diff --git a/.gitignore b/.gitignore
index 11a4244..b62b7a8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -34,6 +34,7 @@
 .vs
 x64/
 *.bak
+assembly.asmt
 
 build
 cmake-build-debug
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ab901a3..9b1d412 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -46,6 +46,7 @@ set(ONDSELSOLVER_SRC
         OndselSolver/ArcSine.cpp
         OndselSolver/ArcTan.cpp
         OndselSolver/ArcTan2.cpp
+        OndselSolver/Arguments.cpp
         OndselSolver/ASMTAngleJoint.cpp
         OndselSolver/ASMTAnimationParameters.cpp
         OndselSolver/ASMTAssembly.cpp
@@ -83,6 +84,7 @@ set(ONDSELSOLVER_SRC
         OndselSolver/ASMTRefSurface.cpp
         OndselSolver/ASMTRevCylJoint.cpp
         OndselSolver/ASMTRevoluteJoint.cpp
+        OndselSolver/ASMTRevRevJoint.cpp
         OndselSolver/ASMTRotationalMotion.cpp
         OndselSolver/ASMTScrewJoint.cpp
         OndselSolver/ASMTSimulationParameters.cpp
@@ -231,6 +233,16 @@ set(ONDSELSOLVER_SRC
         OndselSolver/MatrixSolver.cpp
         OndselSolver/MaximumIterationError.cpp
         OndselSolver/MbDMath.cpp
+        OndselSolver/MBDynAxialRotationJoint.cpp
+        OndselSolver/MBDynClampJoint.cpp
+        OndselSolver/MBDynDriveHingeJoint.cpp
+        OndselSolver/MBDynInLineJoint.cpp
+        OndselSolver/MBDynInPlaneJoint.cpp
+        OndselSolver/MBDynPrismaticJoint.cpp
+        OndselSolver/MBDynRevoluteHingeJoint.cpp
+        OndselSolver/MBDynRevolutePinJoint.cpp
+        OndselSolver/MBDynSphericalHingeJoint.cpp
+        OndselSolver/MBDynTotalJoint.cpp
         OndselSolver/MBDynBlock.cpp
         OndselSolver/MBDynBody.cpp
         OndselSolver/MBDynControlData.cpp
@@ -284,6 +296,7 @@ set(ONDSELSOLVER_SRC
         OndselSolver/RedundantConstraint.cpp
         OndselSolver/RevCylJoint.cpp
         OndselSolver/RevoluteJoint.cpp
+        OndselSolver/RevRevJoint.cpp
         OndselSolver/ScalarNewtonRaphson.cpp
         OndselSolver/ScrewConstraintIJ.cpp
         OndselSolver/ScrewConstraintIqcJc.cpp
@@ -352,6 +365,7 @@ set(ONDSELSOLVER_HEADERS
         OndselSolver/ArcSine.h
         OndselSolver/ArcTan.h
         OndselSolver/ArcTan2.h
+        OndselSolver/Arguments.h
         OndselSolver/ASMTAngleJoint.h
         OndselSolver/ASMTAnimationParameters.h
         OndselSolver/ASMTAssembly.h
@@ -389,6 +403,7 @@ set(ONDSELSOLVER_HEADERS
         OndselSolver/ASMTRefSurface.h
         OndselSolver/ASMTRevCylJoint.h
         OndselSolver/ASMTRevoluteJoint.h
+        OndselSolver/ASMTRevRevJoint.h
         OndselSolver/ASMTRotationalMotion.h
         OndselSolver/ASMTScrewJoint.h
         OndselSolver/ASMTSimulationParameters.h
@@ -539,6 +554,16 @@ set(ONDSELSOLVER_HEADERS
         OndselSolver/MatrixSolver.h
         OndselSolver/MaximumIterationError.h
         OndselSolver/MbDMath.h
+        OndselSolver/MBDynAxialRotationJoint.h
+        OndselSolver/MBDynClampJoint.h
+        OndselSolver/MBDynDriveHingeJoint.h
+        OndselSolver/MBDynInLineJoint.h
+        OndselSolver/MBDynInPlaneJoint.h
+        OndselSolver/MBDynPrismaticJoint.h
+        OndselSolver/MBDynRevoluteHingeJoint.h
+        OndselSolver/MBDynRevolutePinJoint.h
+        OndselSolver/MBDynSphericalHingeJoint.h
+        OndselSolver/MBDynTotalJoint.h
         OndselSolver/MBDynBlock.h
         OndselSolver/MBDynBody.h
         OndselSolver/MBDynControlData.h
@@ -589,6 +614,7 @@ set(ONDSELSOLVER_HEADERS
         OndselSolver/resource.h
         OndselSolver/RevCylJoint.h
         OndselSolver/RevoluteJoint.h
+        OndselSolver/RevRevJoint.h
         OndselSolver/ScalarNewtonRaphson.h
         OndselSolver/ScrewConstraintIJ.h
         OndselSolver/ScrewConstraintIqcJc.h
diff --git a/OndselSolver/ASMTAssembly.cpp b/OndselSolver/ASMTAssembly.cpp
index 25f647c..264d119 100644
--- a/OndselSolver/ASMTAssembly.cpp
+++ b/OndselSolver/ASMTAssembly.cpp
@@ -56,6 +56,7 @@
 #include "ASMTRefSurface.h"
 #include "ExternalSystem.h"
 #include "SystemSolver.h"
+#include "ASMTRevRevJoint.h"
 
 using namespace MbD;
 
@@ -582,14 +583,17 @@ void MbD::ASMTAssembly::readJoints(std::vector<std::string>& lines)
 			joint = CREATE<ASMTUniversalJoint>::With();
 		}
 		//CompoundJoints
+		else if (jointsLines[0] == "\t\t\tSphSphJoint") {
+			joint = CREATE<ASMTSphSphJoint>::With();
+		}
 		else if (jointsLines[0] == "\t\t\tCylSphJoint") {
 			joint = CREATE<ASMTCylSphJoint>::With();
 		}
 		else if (jointsLines[0] == "\t\t\tRevCylJoint") {
 			joint = CREATE<ASMTRevCylJoint>::With();
 		}
-		else if (jointsLines[0] == "\t\t\tSphSphJoint") {
-			joint = CREATE<ASMTSphSphJoint>::With();
+		else if (jointsLines[0] == "\t\t\tRevRevJoint") {
+			joint = CREATE<ASMTRevRevJoint>::With();
 		}
 		//InLineJoints
 		else if (jointsLines[0] == "\t\t\tCylindricalJoint") {
diff --git a/OndselSolver/ASMTRevRevJoint.cpp b/OndselSolver/ASMTRevRevJoint.cpp
new file mode 100644
index 0000000..ebdc9f0
--- /dev/null
+++ b/OndselSolver/ASMTRevRevJoint.cpp
@@ -0,0 +1,18 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+#include <fstream>	
+
+#include "ASMTRevRevJoint.h"
+#include "RevRevJoint.h"
+
+using namespace MbD;
+
+std::shared_ptr<Joint> MbD::ASMTRevRevJoint::mbdClassNew()
+{
+    return CREATE<RevRevJoint>::With();
+}
diff --git a/OndselSolver/ASMTRevRevJoint.h b/OndselSolver/ASMTRevRevJoint.h
new file mode 100644
index 0000000..da2a091
--- /dev/null
+++ b/OndselSolver/ASMTRevRevJoint.h
@@ -0,0 +1,22 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+
+#include "ASMTCompoundJoint.h"
+
+namespace MbD {
+    class ASMTRevRevJoint : public ASMTCompoundJoint
+    {
+        //
+    public:
+        std::shared_ptr<Joint> mbdClassNew() override;
+
+    };
+}
+
diff --git a/OndselSolver/AngleZIecJec.cpp b/OndselSolver/AngleZIecJec.cpp
index 339d475..25bc4a1 100644
--- a/OndselSolver/AngleZIecJec.cpp
+++ b/OndselSolver/AngleZIecJec.cpp
@@ -29,7 +29,7 @@ void MbD::AngleZIecJec::calcPostDynCorrectorIteration()
 	auto diffOfSquares = sthez * sthez - (cthez * cthez);
 	auto sumOfSquaresSquared = sumOfSquares * sumOfSquares;
 	auto thez0to2pi = Numeric::arcTan0to2piYoverX(sthez, cthez);
-	thez = std::round(thez - thez0to2pi / (2.0 * OS_M_PI)) * (2.0 * OS_M_PI) + thez0to2pi;
+	thez = std::round((thez - thez0to2pi) / (2.0 * OS_M_PI)) * (2.0 * OS_M_PI) + thez0to2pi;
 	cosOverSSq = cthez / sumOfSquares;
 	sinOverSSq = sthez / sumOfSquares;
 	twoCosSinOverSSqSq = 2.0 * cthez * sthez / sumOfSquaresSquared;
@@ -91,6 +91,7 @@ void MbD::AngleZIecJec::prePosIC()
 {
 	aA00IeJe->prePosIC();
 	aA10IeJe->prePosIC();
+	assert(thez != std::numeric_limits<double>::min());
 	KinematicIeJe::prePosIC();
 }
 
diff --git a/OndselSolver/MBDynItem.h b/OndselSolver/MBDynItem.h
index 5745220..418679c 100644
--- a/OndselSolver/MBDynItem.h
+++ b/OndselSolver/MBDynItem.h
@@ -11,7 +11,6 @@
 
 namespace MbD {
 	class MBDynSystem;
-	class MBDynVariable;
 	class MBDynReference;
 	class MBDynNode;
 	class ASMTItem;
diff --git a/OndselSolver/MBDynSystem.h b/OndselSolver/MBDynSystem.h
index 0bc6d5f..f407556 100644
--- a/OndselSolver/MBDynSystem.h
+++ b/OndselSolver/MBDynSystem.h
@@ -18,7 +18,6 @@ namespace MbD {
     class MBDynControlData;
     class MBDynNode;
     class MBDynElement;
-    class MBDynVariable;
     class MBDynLabel;
     class MBDynReference;
     class MBDynDrive;
diff --git a/OndselSolver/Numeric.cpp b/OndselSolver/Numeric.cpp
index 658836a..1c82d5f 100644
--- a/OndselSolver/Numeric.cpp
+++ b/OndselSolver/Numeric.cpp
@@ -19,35 +19,13 @@ double MbD::Numeric::arcTan0to2piYoverX(double y, double x)
 	//"(y/x) arcTan in the range 0 to 2*pi."
 	//"Double arcTan0to2piY: 1.0d overX: 1.0d."
 
-	if (x > 0.0) {
-		if (y >= 0) {
-			//"First quadrant."
-			return std::atan2(y, x);
-		}
-		else {
-			//"Forth quadrant."
-			return 2.0 * OS_M_PI + std::atan2(y, x);
-		}
+	if (y >= 0) {
+		//"First and second quadrants."
+		return std::atan2(y, x);
 	}
 	else {
-		if (x < 0.0) {
-			//"Second and Third quadrants."
-			return	OS_M_PI + std::atan2(y, x);
-		}
-		else {
-			//"x = 0"
-			if (y > 0.0) {
-				return OS_M_PI / 2.0;
-			}
-			else {
-				if (y < 0.0) {
-					return 1.5 * OS_M_PI;
-				}
-				else {
-					throw std::invalid_argument("atan2(0, 0) is not defined.");
-				}
-			}
-		}
+		//"Third and forth quadrants."
+		return 2.0 * OS_M_PI + std::atan2(y, x);
 	}
 }
 
diff --git a/OndselSolver/OndselSolver.vcxproj b/OndselSolver/OndselSolver.vcxproj
index aab8de3..a319746 100644
--- a/OndselSolver/OndselSolver.vcxproj
+++ b/OndselSolver/OndselSolver.vcxproj
@@ -191,6 +191,7 @@
     <ClCompile Include="ASMTRefSurface.cpp" />
     <ClCompile Include="ASMTRevCylJoint.cpp" />
     <ClCompile Include="ASMTRevoluteJoint.cpp" />
+    <ClCompile Include="ASMTRevRevJoint.cpp" />
     <ClCompile Include="ASMTRotationalMotion.cpp" />
     <ClCompile Include="ASMTScrewJoint.cpp" />
     <ClCompile Include="ASMTSimulationParameters.cpp" />
@@ -405,6 +406,7 @@
     <ClCompile Include="RedundantConstraint.cpp" />
     <ClCompile Include="RevCylJoint.cpp" />
     <ClCompile Include="RevoluteJoint.cpp" />
+    <ClCompile Include="RevRevJoint.cpp" />
     <ClCompile Include="RowTypeMatrix.cpp" />
     <ClCompile Include="ScalarNewtonRaphson.cpp" />
     <ClCompile Include="ScrewConstraintIJ.cpp" />
@@ -513,6 +515,7 @@
     <ClInclude Include="ASMTRefSurface.h" />
     <ClInclude Include="ASMTRevCylJoint.h" />
     <ClInclude Include="ASMTRevoluteJoint.h" />
+    <ClInclude Include="ASMTRevRevJoint.h" />
     <ClInclude Include="ASMTRotationalMotion.h" />
     <ClInclude Include="ASMTScrewJoint.h" />
     <ClInclude Include="ASMTSimulationParameters.h" />
@@ -729,6 +732,7 @@
     <ClInclude Include="resource.h" />
     <ClInclude Include="RevCylJoint.h" />
     <ClInclude Include="RevoluteJoint.h" />
+    <ClInclude Include="RevRevJoint.h" />
     <ClInclude Include="RowTypeMatrix.h" />
     <ClInclude Include="ScalarNewtonRaphson.h" />
     <ClInclude Include="ScrewConstraintIJ.h" />
diff --git a/OndselSolver/OrbitAngleZIecJec.cpp b/OndselSolver/OrbitAngleZIecJec.cpp
index dd287e5..d35dd22 100644
--- a/OndselSolver/OrbitAngleZIecJec.cpp
+++ b/OndselSolver/OrbitAngleZIecJec.cpp
@@ -58,13 +58,15 @@ void MbD::OrbitAngleZIecJec::postInput()
 {
 	xIeJeIe->postInput();
 	yIeJeIe->postInput();
-	auto x = xIeJeIe->value();
-	auto y = yIeJeIe->value();
-	if (x > 0.0) {
-		thez = std::atan2(y, x);
-	}
-	else {
-		thez = Numeric::arcTan0to2piYoverX(y, x);
+	if (thez == std::numeric_limits<double>::min()) {
+		auto x = xIeJeIe->value();
+		auto y = yIeJeIe->value();
+		if (x > 0.0) {
+			thez = std::atan2(y, x);
+		}
+		else {
+			thez = Numeric::arcTan0to2piYoverX(y, x);
+		}
 	}
 	KinematicIeJe::postInput();
 }
@@ -78,7 +80,7 @@ void MbD::OrbitAngleZIecJec::postPosICIteration()
 
 void MbD::OrbitAngleZIecJec::preAccIC()
 {
-	if (thez == 0.0) this->prePosIC();
+	if (thez == std::numeric_limits<double>::min()) this->prePosIC();
 	xIeJeIe->preAccIC();
 	yIeJeIe->preAccIC();
 	KinematicIeJe::preAccIC();
@@ -88,14 +90,7 @@ void MbD::OrbitAngleZIecJec::prePosIC()
 {
 	xIeJeIe->prePosIC();
 	yIeJeIe->prePosIC();
-	auto x = xIeJeIe->value();
-	auto y = yIeJeIe->value();
-	if (x > 0.0) {
-		thez = std::atan2(y, x);
-	}
-	else {
-		thez = Numeric::arcTan0to2piYoverX(y, x);
-	}
+	assert(thez != std::numeric_limits<double>::min());
 	KinematicIeJe::prePosIC();
 }
 
diff --git a/OndselSolver/OrbitAngleZIecJec.h b/OndselSolver/OrbitAngleZIecJec.h
index fdf1d87..923f86f 100644
--- a/OndselSolver/OrbitAngleZIecJec.h
+++ b/OndselSolver/OrbitAngleZIecJec.h
@@ -32,7 +32,8 @@ namespace MbD {
         void simUpdateAll() override;
         double value() override;
 
-        double thez, cosOverSSq, sinOverSSq, twoCosSinOverSSqSq, dSqOverSSqSq;
+        double thez = std::numeric_limits<double>::min();
+        double cosOverSSq, sinOverSSq, twoCosSinOverSSqSq, dSqOverSSqSq;
         std::shared_ptr<DispCompIecJecIe> xIeJeIe, yIeJeIe;
     };
 }
diff --git a/OndselSolver/RevRevJoint.cpp b/OndselSolver/RevRevJoint.cpp
new file mode 100644
index 0000000..362e0e8
--- /dev/null
+++ b/OndselSolver/RevRevJoint.cpp
@@ -0,0 +1,39 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#include "RevRevJoint.h"
+#include "CREATE.h"
+#include "DistancexyConstraintIJ.h"
+#include "System.h"
+
+using namespace MbD;
+
+MbD::RevRevJoint::RevRevJoint()
+{
+}
+
+MbD::RevRevJoint::RevRevJoint(const char* str) : CompoundJoint(str)
+{
+}
+
+void MbD::RevRevJoint::initializeGlobally()
+{
+	if (constraints->empty())
+	{
+		auto distxyIJ = DistancexyConstraintIJ::With(frmI, frmJ);
+		distxyIJ->setConstant(distanceIJ);
+		addConstraint(distxyIJ);
+		addConstraint(CREATE<TranslationConstraintIJ>::ConstraintWith(frmI, frmJ, 2));
+		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 0));
+		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 1));
+		this->root()->hasChanged = true;
+	}
+	else {
+		CompoundJoint::initializeGlobally();
+	}
+}
diff --git a/OndselSolver/RevRevJoint.h b/OndselSolver/RevRevJoint.h
new file mode 100644
index 0000000..6a024dc
--- /dev/null
+++ b/OndselSolver/RevRevJoint.h
@@ -0,0 +1,25 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+
+#include "CompoundJoint.h"
+
+namespace MbD {
+	class RevRevJoint : public CompoundJoint
+	{
+		//
+	public:
+		RevRevJoint();
+		RevRevJoint(const char* str);
+		void initializeGlobally() override;
+
+
+	};
+}
+
diff --git a/OndselSolver/ScrewConstraintIJ.cpp b/OndselSolver/ScrewConstraintIJ.cpp
index bc40b94..996253f 100644
--- a/OndselSolver/ScrewConstraintIJ.cpp
+++ b/OndselSolver/ScrewConstraintIJ.cpp
@@ -31,7 +31,7 @@ std::shared_ptr<ScrewConstraintIJ> MbD::ScrewConstraintIJ::With(EndFrmsptr frmi,
 void MbD::ScrewConstraintIJ::calcPostDynCorrectorIteration()
 {
 	auto z = zIeJeIe->value();
-	auto thez = thezIeJe->value();
+	auto thez = thezIeJe->thez;
 	aG = (2.0 * OS_M_PI * z) - (pitch * thez) - aConstant;
 }
 
diff --git a/OndselSolver/ScrewConstraintIqcJc.cpp b/OndselSolver/ScrewConstraintIqcJc.cpp
index 5c39af4..e6ff72b 100644
--- a/OndselSolver/ScrewConstraintIqcJc.cpp
+++ b/OndselSolver/ScrewConstraintIqcJc.cpp
@@ -75,8 +75,7 @@ void MbD::ScrewConstraintIqcJc::calc_ppGpEIpEI()
 
 void MbD::ScrewConstraintIqcJc::calc_ppGpXIpEI()
 {
-	ppGpXIpEI = zIeJeIe->ppvaluepXIpEI()->times(2.0 * OS_M_PI)
-            ->minusFullMatrix(thezIeJe->ppvaluepXIpEI()->times(pitch));
+	ppGpXIpEI = zIeJeIe->ppvaluepXIpEI()->times(2.0 * OS_M_PI);
 }
 
 void MbD::ScrewConstraintIqcJc::calcPostDynCorrectorIteration()
diff --git a/OndselSolver/assembly.asmt b/OndselSolver/assembly.asmt
deleted file mode 100644
index 38d139e..0000000
--- a/OndselSolver/assembly.asmt
+++ /dev/null
@@ -1,340 +0,0 @@
-OndselSolver
-Assembly
-	Notes
-		(Text string: '' runs: (Core.RunArray runs: #() values: #()))
-	Name
-		Assembly1
-	Position3D
-		0	0	0	
-	RotationMatrix
-		1	0	0	
-		0	1	0	
-		0	0	1	
-	Velocity3D
-		0	0	0	
-	Omega3D
-		0	0	0	
-	RefPoints
-		RefPoint
-			Position3D
-				0	0	0	
-			RotationMatrix
-				1	0	0	
-				0	1	0	
-				0	0	1	
-			Markers
-				Marker
-					Name
-						Marker1
-					Position3D
-						0	0	0	
-					RotationMatrix
-						1	0	0	
-						0	1	0	
-						0	0	1	
-		RefPoint
-			Position3D
-				0	0	0	
-			RotationMatrix
-				1	0	0	
-				0	1	0	
-				0	0	1	
-			Markers
-				Marker
-					Name
-						Marker2
-					Position3D
-						3	0	4	
-					RotationMatrix
-						0.70710678118655	0	0.70710678118655	
-						0	1	0	
-						-0.70710678118655	0	0.70710678118655	
-	RefCurves
-	RefSurfaces
-	Parts
-		Part
-			Name
-				Part1
-			Position3D
-				-0.5375	-0.35	0.1000000000000001	
-			RotationMatrix
-				1	0	0	
-				0	1	0	
-				0	0	1	
-			Velocity3D
-				2.1991148575129	-3.377212102609	0	
-			Omega3D
-				0	0	6.2831853071796	
-			FeatureOrder
-			PrincipalMassMarker
-				Name
-					MassMarker
-				Position3D
-					0.5375	0.35	1	
-				RotationMatrix
-					0	1	0	
-					0	0	1	
-					1	0	0	
-				Mass
-					0
-				MomentOfInertias
-					0	0	0	
-				Density
-					0
-			RefPoints
-				RefPoint
-					Position3D
-						0.5375	0.35	2	
-					RotationMatrix
-						1	0	0	
-						0	1	0	
-						0	0	1	
-					Markers
-						Marker
-							Name
-								Marker1
-							Position3D
-								0	-1.1102230246252e-16	0.1	
-							RotationMatrix
-								1	0	1.1102230246252e-16	
-								-6.1629758220392e-33	1	5.5511151231258e-17	
-								-1.1102230246252e-16	-5.5511151231258e-17	1	
-				RefPoint
-					Position3D
-						0.5375	0.35	2	
-					RotationMatrix
-						1	-1.3877787807814e-17	-5.5511151231258e-17	
-						-1.3877787807814e-17	1	0	
-						-5.5511151231258e-17	0	1	
-					Markers
-						Marker
-							Name
-								Marker2
-							Position3D
-								5.5511151231258e-18	-5.5511151231258e-17	-2.1	
-							RotationMatrix
-								1	-1.3877787807814e-17	-5.5511151231258e-17	
-								-1.3877787807814e-17	1	5.5511151231258e-17	
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-OmegaZ	3.2326721711085	3.232672171108497	3.232672171108545	3.232672171108546	3.232672171108546	3.232672171108545	3.232672171108545	3.232672171108546	3.232672171108544	3.232672171108545	3.232672171108546	3.232672171108544	3.232672171108546	3.232672171108546	3.232672171108546	3.232672171108544	3.232672171108546	3.232672171108545	3.232672171108546	3.232672171108545	3.232672171108546	3.232672171108546	3.232672171108545	3.232672171108545	3.232672171108546	3.232672171108546	3.232672171108546	3.232672171108545	3.232672171108547	3.232672171108546	3.232672171108544	3.232672171108546	3.232672171108546	3.232672171108547	3.232672171108546	3.232672171108546	3.232672171108546	3.232672171108546	3.232672171108544	3.232672171108546	3.232672171108545	3.232672171108547	3.232672171108546	3.232672171108546	3.232672171108546	3.232672171108546	3.232672171108546	3.232672171108546	3.232672171108548	3.232672171108545	3.232672171108546	3.232672171108546	3.232672171108547	3.232672171108546	3.232672171108545	3.232672171108548	3.232672171108549	3.232672171108547	3.232672171108546	3.232672171108547	3.232672171108547	3.232672171108547	3.232672171108548	3.232672171108545	3.232672171108545	3.232672171108546	3.232672171108548	3.232672171108544	3.232672171108547	3.232672171108546	3.232672171108543	3.232672171108545	3.232672171108544	3.232672171108547	3.232672171108547	3.232672171108545	3.232672171108544	3.232672171108545	3.232672171108546	3.232672171108545	3.232672171108545	3.232672171108546	3.232672171108546	3.232672171108546	3.232672171108545	3.232672171108547	3.232672171108546	3.232672171108549	3.232672171108549	3.232672171108547	3.232672171108545	3.232672171108547	3.232672171108547	3.232672171108544	3.232672171108545	3.232672171108546	3.232672171108546	3.232672171108545	3.232672171108547	3.232672171108545	3.232672171108546	3.232672171108542	
-AX	35.03730004755423	34.71702901952203	34.06537532975074	33.29820331715681	32.41558763252849	31.41753944164357	30.30412725954595	29.07561125678538	27.73258578005776	26.2761244852795	24.70792233664257	23.03042878587236	21.24696670971488	19.36183214142399	17.38037046762183	15.30902555300308	13.15535917408414	10.92803915718113	8.63679568928265	6.292346365617424	3.906291615886653	1.490983174319708	-0.9406308091373561	-3.37517961092801	-5.799057667788837	-8.198620660435136	-10.56038411676281	-12.87121861837867	-15.11853581358271	-17.29045976012699	-19.37597863071498	-21.36507249515338	-23.2488137211384	-25.01943748148546	-26.67038088568311	-28.1962903314963	-29.59299775983543	-30.85746755480225	-31.98771682333015	-32.98271268014629	-33.84225092250046	-34.56682107855969	-35.15746323257255	-35.61562225428431	-35.94300508197698	-36.14144652748823	-36.21278869438189	-36.15877854084076	-35.98098739705879	-35.68075538889411	-35.25916275613906	-34.71702901952359	-34.05493988258772	-33.27330069110134	-32.37241425190464	-31.35257987148943	-30.21420964612265	-28.95795734960583	-27.58485474655644	-26.09644982713979	-24.49494132559088	-22.78330395471676	-20.9653990597028	-19.04606585763148	-17.03118906800906	-14.92773953186785	-12.74378533478393	-10.48847196005907	-8.171971066657045	-5.80539857449492	-3.40070380885674	-0.9705324681578553	1.471932900857828	3.913150441801151	6.339409421408524	8.73702797182125	11.09255228595086	13.39295134040375	15.62580135671537	17.77945454869127	19.84318722974887	21.80732305091817	23.66332798314704	25.40387461717215	27.02287439673153	28.51547748963272	29.87804109786787	31.10806807397834	32.20411870872582	33.16569944972163	33.99313307055333	34.6874154084475	35.25006420463853	35.68296580084681	35.98822546004249	36.16802688964642	36.22450615740809	36.15964461830837	35.97518473537375	35.67257180446247	35.25292361394101	34.71702901952347	
-AY	17.27180770190642	15.8797311666083	19.80642031821871	23.68247031200721	27.49862127443263	31.24468113320656	34.90939996506583	38.48039522342428	41.94413226765499	45.28596260723838	48.49022017454231	51.54037382397289	54.41923219765492	57.10919517158731	59.59254436967164	61.85176376734535	63.86988025378115	65.63081322266001	67.11972184483616	68.32333865667866	69.23027847638727	69.83131242392601	70.11959794162745	70.090857152521	69.7434976013725	69.07867133913336	68.10027036751967	66.81485858440243	65.23154248780882	63.36178493214808	61.2191681132107	58.81911362244173	56.17856879761563	53.31566965788694	50.24939140931996	46.99919781838306	43.58470066518274	40.02534000914856	36.34009514513679	32.54723492846895	28.66411464643411	24.70702486510043	20.69109574647633	16.63025828125822	12.53726178977046	8.423744982902296	4.300355919355727	0.1769144150249204	-3.937391081733002	-8.033781383880825	-12.10364937436783	-16.13831841615133	-20.12880720119851	-24.06561163239445	-27.93851370242621	-31.73642634013693	-35.44728187296423	-39.05797015098695	-42.55433055094672	-45.92120009251579	-49.14251782488894	-52.20148355347795	-55.08076694865522	-57.76276118357682	-60.22987355391864	-62.46484409959136	-64.45108212864906	-66.17300977708884	-67.61640135296901	-68.76870722366928	-69.61935141158254	-70.15999285241611	-70.38474141440989	-70.29032123633992	-69.87617566617082	-69.1445100102699	-68.10027036751958	-66.75105895096452	-65.10698841696357	-63.1804797536964	-60.9860101558223	-58.53981896408524	-55.85958111959488	-52.96405862413713	-49.87274117358449	-46.60548741757833	-43.18217818521955	-39.62239250769022	-35.94511638268928	-32.16849299376371	-28.30962156372989	-24.38441023977445	-20.40748644158935	-16.39216602266727	-12.35048047232184	-8.293259297248733	-4.230262740407309	-0.1703581917842651	3.87826791601006	7.907872199137275	11.91090079596266	15.87973116660959	
-AZ	-58.39550007925705	-58.96115968763007	-58.14903950614372	-57.13896854918596	-55.9300113942703	-54.52115238446588	-52.91150110063675	-51.10052016991505	-49.08826663215698	-46.8756375126472	-44.46461000909242	-41.85846680270227	-39.06199744353702	-36.08166752394789	-32.92574841407327	-29.60440165269044	-26.12971361883068	-22.51567780045485	-18.77812376658826	-14.93459377552744	-11.0041697497014	-7.007255054128253	-2.965317070055983	1.099402096440501	5.164198336834033	9.206232457461232	13.20286157423075	17.13196512287452	20.97225582065283	24.70356644801008	28.30710416701178	31.76566522725744	35.06380428905604	38.18795416903205	41.12649352914688	43.86976182559858	46.41002264565346	48.74137832410033	50.85964038439264	52.76216183430108	54.44763860971915	55.91588845870843	57.16761625594474	58.20417511115305	59.02733267113645	59.63905171289039	60.04129349630804	60.23585141204088	60.22422125686872	60.00751303876536	59.58640760809446	58.96115968763277	58.13164709420528	57.09746417242693	55.8580557598972	54.41288643420889	52.76163841159792	50.90443032461585	48.84204824298803	46.57617974908101	44.10964165733958	41.44659208410947	38.59271802685009	35.55539038429382	32.34377941471865	28.96892495079831	25.4437572199969	21.78306580525138	18.00341606221227	14.12301412365656	10.1615234046515	6.139837210525075	2.079813583855176	-1.996020147895741	-6.064784592866895	-10.10357797643819	-14.08980852287758	-18.00151965958303	-21.81769839254066	-25.51855776228394	-29.0857851654016	-32.50274948686544	-35.75466139240379	-38.82868272850997	-41.71398271422759	-44.40174042249257	-46.88509487570748	-49.15904585606032	-51.22031019338549	-53.06713978359329	-54.69910885647385	-56.11687900852163	-57.3219512093881	-58.3164143554239	-59.10269996791244	-59.68335231648741	-60.0608226013516	-60.23729487448693	-60.21455015406028	-59.99387373137924	-59.57600903776432	-58.96115968763264	
-AlphaX	0	1.292936247709871	1.611934414898579	1.915706601935895	2.199462139967594	2.458726034651495	2.689409539491737	2.887874637813366	3.050991416458504	3.176187426386685	3.261488251732882	3.305548647525164	3.307673755001439	3.267830059947336	3.186645921235343	3.065401661230019	2.906009374339426	2.710982772144159	2.48339754066413	2.22684283495254	1.945364675976889	1.64340214245106	1.325717363912451	0.997320419094309	0.6633903239912478	0.3291933556832015	-1.555396999489137e-15	-0.3189981671887027	-0.622770354226021	-0.9065258922576913	-1.165789786941607	-1.396473291781863	-1.594938390103477	-1.758055168748628	-1.883251178676804	-1.968552004023017	-2.012612399815266	-2.014737507291561	-1.97489381223746	-1.893709673525476	-1.772465413520139	-1.613073126629571	-1.418046524434286	-1.190461292954245	-0.933906587242685	-0.6524284282669903	-0.3504658947411645	-0.03278111620258173	0.2956158286155706	0.629545923718636	0.9637428920266675	1.292936247709905	1.611934414898574	1.915706601935901	2.19946213996757	2.458726034651495	2.689409539491736	2.887874637813364	3.050991416458518	3.176187426386663	3.261488251732877	3.305548647525161	3.307673755001431	3.267830059947336	3.186645921235336	3.065401661230007	2.906009374339402	2.710982772144162	2.483397540664112	2.226842834952532	1.945364675976856	1.643402142451033	1.325717363912426	0.9973204190942844	0.6633903239912214	0.3291933556831759	1.981861899808677e-15	-0.3189981671887265	-0.6227703542260477	-0.906525892257724	-1.165789786941634	-1.396473291781881	-1.594938390103494	-1.75805516874864	-1.883251178676815	-1.968552004023034	-2.012612399815288	-2.01473750729156	-1.974893812237482	-1.893709673525489	-1.772465413520151	-1.613073126629546	-1.41804652443427	-1.190461292954232	-0.933906587242654	-0.6524284282669885	-0.3504658947411894	-0.03278111620254975	0.295615828615583	0.6295459237186396	0.9637428920266782	1.292936247709902	
-AlphaY	0	3.108624468950438e-14	0.1014143173480457	0.2420100243076826	0.4195698425923031	0.631293547798514	0.8738421306175592	1.143390455006933	1.435687582870549	1.746123813892288	2.06980338326326	2.401621670817625	2.736345703942147	3.068696684679907	3.393433239527842	3.705434079027771	3.999778763560558	4.271825301618084	4.517283356782499	4.732281908894247	4.913430302352706	5.057871718780209	5.163328230754517	5.228136726085214	5.251275136086137	5.232378554209403	5.171744990839485	5.070330673491444	4.929734966531814	4.752175148247181	4.54045144304096	4.297902860221935	4.028354535832589	3.736057407968932	3.425621176947184	3.10194160757626	2.77012332002183	2.435399286897328	2.103048306159587	1.778311751311639	1.466310911811699	1.171966227278971	0.8999196892214172	0.6544616340569918	0.4394630819452532	0.2583146884867906	0.1138732720592928	0.008416760084970054	-0.05639173524570351	-0.07953014524666635	-0.06063356336991399	1.509903313490213e-14	0.101414317348052	0.2420100243076826	0.4195698425923013	0.6312935477985153	0.8738421306175432	1.143390455006889	1.435687582870565	1.746123813892268	2.069803383263256	2.401621670817663	2.736345703942167	3.06869668467991	3.393433239527845	3.705434079027772	3.999778763560583	4.271825301618088	4.51728335678248	4.732281908894261	4.91343030235273	5.057871718780192	5.163328230754514	5.228136726085195	5.251275136086137	5.232378554209415	5.171744990839466	5.070330673491409	4.929734966531818	4.752175148247183	4.540451443040983	4.297902860221901	4.028354535832583	3.736057407968908	3.425621176947189	3.101941607576248	2.770123320021836	2.435399286897351	2.103048306159565	1.778311751311632	1.4663109118117	1.1719662272789	0.8999196892213885	0.6544616340569969	0.439463081945239	0.2583146884867678	0.1138732720592877	0.008416760084958508	-0.05639173524569552	-0.07953014524664637	-0.060633563369898	1.332267629550188e-15	
-AlphaZ	0	-0.7320480640736875	-0.9126617572446956	-1.084654646943619	-1.245314302556342	-1.392107025340412	-1.522717806367829	-1.635086835598691	-1.727441986315997	-1.798326762622646	-1.846623269251793	-1.871569841442931	-1.872773056850273	-1.85021394004806	-1.804248261784455	-1.735600928264208	-1.645354548944876	-1.534932363138892	-1.406075794679441	-1.260816988626311	-1.101446763124364	-0.9304784818329214	-0.7506084166794452	-0.5646732260405853	-0.3756052189450061	-0.1863861108083635	1.720022815055506e-14	0.180613693171013	0.3526065828699337	0.5132662384826534	0.6600589612667318	0.7906697422941474	0.9030387715249906	0.9953939222422962	1.066278698548957	1.114575205178099	1.139521777369254	1.140724992776593	1.118165875974385	1.072200197710763	1.003552864190518	0.913306484871182	0.8028842990652039	0.6740277306057507	0.5287689245526204	0.3693986990506732	0.1984304177592224	0.01856035260575872	-0.1673748380331022	-0.356442845128683	-0.5456619532653271	-0.7320480640736915	-0.9126617572446998	-1.084654646943639	-1.24531430255635	-1.392107025340428	-1.522717806367825	-1.635086835598686	-1.72744198631599	-1.798326762622638	-1.846623269251786	-1.871569841442931	-1.872773056850272	-1.850213940048066	-1.804248261784451	-1.735600928264198	-1.645354548944872	-1.534932363138889	-1.406075794679445	-1.260816988626311	-1.101446763124361	-0.930478481832915	-0.7506084166794438	-0.5646732260405807	-0.3756052189450029	-0.1863861108083569	2.26669549391997e-14	0.1806136931710188	0.3526065828699408	0.5132662384826616	0.6600589612667415	0.7906697422941531	0.9030387715250012	0.9953939222423107	1.066278698548957	1.114575205178107	1.139521777369256	1.140724992776589	1.11816587597439	1.07220019771077	1.003552864190521	0.9133064848711854	0.8028842990652056	0.6740277306057485	0.5287689245526264	0.3693986990506679	0.1984304177592286	0.01856035260574451	-0.1673748380331181	-0.3564428451286887	-0.5456619532653253	-0.732048064073715	
-ConstantVelocityJointSeries	/Assembly1/ConstantVel
-FXonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-FYonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-FZonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-TXonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-TYonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-TZonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-CylindricalJointSeries	/Assembly1/Cylindrical
-FXonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-FYonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-FZonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-TXonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-TYonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-TZonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-RevoluteJointSeries	/Assembly1/Revolute
-FXonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-FYonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-FZonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-TXonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-TYonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-TZonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-RotationalMotionSeries	/Assembly1/Rotation
-FXonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-FYonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-FZonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-TXonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-TYonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
-TZonI	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	
diff --git a/testapp/OndselSolver.cpp b/testapp/OndselSolver.cpp
index 2c194a6..01c0213 100644
--- a/testapp/OndselSolver.cpp
+++ b/testapp/OndselSolver.cpp
@@ -26,18 +26,19 @@ void sharedptrTest();
 
 int main()
 {
+	ASMTAssembly::runFile("../testapp/RevRevJt.asmt");
 	ASMTAssembly::runFile("../testapp/RevCylJt.asmt");
 	ASMTAssembly::runFile("../testapp/CylSphJt.asmt");
 	ASMTAssembly::runFile("../testapp/SphSphJt.asmt");
-	//MBDynSystem::runFile("../testapp/MBDynCase(Cosine-half drive).mbd");
-	//MBDynSystem::runFile("../testapp/MBDynCase(Sine-forever drive).mbd");
+	MBDynSystem::runFile("../testapp/MBDynCase(Cosine-half drive).mbd");
+	MBDynSystem::runFile("../testapp/MBDynCase(Sine-forever drive).mbd");
 	MBDynSystem::runFile("../testapp/MBDynCase9orig.mbd");	//SimulationStoppingError
 	MBDynSystem::runFile("../testapp/MBDynCase8orig.mbd");	//Incompatible geometry at t=3.15
 	MBDynSystem::runFile("../testapp/MBDynCase5orig.mbd");	//Test Product::integrateWRT
 	ASMTAssembly::readWriteFile("../testapp/Gears.asmt");
 	ASMTAssembly::readWriteFile("../testapp/anglejoint.asmt");
 	ASMTAssembly::readWriteFile("../testapp/constvel.asmt");
-	//ASMTAssembly::readWriteFile("../testapp/rackscrew.asmt");	//ToDo new joint
+	ASMTAssembly::readWriteFile("../testapp/rackscrew.asmt");
 	ASMTAssembly::readWriteFile("../testapp/planarbug.asmt");
 	MBDynSystem::runFile("../testapp/InitialConditions.mbd");
 	MBDynSystem::runFile("../testapp/SphericalHinge.mbd");
diff --git a/testapp/RevRevJt.asmt b/testapp/RevRevJt.asmt
new file mode 100644
index 0000000..1d6b66c
--- /dev/null
+++ b/testapp/RevRevJt.asmt
@@ -0,0 +1,202 @@
+OndselSolver
+Assembly
+	Notes
+		(Text string: '' runs: (Core.RunArray runs: #() values: #()))
+	Name
+		OndselAssembly
+	Position3D
+		0	0	0	
+	RotationMatrix
+		1	0	0	
+		0	1	0	
+		0	0	1	
+	Velocity3D
+		0	0	0	
+	Omega3D
+		0	0	0	
+	RefPoints
+		RefPoint
+			Position3D
+				0	0	0	
+			RotationMatrix
+				1	0	0	
+				0	1	0	
+				0	0	1	
+			Markers
+				Marker
+					Name
+						marker-part32#Body001
+					Position3D
+						-50.97707939147949	-6.651639938354492	5.976193904876709	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+	RefCurves
+	RefSurfaces
+	Parts
+		Part
+			Name
+				part32#Body001
+			Position3D
+				-50.97707939147949	-6.651639938354492	5.976193904876709	
+			RotationMatrix
+				1	0	0	
+				0	1	0	
+				0	0	1	
+			Velocity3D
+				0	0	0	
+			Omega3D
+				0	0	0	
+			FeatureOrder
+			PrincipalMassMarker
+				Name
+					MassMarker
+				Position3D
+					0	0	0	
+				RotationMatrix
+					1	0	0	
+					0	1	0	
+					0	0	1	
+				Mass
+					1
+				MomentOfInertias
+					1	1	1	
+				Density
+					1
+			RefPoints
+				RefPoint
+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+					Markers
+						Marker
+							Name
+								FixingMarker
+							Position3D
+								0	0	0	
+							RotationMatrix
+								1	0	0	
+								0	1	0	
+								0	0	1	
+				RefPoint
+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+					Markers
+						Marker
+							Name
+								part32#Distance
+							Position3D
+								24.73092618997876	13.40888489553289	5	
+							RotationMatrix
+								1	0	0	
+								0	1	0	
+								0	0	1	
+			RefCurves
+			RefSurfaces
+		Part
+			Name
+				part32#Body002
+			Position3D
+				58.55961227416992	25.54718399047852	23.1300048828125	
+			RotationMatrix
+				1	0	0	
+				0	1	0	
+				0	0	1	
+			Velocity3D
+				0	0	0	
+			Omega3D
+				0	0	0	
+			FeatureOrder
+			PrincipalMassMarker
+				Name
+					MassMarker
+				Position3D
+					0	0	0	
+				RotationMatrix
+					1	0	0	
+					0	1	0	
+					0	0	1	
+				Mass
+					1
+				MomentOfInertias
+					1	1	1	
+				Density
+					1
+			RefPoints
+				RefPoint
+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+					Markers
+						Marker
+							Name
+								part32#Distance
+							Position3D
+								-22.68139865429635	-16.64244751954205	5	
+							RotationMatrix
+								1	0	0	
+								0	1	0	
+								0	0	1	
+			RefCurves
+			RefSurfaces
+	KinematicIJs
+	ConstraintSets
+		Joints
+			FixedJoint
+				Name
+					part32#GroundedJoint
+				MarkerI
+					/OndselAssembly/marker-part32#Body001
+				MarkerJ
+					/OndselAssembly/part32#Body001/FixingMarker
+			RevRevJoint
+				Name
+					part32#RevRevJoint
+				MarkerI
+					/OndselAssembly/part32#Body001/part32#Distance
+				MarkerJ
+					/OndselAssembly/part32#Body002/part32#Distance
+				distanceIJ
+					2
+		Motions
+		GeneralConstraintSets
+	ForceTorques
+	ConstantGravity
+		0	0	0	
+	SimulationParameters
+		tstart
+			0
+		tend
+			1
+		hmin
+			1e-09
+		hmax
+			1000000000
+		hout
+			0.1
+		errorTol
+			1e-06
+	AnimationParameters
+		nframe
+			1000000
+		icurrent
+			1
+		istart
+			1
+		iend
+			1000000
+		isForward
+			true
+		framesPerSecond
+			30