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 0.001887/0.001887, allocations: 101.7 kB / 15.98 MB, free: 6.332 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001509/0.001509, allocations: 192.2 kB / 16.9 MB, free: 6.184 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.46/1.46, allocations: 205.1 MB / 222.8 MB, free: 4.703 MB / 174.1 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.3+maint.om/package.mo): time 0.346/0.346, allocations: 43.5 MB / 313.6 MB, free: 8.504 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 0.001605/0.001605, allocations: 67.89 kB / 382.3 MB, free: 8.516 MB / 318.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.1428/0.1444, allocations: 57.77 MB / 440.1 MB, free: 14.64 MB / 382.1 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.JointUSP2): time 0.281/0.4254, allocations: 48.23 MB / 488.3 MB, free: 21.04 MB / 382.1 MB
Notification: Performance of NFInst.instExpressions: time 0.02108/0.4466, allocations: 10.6 MB / 498.9 MB, free: 13.96 MB / 382.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.0101/0.4567, allocations: 207.7 kB / 499.1 MB, free: 13.93 MB / 382.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.00656/0.4633, allocations: 3.846 MB / 0.4912 GB, free: 12.17 MB / 382.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.006666/0.47, allocations: 2.048 MB / 0.4932 GB, free: 11.25 MB / 382.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.002495/0.4725, allocations: 1.113 MB / 0.4943 GB, free: 10.78 MB / 382.1 MB
Notification: Performance of NFFlatten.flatten: time 0.008327/0.4809, allocations: 5.706 MB / 0.4999 GB, free: 8.723 MB / 382.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.00791/0.4888, allocations: 5.461 MB / 0.5052 GB, free: 6.48 MB / 382.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.005647/0.4945, allocations: 2.229 MB / 0.5074 GB, free: 5.523 MB / 382.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.00634/0.5009, allocations: 3.277 MB / 0.5106 GB, free: 4.328 MB / 382.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.002536/0.5035, allocations: 0.4996 MB / 0.5111 GB, free: 4.328 MB / 382.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.005392/0.5089, allocations: 1.664 MB / 0.5127 GB, free: 3.996 MB / 382.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.004394/0.5133, allocations: 2.707 MB / 0.5153 GB, free: 2.918 MB / 382.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.00587/0.5192, allocations: 3.133 MB / 0.5184 GB, free: 0.5312 MB / 382.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.01306/0.5323, allocations: 9.929 MB / 0.5281 GB, free: 7.102 MB / 398.1 MB
Notification: Performance of FrontEnd - DAE generated: time 6.873e-06/0.5324, allocations: 0 / 0.5281 GB, free: 7.102 MB / 398.1 MB
Notification: Performance of FrontEnd: time 1.804e-06/0.5324, allocations: 4 kB / 0.5281 GB, free: 7.098 MB / 398.1 MB
Notification: Performance of Transformations before backend: time 0.0003234/0.5327, allocations: 0 / 0.5281 GB, free: 7.098 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 0.01778/0.5505, allocations: 6.7 MB / 0.5346 GB, free: 328 kB / 398.1 MB
Notification: Performance of prepare preOptimizeDAE: time 4.877e-05/0.5506, allocations: 11.89 kB / 0.5346 GB, free: 316 kB / 398.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.00203/0.5526, allocations: 0.9255 MB / 0.5355 GB, free: 15.37 MB / 414.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.09619/0.6488, allocations: 7.398 MB / 0.5428 GB, free: 7.957 MB / 414.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.01039/0.6592, allocations: 4.595 MB / 0.5472 GB, free: 3.301 MB / 414.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.000383/0.6597, allocations: 354.2 kB / 0.5476 GB, free: 2.945 MB / 414.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.001823/0.6615, allocations: 431.7 kB / 0.548 GB, free: 2.523 MB / 414.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.03075/0.6923, allocations: 13.77 MB / 0.5614 GB, free: 3.902 MB / 430.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.000305/0.6926, allocations: 55.52 kB / 0.5615 GB, free: 3.848 MB / 430.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.001605/0.6942, allocations: 203.8 kB / 0.5617 GB, free: 3.648 MB / 430.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.00415/0.6984, allocations: 2.406 MB / 0.564 GB, free: 1.242 MB / 430.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02421/0.7227, allocations: 11.61 MB / 0.5754 GB, free: 5.613 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 0.06581/0.7885, allocations: 51.36 MB / 0.6255 GB, free: 0.7695 MB / 494.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.2429/1.031, allocations: 4.659 MB / 0.6301 GB, free: 139.4 MB / 494.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.003444/1.035, allocations: 2.782 MB / 0.6328 GB, free: 139 MB / 494.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.01604/1.051, allocations: 12.34 MB / 0.6449 GB, free: 132.5 MB / 494.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 4.833e-05/1.051, allocations: 59.03 kB / 0.6449 GB, free: 132.4 MB / 494.1 MB
Notification: Performance of pre-optimization done (n=191): time 4.418e-06/1.051, allocations: 0 / 0.6449 GB, free: 132.4 MB / 494.1 MB
Notification: Performance of matching and sorting (n=242): time 0.1518/1.203, allocations: 42.57 MB / 0.6865 GB, free: 120 MB / 494.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 8.083e-05/1.203, allocations: 241.9 kB / 0.6867 GB, free: 119.7 MB / 494.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.007015/1.21, allocations: 4.83 MB / 0.6914 GB, free: 114.9 MB / 494.1 MB
Notification: Performance of collectPreVariables (initialization): time 0.0004829/1.21, allocations: 61.7 kB / 0.6915 GB, free: 114.8 MB / 494.1 MB
Notification: Performance of collectInitialEqns (initialization): time 0.002077/1.213, allocations: 3.901 MB / 0.6953 GB, free: 110.9 MB / 494.1 MB
Notification: Performance of collectInitialBindings (initialization): time 0.001095/1.214, allocations: 0.9138 MB / 0.6962 GB, free: 110 MB / 494.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.001975/1.216, allocations: 1.457 MB / 0.6976 GB, free: 108.5 MB / 494.1 MB
Notification: Performance of setup shared object (initialization): time 3.609e-05/1.216, allocations: 309.1 kB / 0.6979 GB, free: 108.2 MB / 494.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.003845/1.22, allocations: 3.256 MB / 0.7011 GB, free: 105 MB / 494.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.005141/1.225, allocations: 7.548 MB / 0.7085 GB, free: 95.36 MB / 494.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01021/1.235, allocations: 11.6 MB / 0.7198 GB, free: 81.75 MB / 494.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001008/1.235, allocations: 44 kB / 0.7198 GB, free: 81.71 MB / 494.1 MB
Notification: Performance of matching and sorting (n=940) (initialization): time 0.02623/1.261, allocations: 13.85 MB / 0.7334 GB, free: 67.84 MB / 494.1 MB
Notification: Performance of prepare postOptimizeDAE: time 0.0001434/1.262, allocations: 77.47 kB / 0.7334 GB, free: 67.77 MB / 494.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0002088/1.262, allocations: 148 kB / 0.7336 GB, free: 67.62 MB / 494.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.01126/1.273, allocations: 3.789 MB / 0.7373 GB, free: 63.83 MB / 494.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.005352/1.278, allocations: 1.591 MB / 0.7388 GB, free: 62.24 MB / 494.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.02379/1.302, allocations: 19.17 MB / 0.7575 GB, free: 42.94 MB / 494.1 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.006308/1.309, allocations: 455.4 kB / 0.758 GB, free: 42.49 MB / 494.1 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001014/1.31, allocations: 431.8 kB / 0.7584 GB, free: 42.07 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 0.003736/1.313, allocations: 2.657 MB / 0.761 GB, free: 39.4 MB / 494.1 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.0006917/1.314, allocations: 434.4 kB / 0.7614 GB, free: 38.97 MB / 494.1 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01623/1.33, allocations: 8.143 MB / 0.7694 GB, free: 30.81 MB / 494.1 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 5.581e-05/1.33, allocations: 28 kB / 0.7694 GB, free: 30.78 MB / 494.1 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 2.411e-05/1.33, allocations: 12 kB / 0.7694 GB, free: 30.77 MB / 494.1 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 5.145e-05/1.33, allocations: 11.95 kB / 0.7694 GB, free: 30.76 MB / 494.1 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.02963/1.36, allocations: 17.37 MB / 0.7864 GB, free: 13.38 MB / 494.1 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.262e-05/1.36, allocations: 0 / 0.7864 GB, free: 13.38 MB / 494.1 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002206/1.362, allocations: 394.2 kB / 0.7867 GB, free: 13 MB / 494.1 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.01125/1.374, allocations: 3.835 MB / 0.7905 GB, free: 9.152 MB / 494.1 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0005063/1.374, allocations: 43.92 kB / 0.7905 GB, free: 9.109 MB / 494.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.02468/1.399, allocations: 17.53 MB / 0.8076 GB, free: 7.43 MB / 0.4981 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 3.036e-06/1.399, allocations: 4 kB / 0.8076 GB, free: 7.426 MB / 0.4981 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.2625/1.661, allocations: 12.52 MB / 0.8199 GB, free: 140.6 MB / 0.4981 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.002507/1.664, allocations: 0.9281 MB / 0.8208 GB, free: 140.4 MB / 0.4981 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001249/1.665, allocations: 36.73 kB / 0.8208 GB, free: 140.4 MB / 0.4981 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.003051/1.668, allocations: 210.7 kB / 0.821 GB, free: 140.4 MB / 0.4981 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0006877/1.669, allocations: 154.3 kB / 0.8212 GB, free: 140.3 MB / 0.4981 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002021/1.669, allocations: 57.34 kB / 0.8212 GB, free: 140.3 MB / 0.4981 GB
Notification: Performance of sorting global known variables: time 0.005111/1.674, allocations: 3.025 MB / 0.8242 GB, free: 139.3 MB / 0.4981 GB
Notification: Performance of sort global known variables: time 1.152e-06/1.674, allocations: 0 / 0.8242 GB, free: 139.3 MB / 0.4981 GB
Notification: Performance of remove unused functions: time 0.008164/1.683, allocations: 1.446 MB / 0.8256 GB, free: 139.2 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 0.02462/1.707, allocations: 13.24 MB / 0.8385 GB, free: 134.4 MB / 0.4981 GB
Notification: Performance of simCode: created initialization part: time 0.01725/1.724, allocations: 9.506 MB / 0.8478 GB, free: 131.6 MB / 0.4981 GB
Notification: Performance of simCode: created event and clocks part: time 1.03e-05/1.725, allocations: 1.875 kB / 0.8478 GB, free: 131.6 MB / 0.4981 GB
Notification: Performance of simCode: created simulation system equations: time 0.005496/1.73, allocations: 2.971 MB / 0.8507 GB, free: 130.3 MB / 0.4981 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.004152/1.734, allocations: 0.5381 MB / 0.8512 GB, free: 130.1 MB / 0.4981 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.1232/1.857, allocations: 77.53 MB / 0.9269 GB, free: 62.29 MB / 0.4981 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.003923/1.861, allocations: 4.103 MB / 0.9309 GB, free: 58.18 MB / 0.4981 GB
Notification: Performance of simCode: alias equations: time 0.00485/1.866, allocations: 2.177 MB / 0.9331 GB, free: 56 MB / 0.4981 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.002859/1.869, allocations: 2.487 MB / 0.9355 GB, free: 53.51 MB / 0.4981 GB
Notification: Performance of SimCode: time 1.462e-06/1.869, allocations: 0 / 0.9355 GB, free: 53.51 MB / 0.4981 GB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.3626/2.232, allocations: 107.3 MB / 1.04 GB, free: 150.8 MB / 0.5137 GB
Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0001292/2.232, allocations: 220 kB / 1.04 GB, free: 150.6 MB / 0.5137 GB
Notification: Performance of buildModelFMU: Generate platform static: time 4.925/7.157, allocations: 0 / 1.04 GB, free: 150.6 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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