at the transition sqrt(a*r) must
Block) Initialize (Method) Kin_Staubli_TS60_S1_D25_L200_floor_R [...] Block) Initialize (Method) Kin_Staubli_TX60_S1_R
Block) Initialize (Method) Kin_Staubli_TS60_S1_D25_L200_floor_R [...] Block) Initialize (Method) Kin_Staubli_TX60_S1_R