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 0.001546/0.001546, allocations: 104.5 kB / 17.63 MB, free: 5.344 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001811/0.001811, allocations: 192 kB / 18.56 MB, free: 4.434 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo): time 1.484/1.484, allocations: 222.9 MB / 242.3 MB, free: 15.16 MB / 206.1 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/package.mo): time 0.2336/0.2336, allocations: 44.18 MB / 336.6 MB, free: 2.758 MB / 270.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.002163/0.002163, allocations: 61.3 kB / 408.5 MB, free: 27.14 MB / 302.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.1301/0.1323, allocations: 60.82 MB / 469.4 MB, free: 14.29 MB / 350.1 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.JointUSP2): time 0.01482/0.1472, allocations: 13.28 MB / 482.6 MB, free: 0.9414 MB / 350.1 MB
Notification: Performance of NFInst.instExpressions: time 0.01123/0.1585, allocations: 4.845 MB / 487.5 MB, free: 12.08 MB / 366.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.002888/0.1614, allocations: 83.75 kB / 487.6 MB, free: 12 MB / 366.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.007767/0.1692, allocations: 3.98 MB / 491.5 MB, free: 8.004 MB / 366.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.006518/0.1758, allocations: 2.198 MB / 493.7 MB, free: 5.797 MB / 366.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.003373/0.1792, allocations: 1.178 MB / 494.9 MB, free: 4.617 MB / 366.1 MB
Notification: Performance of NFFlatten.flatten: time 0.009437/0.1886, allocations: 5.736 MB / 0.4889 GB, free: 14.87 MB / 382.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.008884/0.1976, allocations: 5.19 MB / 0.494 GB, free: 9.613 MB / 382.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.005647/0.2033, allocations: 2.173 MB / 0.4961 GB, free: 7.434 MB / 382.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.005939/0.2092, allocations: 2.964 MB / 0.499 GB, free: 4.461 MB / 382.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.002295/0.2116, allocations: 0.4961 MB / 0.4995 GB, free: 3.965 MB / 382.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.004798/0.2164, allocations: 1.658 MB / 0.5011 GB, free: 2.305 MB / 382.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.3246/0.541, allocations: 2.653 MB / 0.5037 GB, free: 20.29 MB / 382.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.008371/0.5494, allocations: 3.089 MB / 0.5067 GB, free: 19.6 MB / 382.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.01634/0.5658, allocations: 9.853 MB / 0.5163 GB, free: 18.4 MB / 382.1 MB
Notification: Performance of FrontEnd - DAE generated: time 6.503e-06/0.5659, allocations: 0 / 0.5163 GB, free: 18.4 MB / 382.1 MB
Notification: Performance of FrontEnd: time 2.344e-06/0.5659, allocations: 1.906 kB / 0.5163 GB, free: 18.4 MB / 382.1 MB
Notification: Performance of Transformations before backend: time 0.0004334/0.5663, allocations: 0 / 0.5163 GB, free: 18.4 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 0.02733/0.5936, allocations: 6.677 MB / 0.5229 GB, free: 15.96 MB / 382.1 MB
Notification: Performance of prepare preOptimizeDAE: time 5.344e-05/0.5937, allocations: 9.344 kB / 0.5229 GB, free: 15.96 MB / 382.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.003657/0.5974, allocations: 0.9168 MB / 0.5238 GB, free: 15.64 MB / 382.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.09085/0.6882, allocations: 7.408 MB / 0.531 GB, free: 13.63 MB / 382.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.01485/0.7031, allocations: 4.28 MB / 0.5352 GB, free: 11.21 MB / 382.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0003079/0.7035, allocations: 350.8 kB / 0.5355 GB, free: 11.07 MB / 382.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.002205/0.7057, allocations: 442.8 kB / 0.5359 GB, free: 10.95 MB / 382.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.02595/0.7317, allocations: 13.76 MB / 0.5494 GB, free: 0.543 MB / 382.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0001713/0.7319, allocations: 55.09 kB / 0.5494 GB, free: 0.5117 MB / 382.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0008274/0.7327, allocations: 206.2 kB / 0.5496 GB, free: 364 kB / 382.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.004343/0.7371, allocations: 2.406 MB / 0.552 GB, free: 13.98 MB / 398.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.03055/0.7676, allocations: 11.6 MB / 0.5633 GB, free: 2.602 MB / 398.1 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 0.09889/0.8666, allocations: 51.32 MB / 0.6134 GB, free: 14.5 MB / 462.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.01294/0.8796, allocations: 4.666 MB / 0.618 GB, free: 9.688 MB / 462.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.004167/0.8838, allocations: 2.778 MB / 0.6207 GB, free: 6.902 MB / 462.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.02007/0.9039, allocations: 12.35 MB / 0.6327 GB, free: 10.07 MB / 478.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 6.815e-05/0.904, allocations: 62.09 kB / 0.6328 GB, free: 10.01 MB / 478.1 MB
Notification: Performance of pre-optimization done (n=191): time 7.103e-06/0.904, allocations: 2.344 kB / 0.6328 GB, free: 10.01 MB / 478.1 MB
Notification: Performance of matching and sorting (n=242): time 0.1545/1.059, allocations: 42.44 MB / 0.6742 GB, free: 15.51 MB / 0.5137 GB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.0001198/1.059, allocations: 231.6 kB / 0.6745 GB, free: 15.23 MB / 0.5137 GB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.007864/1.067, allocations: 4.802 MB / 0.6792 GB, free: 10.43 MB / 0.5137 GB
Notification: Performance of collectPreVariables (initialization): time 0.000858/1.067, allocations: 65.22 kB / 0.6792 GB, free: 10.36 MB / 0.5137 GB
Notification: Performance of collectInitialEqns (initialization): time 0.003226/1.071, allocations: 3.896 MB / 0.683 GB, free: 6.461 MB / 0.5137 GB
Notification: Performance of collectInitialBindings (initialization): time 0.001246/1.072, allocations: 0.9149 MB / 0.6839 GB, free: 5.555 MB / 0.5137 GB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.002233/1.074, allocations: 1.464 MB / 0.6853 GB, free: 4.086 MB / 0.5137 GB
Notification: Performance of setup shared object (initialization): time 0.0001093/1.074, allocations: 308.8 kB / 0.6856 GB, free: 3.785 MB / 0.5137 GB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.004752/1.079, allocations: 3.251 MB / 0.6888 GB, free: 0.5312 MB / 0.5137 GB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.007901/1.087, allocations: 7.551 MB / 0.6962 GB, free: 6.938 MB / 0.5294 GB
Notification: Performance of analyzeInitialSystem (initialization): time 0.3117/1.399, allocations: 11.58 MB / 0.7075 GB, free: 179.1 MB / 0.5294 GB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0002041/1.399, allocations: 45.45 kB / 0.7075 GB, free: 179.1 MB / 0.5294 GB
Notification: Performance of matching and sorting (n=940) (initialization): time 0.03409/1.433, allocations: 13.86 MB / 0.7211 GB, free: 175.7 MB / 0.5294 GB
Notification: Performance of prepare postOptimizeDAE: time 8.953e-05/1.433, allocations: 69.16 kB / 0.7211 GB, free: 175.7 MB / 0.5294 GB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0001456/1.433, allocations: 156.4 kB / 0.7213 GB, free: 175.7 MB / 0.5294 GB
Notification: Performance of postOpt tearingSystem (initialization): time 0.01075/1.444, allocations: 3.78 MB / 0.725 GB, free: 175 MB / 0.5294 GB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.005554/1.45, allocations: 1.598 MB / 0.7265 GB, free: 174.8 MB / 0.5294 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.02275/1.472, allocations: 19.16 MB / 0.7453 GB, free: 161.7 MB / 0.5294 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.007881/1.48, allocations: 451.8 kB / 0.7457 GB, free: 161.3 MB / 0.5294 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001753/1.482, allocations: 428 kB / 0.7461 GB, free: 160.9 MB / 0.5294 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 0.007298/1.49, allocations: 2.663 MB / 0.7487 GB, free: 158.3 MB / 0.5294 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001508/1.491, allocations: 433.9 kB / 0.7491 GB, free: 158.1 MB / 0.5294 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01662/1.508, allocations: 8.138 MB / 0.7571 GB, free: 149.9 MB / 0.5294 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 4.896e-05/1.508, allocations: 28 kB / 0.7571 GB, free: 149.9 MB / 0.5294 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 1.998e-05/1.508, allocations: 12.88 kB / 0.7571 GB, free: 149.9 MB / 0.5294 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 4.653e-05/1.508, allocations: 7.969 kB / 0.7571 GB, free: 149.9 MB / 0.5294 GB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.03207/1.54, allocations: 17.36 MB / 0.7741 GB, free: 132.6 MB / 0.5294 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 4.345e-05/1.54, allocations: 4 kB / 0.7741 GB, free: 132.6 MB / 0.5294 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002027/1.542, allocations: 391.4 kB / 0.7744 GB, free: 132.2 MB / 0.5294 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.0108/1.553, allocations: 3.836 MB / 0.7782 GB, free: 128.4 MB / 0.5294 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0005696/1.553, allocations: 39.98 kB / 0.7782 GB, free: 128.3 MB / 0.5294 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.02027/1.574, allocations: 17.54 MB / 0.7953 GB, free: 110.7 MB / 0.5294 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 3.326e-06/1.574, allocations: 1.594 kB / 0.7953 GB, free: 110.7 MB / 0.5294 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.02077/1.595, allocations: 12.53 MB / 0.8076 GB, free: 98.25 MB / 0.5294 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.001897/1.596, allocations: 459.4 kB / 0.808 GB, free: 97.78 MB / 0.5294 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.00189/1.598, allocations: 41 kB / 0.8081 GB, free: 97.74 MB / 0.5294 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.00338/1.602, allocations: 207.7 kB / 0.8083 GB, free: 97.54 MB / 0.5294 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.00091/1.603, allocations: 142.9 kB / 0.8084 GB, free: 97.4 MB / 0.5294 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002523/1.603, allocations: 69.02 kB / 0.8085 GB, free: 97.33 MB / 0.5294 GB
Notification: Performance of sorting global known variables: time 0.005663/1.609, allocations: 3.003 MB / 0.8114 GB, free: 94.34 MB / 0.5294 GB
Notification: Performance of sort global known variables: time 3.6e-07/1.609, allocations: 0 / 0.8114 GB, free: 94.34 MB / 0.5294 GB
Notification: Performance of remove unused functions: time 0.00887/1.618, allocations: 1.446 MB / 0.8128 GB, free: 92.9 MB / 0.5294 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 0.02123/1.639, allocations: 13.23 MB / 0.8257 GB, free: 79.64 MB / 0.5294 GB
Notification: Performance of simCode: created initialization part: time 0.01485/1.654, allocations: 9.509 MB / 0.835 GB, free: 70.16 MB / 0.5294 GB
Notification: Performance of simCode: created event and clocks part: time 7.043e-06/1.654, allocations: 4.125 kB / 0.835 GB, free: 70.15 MB / 0.5294 GB
Notification: Performance of simCode: created simulation system equations: time 0.003803/1.658, allocations: 2.971 MB / 0.8379 GB, free: 67.17 MB / 0.5294 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.004358/1.662, allocations: 0.5506 MB / 0.8384 GB, free: 66.64 MB / 0.5294 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.4109/2.073, allocations: 74.72 MB / 0.9114 GB, free: 192.8 MB / 0.545 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0101/2.083, allocations: 4.097 MB / 0.9154 GB, free: 191.9 MB / 0.545 GB
Notification: Performance of simCode: alias equations: time 0.007237/2.09, allocations: 2.186 MB / 0.9175 GB, free: 191.9 MB / 0.545 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.004709/2.095, allocations: 2.477 MB / 0.92 GB, free: 191.9 MB / 0.545 GB
Notification: Performance of SimCode: time 1.162e-06/2.095, allocations: 1.344 kB / 0.92 GB, free: 191.9 MB / 0.545 GB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.1688/2.264, allocations: 107.2 MB / 1.025 GB, free: 101.6 MB / 0.545 GB
Notification: Performance of buildModelFMU: Generate platform static: time 12.4/14.66, allocations: 0 / 1.025 GB, free: 101.6 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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