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 0.001262/0.001262, allocations: 103.2 kB / 16.27 MB, free: 6.008 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001336/0.001337, allocations: 184 kB / 17.19 MB, free: 5.629 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.594/1.594, allocations: 205.1 MB / 223.1 MB, free: 12.3 MB / 190.1 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.3+maint.om/package.mo): time 0.2232/0.2232, allocations: 43.52 MB / 313.9 MB, free: 0.5352 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 0.001495/0.001495, allocations: 68.03 kB / 382.8 MB, free: 56.68 MB / 318.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.132/0.1335, allocations: 57.78 MB / 440.6 MB, free: 6.82 MB / 318.1 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.JointUSP2): time 0.01396/0.1475, allocations: 13.32 MB / 453.9 MB, free: 9.434 MB / 334.1 MB
Notification: Performance of NFInst.instExpressions: time 0.01221/0.1597, allocations: 4.833 MB / 458.8 MB, free: 4.586 MB / 334.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.003867/0.1637, allocations: 87.75 kB / 458.8 MB, free: 4.5 MB / 334.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.008427/0.1721, allocations: 3.983 MB / 462.8 MB, free: 0.5039 MB / 334.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.008082/0.1803, allocations: 2.202 MB / 465 MB, free: 14.29 MB / 350.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.003695/0.184, allocations: 1.193 MB / 466.2 MB, free: 13.09 MB / 350.1 MB
Notification: Performance of NFFlatten.flatten: time 0.009237/0.1933, allocations: 5.572 MB / 471.8 MB, free: 7.516 MB / 350.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.007561/0.2009, allocations: 5.182 MB / 477 MB, free: 2.262 MB / 350.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.005051/0.206, allocations: 2.193 MB / 479.2 MB, free: 64 kB / 350.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.005599/0.2116, allocations: 2.972 MB / 482.1 MB, free: 13.08 MB / 366.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.002204/0.2139, allocations: 0.5 MB / 482.6 MB, free: 12.58 MB / 366.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.004269/0.2182, allocations: 1.646 MB / 484.3 MB, free: 10.93 MB / 366.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.003951/0.2221, allocations: 2.654 MB / 486.9 MB, free: 8.273 MB / 366.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.008326/0.2305, allocations: 3.104 MB / 490 MB, free: 5.152 MB / 366.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.01575/0.2463, allocations: 9.869 MB / 499.9 MB, free: 11.25 MB / 382.1 MB
Notification: Performance of FrontEnd - DAE generated: time 1.095e-05/0.2463, allocations: 3.938 kB / 499.9 MB, free: 11.25 MB / 382.1 MB
Notification: Performance of FrontEnd: time 2.324e-06/0.2463, allocations: 0 / 499.9 MB, free: 11.25 MB / 382.1 MB
Notification: Performance of Transformations before backend: time 0.0004296/0.2468, allocations: 4 kB / 499.9 MB, free: 11.25 MB / 382.1 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 0.02142/0.2682, allocations: 6.698 MB / 0.4947 GB, free: 4.469 MB / 382.1 MB
Notification: Performance of prepare preOptimizeDAE: time 5.26e-05/0.2683, allocations: 15.89 kB / 0.4948 GB, free: 4.453 MB / 382.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.001991/0.2703, allocations: 0.9177 MB / 0.4957 GB, free: 3.523 MB / 382.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.09141/0.3617, allocations: 7.409 MB / 0.5029 GB, free: 12.1 MB / 398.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.01061/0.3724, allocations: 4.595 MB / 0.5074 GB, free: 7.441 MB / 398.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.000353/0.3728, allocations: 350 kB / 0.5077 GB, free: 7.09 MB / 398.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.001662/0.3744, allocations: 427.7 kB / 0.5081 GB, free: 6.672 MB / 398.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.02607/0.4005, allocations: 13.77 MB / 0.5216 GB, free: 8.047 MB / 414.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0001507/0.4007, allocations: 55.53 kB / 0.5216 GB, free: 7.992 MB / 414.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0005434/0.4013, allocations: 199.8 kB / 0.5218 GB, free: 7.797 MB / 414.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.004063/0.4053, allocations: 2.41 MB / 0.5242 GB, free: 5.387 MB / 414.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.3255/0.7308, allocations: 11.61 MB / 0.5355 GB, free: 80.26 MB / 414.1 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 0.06798/0.7989, allocations: 51.36 MB / 0.5857 GB, free: 40.36 MB / 414.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.01094/0.8099, allocations: 4.657 MB / 0.5902 GB, free: 35.55 MB / 414.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.002869/0.8128, allocations: 2.785 MB / 0.5929 GB, free: 32.75 MB / 414.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.01431/0.8271, allocations: 12.35 MB / 0.605 GB, free: 19.93 MB / 414.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 4.167e-05/0.8272, allocations: 55.81 kB / 0.605 GB, free: 19.87 MB / 414.1 MB
Notification: Performance of pre-optimization done (n=191): time 4.668e-06/0.8272, allocations: 0 / 0.605 GB, free: 19.87 MB / 414.1 MB
Notification: Performance of matching and sorting (n=242): time 0.1409/0.9681, allocations: 42.56 MB / 0.6466 GB, free: 9.168 MB / 446.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.0001339/0.9683, allocations: 235.6 kB / 0.6468 GB, free: 8.891 MB / 446.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.006603/0.9749, allocations: 4.83 MB / 0.6516 GB, free: 4.059 MB / 446.1 MB
Notification: Performance of collectPreVariables (initialization): time 0.0004359/0.9754, allocations: 63.81 kB / 0.6516 GB, free: 3.992 MB / 446.1 MB
Notification: Performance of collectInitialEqns (initialization): time 0.002949/0.9783, allocations: 3.911 MB / 0.6554 GB, free: 68 kB / 446.1 MB
Notification: Performance of collectInitialBindings (initialization): time 0.00127/0.9796, allocations: 0.9141 MB / 0.6563 GB, free: 15.14 MB / 462.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.002035/0.9816, allocations: 1.452 MB / 0.6577 GB, free: 13.68 MB / 462.1 MB
Notification: Performance of setup shared object (initialization): time 0.0001128/0.9818, allocations: 305.2 kB / 0.658 GB, free: 13.38 MB / 462.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.004573/0.9863, allocations: 3.254 MB / 0.6612 GB, free: 10.12 MB / 462.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.007291/0.9937, allocations: 7.54 MB / 0.6686 GB, free: 468 kB / 462.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01347/1.007, allocations: 11.6 MB / 0.6799 GB, free: 2.738 MB / 478.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.000109/1.007, allocations: 44 kB / 0.6799 GB, free: 2.695 MB / 478.1 MB
Notification: Performance of matching and sorting (n=940) (initialization): time 0.02961/1.037, allocations: 13.86 MB / 0.6935 GB, free: 4.82 MB / 494.1 MB
Notification: Performance of prepare postOptimizeDAE: time 0.0001156/1.037, allocations: 72 kB / 0.6935 GB, free: 4.75 MB / 494.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0001694/1.037, allocations: 148 kB / 0.6937 GB, free: 4.605 MB / 494.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.01151/1.049, allocations: 3.783 MB / 0.6974 GB, free: 0.8086 MB / 494.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.005277/1.054, allocations: 1.61 MB / 0.699 GB, free: 15.2 MB / 0.4981 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.02752/1.082, allocations: 19.16 MB / 0.7177 GB, free: 11.89 MB / 0.5137 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.006009/1.088, allocations: 448.8 kB / 0.7181 GB, free: 11.45 MB / 0.5137 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.0009952/1.089, allocations: 432 kB / 0.7185 GB, free: 11.03 MB / 0.5137 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 0.004467/1.093, allocations: 2.649 MB / 0.7211 GB, free: 8.363 MB / 0.5137 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.0009213/1.094, allocations: 438.4 kB / 0.7215 GB, free: 7.93 MB / 0.5137 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.2944/1.388, allocations: 8.147 MB / 0.7295 GB, free: 175.4 MB / 0.5137 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 6.593e-05/1.389, allocations: 25.72 kB / 0.7295 GB, free: 175.4 MB / 0.5137 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 2.637e-05/1.389, allocations: 11.53 kB / 0.7295 GB, free: 175.4 MB / 0.5137 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 6.954e-05/1.389, allocations: 12.41 kB / 0.7295 GB, free: 175.4 MB / 0.5137 GB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.03797/1.427, allocations: 17.37 MB / 0.7465 GB, free: 172 MB / 0.5137 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.216e-05/1.427, allocations: 0 / 0.7465 GB, free: 172 MB / 0.5137 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.001955/1.429, allocations: 392.8 kB / 0.7468 GB, free: 172 MB / 0.5137 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.01072/1.439, allocations: 3.841 MB / 0.7506 GB, free: 171.4 MB / 0.5137 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.000424/1.44, allocations: 38.75 kB / 0.7506 GB, free: 171.3 MB / 0.5137 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.02105/1.461, allocations: 17.54 MB / 0.7678 GB, free: 163.4 MB / 0.5137 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 5.641e-06/1.461, allocations: 3.938 kB / 0.7678 GB, free: 163.4 MB / 0.5137 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.02168/1.483, allocations: 12.54 MB / 0.78 GB, free: 152 MB / 0.5137 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.002348/1.485, allocations: 0.9256 MB / 0.7809 GB, free: 151.3 MB / 0.5137 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0008793/1.486, allocations: 36 kB / 0.781 GB, free: 151.3 MB / 0.5137 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002372/1.488, allocations: 207.7 kB / 0.7812 GB, free: 151.1 MB / 0.5137 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0006258/1.489, allocations: 150 kB / 0.7813 GB, free: 150.9 MB / 0.5137 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.000188/1.489, allocations: 63.92 kB / 0.7814 GB, free: 150.9 MB / 0.5137 GB
Notification: Performance of sorting global known variables: time 0.005054/1.494, allocations: 3.023 MB / 0.7843 GB, free: 147.9 MB / 0.5137 GB
Notification: Performance of sort global known variables: time 1.61e-07/1.494, allocations: 4.656 kB / 0.7843 GB, free: 147.9 MB / 0.5137 GB
Notification: Performance of remove unused functions: time 0.006968/1.501, allocations: 1.442 MB / 0.7857 GB, free: 146.4 MB / 0.5137 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 0.02058/1.522, allocations: 13.24 MB / 0.7986 GB, free: 133.4 MB / 0.5137 GB
Notification: Performance of simCode: created initialization part: time 0.01413/1.536, allocations: 9.507 MB / 0.8079 GB, free: 124 MB / 0.5137 GB
Notification: Performance of simCode: created event and clocks part: time 8.737e-06/1.536, allocations: 0 / 0.8079 GB, free: 124 MB / 0.5137 GB
Notification: Performance of simCode: created simulation system equations: time 0.003857/1.54, allocations: 2.975 MB / 0.8108 GB, free: 121 MB / 0.5137 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.003602/1.544, allocations: 0.5454 MB / 0.8114 GB, free: 120.5 MB / 0.5137 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.109/1.653, allocations: 75.06 MB / 0.8847 GB, free: 36.72 MB / 0.5137 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.006026/1.659, allocations: 4.111 MB / 0.8887 GB, free: 32.61 MB / 0.5137 GB
Notification: Performance of simCode: alias equations: time 0.006101/1.665, allocations: 2.171 MB / 0.8908 GB, free: 30.43 MB / 0.5137 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.003771/1.669, allocations: 2.491 MB / 0.8932 GB, free: 27.94 MB / 0.5137 GB
Notification: Performance of SimCode: time 1.383e-06/1.669, allocations: 0 / 0.8932 GB, free: 27.94 MB / 0.5137 GB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.4092/2.078, allocations: 107.5 MB / 0.9982 GB, free: 115.7 MB / 0.5137 GB
Notification: Performance of buildModelFMU: Generate platform static: time 12.74/14.81, allocations: 8.062 kB / 0.9982 GB, free: 115.7 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","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/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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