assertEquals(passiveJointD.getQd(), 0.0, eps); assertEquals(passiveJointB.getQdd(), 0.0, eps); assertEquals(passiveJointC.getQdd(), 0.0, eps); assertEquals(passiveJointD.getQdd(), 0.0, eps); assertEquals(passiveJointD.getQd(), -1.0, eps); assertEquals(passiveJointB.getQdd(), -1.0, eps); assertEquals(passiveJointC.getQdd(), 1.0, eps); assertEquals(passiveJointD.getQdd(), -1.0, eps);