, allocations: 0 / 0.5561 GB, free: 1.785 MB / 398.1 MB
Notification: Performance of Transformations before backend: time 0.0001943/0.4076, allocations: 0 / 0.5561 GB, free: 1.785 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 0.01238/0.42, allocations: 5.509 MB / 0.5615 GB, free: 12.23 MB / 414.1 MB
Notification: Performance of prepare preOptimizeDAE: time 4.219e-05/0.42, allocations: 12.03 kB / 0.5615 GB, free: 12.22 MB / 414.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.001618/0.4217, allocations: 0.9236 MB / 0.5624 GB, free: 11.33 MB / 414.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.09075/0.5124, allocations: 7.597 MB / 0.5698 GB, free: 3.719 MB / 414.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.009058/0.5215, allocations: 4.273 MB / 0.574 GB, free: 15.44 MB / 430.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0004321/0.522, allocations: 365.7 kB / 0.5744 GB, free: 15.12 MB / 430.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.001617/0.5236, allocations: 425.7 kB / 0.5748 GB, free: 14.75 MB / 430.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.02544/0.5491, allocations: 13.81 MB / 0.5882 GB, free: 220 kB / 430.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0001866/0.5493, allocations: 59.47 kB / 0.5883 GB, free: 160 kB / 430.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0009815/0.5503, allocations: 195.3 kB / 0.5885 GB, free: 8 kB / 430.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.003753/0.554, allocations: 2.406 MB / 0.5908 GB, free: 13.62 MB / 446.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02343/0.5775, allocations: 11.67 MB / 0.6022 GB, free: 1.938 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 0.06235/0.6399, allocations: 51.34 MB / 0.6524 GB, free: 13.38 MB / 0.4981 GB
Notification: Performance of preOpt comSubExp (simulation): time 0.01248/0.6524, allocations: 4.664 MB / 0.6569 GB, free: 8.566 MB / 0.4981 GB
Notification: Performance of preOpt resolveLoops (simulation): time 0.004081/0.6565, allocations: 2.776 MB / 0.6596 GB, free: 5.773 MB / 0.4981 GB
Notification: Performance of preOpt evalFunc (simulation): time 0.01742/0.674, allocations: 12.34 MB / 0.6717 GB, free: 8.945 MB / 0.5137 GB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 5.291e-05/0.674, allocations: 59.81 kB / 0.6717 GB, free: 8.879 MB / 0.5137 GB
Notification: Performance of pre-optimization done (n=191): time 4.979e-06/0.6741, allocations: 0 / 0.6717 GB, free: 8.879 MB / 0.5137 GB
Notification: Performance of matching and sorting (n=242): time 0.3418/1.016, allocations: 42.35 MB / 0.7131 GB, free: 202.6 MB / 0.545 GB
Notification: Performance of inlineWhenForInitialization (initialization): time 7.544e-05/1.016, allocations: 235.9 kB / 0.7133 GB, free: 202.4 MB / 0.545 GB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.007383/1.023, allocations: 4.797 MB / 0.718 GB, free: 202.1 MB / 0.545 GB
Notification: Performance of collectPreVariables (initialization): time 0.000596/1.024, allocations: 61.81 kB / 0.7181 GB, free: 202 MB / 0.545 GB
Notification: Performance of collectInitialEqns (initialization): time 0.002666/1.027, allocations: 3.903 MB / 0.7219 GB, free: 199.6 MB / 0.545 GB
Notification: Performance of collectInitialBindings (initialization): time 0.001208/1.028, allocations: 0.9159 MB / 0.7228 GB, free: 199 MB / 0.545 GB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0009741/1.029, allocations: 0.6053 MB / 0.7234 GB, free: 198.7 MB / 0.545 GB
Notification: Performance of setup shared object (initialization): time 7.288e-05/1.029, allocations: 302.2 kB / 0.7236 GB, free: 198.4 MB / 0.545 GB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.005278/1.034, allocations: 3.262 MB / 0.7268 GB, free: 197.3 MB / 0.545 GB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.006205/1.04, allocations: 7.547 MB / 0.7342 GB, free: 190.4 MB / 0.545 GB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01052/1.051, allocations: 11.6 MB / 0.7455 GB, free: 181.2 MB / 0.545 GB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001432/1.051, allocations: 45.72 kB / 0.7456 GB, free: 181.2 MB / 0.545 GB
Notification: Performance of matching and sorting (n=940) (initialization): time 0.02576/1.077, allocations: 13.84 MB / 0.7591 GB, free: 175.9 MB / 0.545 GB
Notification: Performance of prepare postOptimizeDAE: time 9.971e-05/1.077, allocations: 72.25 kB / 0.7592 GB, free: 175.8 MB / 0.545 GB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0001353/1.077, allocations: 152 kB / 0.7593 GB, free: 175.7 MB / 0.545 GB
Notification: Performance of postOpt tearingSystem (initialization): time 0.01075/1.088, allocations: 3.78 MB / 0.763 GB, free: 171.9 MB / 0.545 GB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.004906/1.093, allocations: 1.599 MB / 0.7646 GB, free: 170.3 MB / 0.545 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.02204/1.115, allocations: 18.03 MB / 0.7822 GB, free: 152.1 MB / 0.545 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.006376/1.121, allocations: 463.2 kB / 0.7826 GB, free: 151.7 MB / 0.545 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.00145/1.123, allocations: 428.8 kB / 0.783 GB, free: 151.3 MB / 0.545 GB
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 0.00524/1.128, allocations: 2.647 MB / 0.7856 GB, free: 148.6 MB / 0.545 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001148/1.129, allocations: 438.4 kB / 0.786 GB, free: 148.2 MB / 0.545 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01714/1.146, allocations: 8.138 MB / 0.794 GB, free: 140 MB / 0.545 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 5.824e-05/1.146, allocations: 24 kB / 0.794 GB, free: 140 MB / 0.545 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 4.327e-05/1.147, allocations: 12 kB / 0.794 GB, free: 140 MB / 0.545 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 5.07e-05/1.147, allocations: 19.94 kB / 0.794 GB, free: 140 MB / 0.545 GB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.03478/1.181, allocations: 17.36 MB / 0.811 GB, free: 122.6 MB / 0.545 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.678e-05/1.181, allocations: 0.875 kB / 0.811 GB, free: 122.6 MB / 0.545 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.001937/1.183, allocations: 395.3 kB / 0.8113 GB, free: 122.2 MB / 0.545 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.01063/1.194, allocations: 3.839 MB / 0.8151 GB, free: 118.4 MB / 0.545 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0003778/1.194, allocations: 36.7 kB / 0.8151 GB, free: 118.3 MB / 0.545 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.02007/1.215, allocations: 16.46 MB / 0.8312 GB, free: 101.8 MB / 0.545 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 4.168e-06/1.215, allocations: 4.031 kB / 0.8312 GB, free: 101.8 MB / 0.545 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.02124/1.236, allocations: 12.53 MB / 0.8434 GB, free: 89.2 MB / 0.545 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.001555/1.237, allocations: 471.3 kB / 0.8439 GB, free: 88.71 MB / 0.545 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001586/1.239, allocations: 36 kB / 0.8439 GB, free: 88.68 MB / 0.545 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.003117/1.242, allocations: 208.4 kB / 0.8441 GB, free: 88.47 MB / 0.545 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0007876/1.243, allocations: 150.2 kB / 0.8443 GB, free: 88.32 MB / 0.545 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0003313/1.243, allocations: 65.7 kB / 0.8443 GB, free: 88.26 MB / 0.545 GB
Notification: Performance of sorting global known variables: time 0.004967/1.248, allocations: 3.003 MB / 0.8473 GB, free: 85.26 MB / 0.545 GB
Notification: Performance of sort global known variables: time 2.11e-07/1.248, allocations: 0 / 0.8473 GB, free: 85.26 MB / 0.545 GB
Notification: Performance of remove unused functions: time 0.005884/1.254, allocations: 1.447 MB / 0.8487 GB, free: 83.82 MB / 0.545 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 0.0205/1.275, allocations: 13.23 MB / 0.8616 GB, free: 70.56 MB / 0.545 GB
Notification: Performance of simCode: created initialization part: time 0.01124/1.286, allocations: 7.897 MB / 0.8693 GB, free: 62.68 MB / 0.545 GB
Notification: Performance of simCode: created event and clocks part: time 6.633e-06/1.286, allocations: 4 kB / 0.8693 GB, free: 62.68 MB / 0.545 GB
Notification: Performance of simCode: created simulation system equations: time 0.003656/1.29, allocations: 2.963 MB / 0.8722 GB, free: 59.7 MB / 0.545 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.00481/1.295, allocations: 0.5303 MB / 0.8727 GB, free: 59.18 MB / 0.545 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.3338/1.628, allocations: 77.25 MB / 0.9482 GB, free: 170.6 MB / 0.545 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.003537/1.632, allocations: 4.095 MB / 0.9522 GB, free: 169.1 MB / 0.545 GB
Notification: Performance of simCode: alias equations: time 0.004869/1.637, allocations: 2.18 MB / 0.9543 GB, free: 168.9 MB / 0.545 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.00259/1.639, allocations: 2.478 MB / 0.9567 GB, free: 166.9 MB / 0.545 GB
Notification: Performance of SimCode: time 9.72e-07/1.639, allocations: 0 / 0.9567 GB, free: 166.9 MB / 0.545 GB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.1239/1.763, allocations: 103.1 MB / 1.057 GB, free: 70.03 MB / 0.545 GB
Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.000157/1.764, allocations: 215.2 kB / 1.058 GB, free: 69.77 MB / 0.545 GB
Notification: Performance of buildModelFMU: Generate platform static: time 3.927/5.691, allocations: 0 / 1.058 GB, free: 69.77 MB / 0.545 GB
(rm -f ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2.pipe ; mkfifo ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2.pipe ; head -c 1048576 < ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2.pipe >> ../files/ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2_res.mat --tempDir=temp_ModelicaTest_4_0_0_ModelicaTest_MultiBody_Joints_JointUSP2_fmu --startTime=0 --stopTime=4 --timeout=50 --tolerance=1e-06 ModelicaTest_4_0_0_ModelicaTest_MultiBody_Joints_JointUSP2.fmu > ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2.pipe 2>&1)
diffSimulationResults("ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/ModelicaTest/MultiBody/Joints/JointUSP2/JointUSP2.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/ModelicaTest_4.0.0_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],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.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.relativePosition.frame_b.R.T[3,2],jointUSP.relativePosition.frame_b.R.T[3,3],jointUSP.relativePosition.frame_b.R.w[1],jointUSP.relati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