Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.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) 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: translateModel(Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|bodyOfConstraint.body.w_a.1.|bodyOfConstraint.body.w_a.2.|bodyOfConstraint.body.w_a.3.|bodyOfJoint.body.w_a.2.|joint.phi",fileNamePrefix="Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint") translateModel(Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|bodyOfConstraint.body.w_a.1.|bodyOfConstraint.body.w_a.2.|bodyOfConstraint.body.w_a.3.|bodyOfJoint.body.w_a.2.|joint.phi",fileNamePrefix="Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint") Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo): time 0.001154/0.001154, allocations: 112.2 kB / 17.74 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 0.001202/0.001202, allocations: 187.1 kB / 18.67 MB, free: 4.422 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo): time 1.401/1.401, allocations: 222.9 MB / 242.4 MB, free: 15.16 MB / 206.1 MB Notification: Performance of FrontEnd - loaded program: time 0.00118/0.00118, allocations: 51.92 kB / 352 MB, free: 3.238 MB / 286.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.2944/0.2956, allocations: 49.44 MB / 401.4 MB, free: 8.746 MB / 318.1 MB Notification: Performance of NFInst.instantiate(Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint): time 0.0195/0.3152, allocations: 18.93 MB / 420.3 MB, free: 5.844 MB / 334.1 MB Notification: Performance of NFInst.instExpressions: time 0.01424/0.3294, allocations: 6.195 MB / 426.5 MB, free: 15.62 MB / 350.1 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.004387/0.3339, allocations: 151.5 kB / 426.7 MB, free: 15.48 MB / 350.1 MB Notification: Performance of NFTyping.typeComponents: time 0.01143/0.3454, allocations: 6.044 MB / 432.7 MB, free: 9.414 MB / 350.1 MB Notification: Performance of NFTyping.typeBindings: time 0.007626/0.353, allocations: 2.609 MB / 435.3 MB, free: 6.797 MB / 350.1 MB Notification: Performance of NFTyping.typeClassSections: time 0.005517/0.3586, allocations: 2.397 MB / 437.7 MB, free: 4.395 MB / 350.1 MB Notification: Performance of NFFlatten.flatten: time 0.01053/0.3691, allocations: 6.546 MB / 444.3 MB, free: 13.84 MB / 366.1 MB Notification: Performance of NFFlatten.resolveConnections: time 0.0122/0.3814, allocations: 8.108 MB / 452.4 MB, free: 5.637 MB / 366.1 MB Notification: Performance of NFEvalConstants.evaluate: time 0.006795/0.3882, allocations: 2.855 MB / 455.2 MB, free: 2.773 MB / 366.1 MB Notification: Performance of NFSimplifyModel.simplify: time 0.005906/0.3941, allocations: 3.54 MB / 458.8 MB, free: 15.22 MB / 382.1 MB Notification: Performance of NFPackage.collectConstants: time 0.002392/0.3966, allocations: 0.6406 MB / 459.4 MB, free: 14.58 MB / 382.1 MB Notification: Performance of NFFlatten.collectFunctions: time 0.00553/0.4021, allocations: 1.853 MB / 461.3 MB, free: 12.73 MB / 382.1 MB Notification: Performance of NFScalarize.scalarize: time 0.006665/0.4088, allocations: 3.367 MB / 464.6 MB, free: 9.352 MB / 382.1 MB Notification: Performance of NFVerifyModel.verify: time 0.007658/0.4165, allocations: 3.78 MB / 468.4 MB, free: 5.551 MB / 382.1 MB Notification: Performance of NFConvertDAE.convert: time 0.01679/0.4333, allocations: 12.02 MB / 480.4 MB, free: 9.492 MB / 398.1 MB Notification: Performance of FrontEnd - DAE generated: time 1.072e-05/0.4334, allocations: 0 / 480.4 MB, free: 9.492 MB / 398.1 MB Notification: Performance of FrontEnd: time 2.234e-06/0.4334, allocations: 7.938 kB / 480.4 MB, free: 9.484 MB / 398.1 MB Notification: Performance of Transformations before backend: time 0.0005172/0.4339, allocations: 0 / 480.4 MB, free: 9.484 MB / 398.1 MB Notification: Model statistics after passing the front-end and creating the data structures used by the back-end: * Number of equations: 2341 * Number of variables: 2341 Notification: Performance of Generate backend data structure: time 0.02821/0.4622, allocations: 8.224 MB / 488.7 MB, free: 1.176 MB / 398.1 MB Notification: Performance of prepare preOptimizeDAE: time 7.064e-05/0.4623, allocations: 12.03 kB / 488.7 MB, free: 1.164 MB / 398.1 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.009559/0.4718, allocations: 2.25 MB / 490.9 MB, free: 14.9 MB / 414.1 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.009178/0.4811, allocations: 4.145 MB / 495.1 MB, free: 10.68 MB / 414.1 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0004198/0.4815, allocations: 431.3 kB / 495.5 MB, free: 10.25 MB / 414.1 MB Notification: Performance of preOpt expandDerOperator (simulation): time 0.002292/0.4838, allocations: 0.57 MB / 496.1 MB, free: 9.684 MB / 414.1 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.0365/0.5204, allocations: 16.5 MB / 0.5005 GB, free: 8.285 MB / 430.1 MB Notification: Performance of preOpt findStateOrder (simulation): time 0.0003945/0.5208, allocations: 59.52 kB / 0.5006 GB, free: 8.227 MB / 430.1 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.002381/0.5232, allocations: 263.8 kB / 0.5009 GB, free: 7.969 MB / 430.1 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.004533/0.5278, allocations: 2.576 MB / 0.5034 GB, free: 5.383 MB / 430.1 MB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.03157/0.5594, allocations: 14.1 MB / 0.5171 GB, free: 7.262 MB / 446.1 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 0.5275/1.087, allocations: 62.14 MB / 0.5778 GB, free: 86.21 MB / 462.1 MB Notification: Performance of preOpt comSubExp (simulation): time 0.02094/1.108, allocations: 7.547 MB / 0.5852 GB, free: 82.32 MB / 462.1 MB Notification: Performance of preOpt resolveLoops (simulation): time 0.004404/1.112, allocations: 3.926 MB / 0.589 GB, free: 78.82 MB / 462.1 MB Notification: Performance of preOpt evalFunc (simulation): time 0.02191/1.134, allocations: 16.6 MB / 0.6052 GB, free: 61.83 MB / 462.1 MB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 5.003e-05/1.134, allocations: 56.56 kB / 0.6053 GB, free: 61.77 MB / 462.1 MB Notification: Performance of pre-optimization done (n=265): time 5.801e-06/1.134, allocations: 0 / 0.6053 GB, free: 61.77 MB / 462.1 MB Notification: Performance of matching and sorting (n=331): time 0.112/1.246, allocations: 42.47 MB / 0.6468 GB, free: 19.19 MB / 462.1 MB Notification: Performance of inlineWhenForInitialization (initialization): time 0.01911/1.266, allocations: 16.7 MB / 0.6631 GB, free: 1.977 MB / 462.1 MB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.007668/1.273, allocations: 5.634 MB / 0.6686 GB, free: 12.36 MB / 478.1 MB Notification: Performance of collectPreVariables (initialization): time 0.0008901/1.274, allocations: 77.61 kB / 0.6686 GB, free: 12.29 MB / 478.1 MB Notification: Performance of collectInitialEqns (initialization): time 0.003514/1.278, allocations: 4.654 MB / 0.6732 GB, free: 7.582 MB / 478.1 MB Notification: Performance of collectInitialBindings (initialization): time 0.002059/1.28, allocations: 1.247 MB / 0.6744 GB, free: 6.32 MB / 478.1 MB Notification: Performance of simplifyInitialFunctions (initialization): time 0.00272/1.283, allocations: 1.883 MB / 0.6762 GB, free: 4.422 MB / 478.1 MB Notification: Performance of setup shared object (initialization): time 0.0001116/1.283, allocations: 309.1 kB / 0.6765 GB, free: 4.117 MB / 478.1 MB Notification: Performance of preBalanceInitialSystem (initialization): time 0.005648/1.288, allocations: 4.054 MB / 0.6805 GB, free: 56 kB / 478.1 MB Notification: Performance of partitionIndependentBlocks (initialization): time 0.009563/1.298, allocations: 9.232 MB / 0.6895 GB, free: 4.273 MB / 494.1 MB Notification: Performance of analyzeInitialSystem (initialization): time 0.01745/1.315, allocations: 14.37 MB / 0.7036 GB, free: 3.32 MB / 0.4982 GB Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001723/1.316, allocations: 56 kB / 0.7036 GB, free: 3.266 MB / 0.4982 GB Notification: Performance of matching and sorting (n=1183) (initialization): time 0.03989/1.356, allocations: 17.39 MB / 0.7206 GB, free: 1.75 MB / 0.5138 GB Notification: Performance of prepare postOptimizeDAE: time 0.0002697/1.356, allocations: 84 kB / 0.7207 GB, free: 1.668 MB / 0.5138 GB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0003906/1.356, allocations: 180 kB / 0.7208 GB, free: 1.492 MB / 0.5138 GB Notification: Performance of postOpt tearingSystem (initialization): time 0.01542/1.372, allocations: 4.563 MB / 0.7253 GB, free: 12.9 MB / 0.5294 GB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.007631/1.379, allocations: 1.996 MB / 0.7272 GB, free: 10.9 MB / 0.5294 GB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.34/1.719, allocations: 36.36 MB / 0.7627 GB, free: 170.2 MB / 0.5294 GB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.00871/1.728, allocations: 0.53 MB / 0.7633 GB, free: 170 MB / 0.5294 GB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001915/1.73, allocations: 0.5585 MB / 0.7638 GB, free: 169.9 MB / 0.5294 GB Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 826 * Number of states: 0 () * Number of discrete variables: 62 (sensorConstraintRelative.arrow.arrowLine.twoHeadedArrow,sensorConstraintRelative.arrow.headAtOrigin,freeMotionScalarInit.arrowColor[3],freeMotionScalarInit.arrowColor[2],freeMotionScalarInit.arrowColor[1],fixedTranslation.color[3],fixedTranslation.color[2],fixedTranslation.color[1],fixedRotation.color[3],fixedRotation.color[2],fixedRotation.color[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],springOfConstraint.color[3],springOfConstraint.color[2],springOfConstraint.color[1],springOfConstraint.massColor[3],springOfConstraint.massColor[2],springOfConstraint.massColor[1],springOfJoint.color[3],springOfJoint.color[2],springOfJoint.color[1],springOfJoint.massColor[3],springOfJoint.massColor[2],springOfJoint.massColor[1],bodyOfConstraint.color[3],bodyOfConstraint.color[2],bodyOfConstraint.color[1],bodyOfConstraint.body.sphereColor[3],bodyOfConstraint.body.sphereColor[2],bodyOfConstraint.body.sphereColor[1],bodyOfConstraint.frameTranslation.color[3],bodyOfConstraint.frameTranslation.color[2],bodyOfConstraint.frameTranslation.color[1],bodyOfJoint.color[3],bodyOfJoint.color[2],bodyOfJoint.color[1],bodyOfJoint.body.sphereColor[3],bodyOfJoint.body.sphereColor[2],bodyOfJoint.body.sphereColor[1],bodyOfJoint.frameTranslation.color[3],bodyOfJoint.frameTranslation.color[2],bodyOfJoint.frameTranslation.color[1],sensorConstraintRelative.arrowColor[3],sensorConstraintRelative.arrowColor[2],sensorConstraintRelative.arrowColor[1],constraint.sphereColor[3],constraint.sphereColor[2],constraint.sphereColor[1],joint.cylinderColor[3],joint.cylinderColor[2],joint.cylinderColor[1]) * Number of discrete states: 0 () * Number of clocked states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for initialization (1052): * Single equations (assignments): 1039 * Array equations: 6 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 0 * Torn equation systems: 7 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems (#iteration vars, #inner vars, density): 6 systems {(3,33,100.0%), (2,19,100.0%), (2,13,100.0%), (2,1,100.0%), (2,1,100.0%), (2,1,100.0%)} * Non-linear torn systems (#iteration vars, #inner vars): 1 system {(2,19)} Notification: Performance of prepare postOptimizeDAE: time 0.006225/1.736, allocations: 3.215 MB / 0.767 GB, free: 168.7 MB / 0.5294 GB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001181/1.738, allocations: 0.5183 MB / 0.7675 GB, free: 168.7 MB / 0.5294 GB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01883/1.756, allocations: 9.811 MB / 0.777 GB, free: 165 MB / 0.5294 GB Notification: Performance of postOpt inlineArrayEqn (simulation): time 8.474e-05/1.757, allocations: 47.83 kB / 0.7771 GB, free: 164.9 MB / 0.5294 GB Notification: Performance of postOpt constantLinearSystem (simulation): time 0.01599/1.773, allocations: 8.387 MB / 0.7853 GB, free: 156.5 MB / 0.5294 GB Notification: Performance of postOpt simplifysemiLinear (simulation): time 8.635e-05/1.773, allocations: 19.94 kB / 0.7853 GB, free: 156.5 MB / 0.5294 GB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.03884/1.812, allocations: 22.07 MB / 0.8068 GB, free: 134.4 MB / 0.5294 GB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 4.418e-05/1.812, allocations: 7.391 kB / 0.8068 GB, free: 134.4 MB / 0.5294 GB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002689/1.814, allocations: 457.7 kB / 0.8073 GB, free: 134 MB / 0.5294 GB Notification: Performance of postOpt tearingSystem (simulation): time 0.01029/1.825, allocations: 3.224 MB / 0.8104 GB, free: 130.8 MB / 0.5294 GB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0009151/1.826, allocations: 67.64 kB / 0.8105 GB, free: 130.7 MB / 0.5294 GB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.0306/1.856, allocations: 26.37 MB / 0.8362 GB, free: 104 MB / 0.5294 GB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.01271/1.869, allocations: 10.76 MB / 0.8468 GB, free: 93.09 MB / 0.5294 GB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.0226/1.892, allocations: 13.64 MB / 0.8601 GB, free: 79.51 MB / 0.5294 GB Notification: Performance of postOpt removeConstants (simulation): time 0.001666/1.893, allocations: 0.545 MB / 0.8606 GB, free: 78.94 MB / 0.5294 GB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001432/1.895, allocations: 58.83 kB / 0.8607 GB, free: 78.88 MB / 0.5294 GB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.003816/1.899, allocations: 211.7 kB / 0.8609 GB, free: 78.68 MB / 0.5294 GB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.001042/1.9, allocations: 220.5 kB / 0.8611 GB, free: 78.46 MB / 0.5294 GB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0003064/1.9, allocations: 87.98 kB / 0.8612 GB, free: 78.38 MB / 0.5294 GB Notification: Performance of sorting global known variables: time 0.005402/1.905, allocations: 3.51 MB / 0.8646 GB, free: 74.89 MB / 0.5294 GB Notification: Performance of sort global known variables: time 1.51e-07/1.905, allocations: 0 / 0.8646 GB, free: 74.89 MB / 0.5294 GB Notification: Performance of remove unused functions: time 0.01018/1.916, allocations: 1.967 MB / 0.8665 GB, free: 72.94 MB / 0.5294 GB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 16 * Number of states: 4 ($STATESET2.x,$STATESET1.x,joint.phi,joint.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 (210): * Single equations (assignments): 202 * Array equations: 4 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 0 * Torn equation systems: 4 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems (#iteration vars, #inner vars, density): 3 systems {(1,11,100.0%), (3,30,100.0%), (3,21,100.0%)} * Non-linear torn systems (#iteration vars, #inner vars): 1 system {(3,25)} Notification: Performance of Backend phase and start with SimCode phase: time 0.001351/1.917, allocations: 263.6 kB / 0.8668 GB, free: 72.7 MB / 0.5294 GB Notification: Performance of simCode: created initialization part: time 0.01655/1.934, allocations: 10.64 MB / 0.8772 GB, free: 61.97 MB / 0.5294 GB Notification: Performance of simCode: created event and clocks part: time 1.172e-05/1.934, allocations: 0 / 0.8772 GB, free: 61.97 MB / 0.5294 GB Notification: Performance of simCode: created simulation system equations: time 0.00627/1.94, allocations: 4.101 MB / 0.8812 GB, free: 57.82 MB / 0.5294 GB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.007278/1.947, allocations: 0.835 MB / 0.882 GB, free: 57.01 MB / 0.5294 GB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.04275/1.99, allocations: 16.61 MB / 0.8982 GB, free: 40.34 MB / 0.5294 GB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.01162/2.002, allocations: 4.901 MB / 0.903 GB, free: 35.4 MB / 0.5294 GB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.00263/2.004, allocations: 415.4 kB / 0.9034 GB, free: 35 MB / 0.5294 GB Notification: Performance of SimCode: time 1.493e-06/2.004, allocations: 0 / 0.9034 GB, free: 35 MB / 0.5294 GB Notification: Performance of Templates: time 0.8144/2.819, allocations: 258.1 MB / 1.155 GB, free: 197.5 MB / 0.5607 GB make -j1 -f Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.makefile (rm -f Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.pipe ; mkfifo Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.pipe ; head -c 1048576 < Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.pipe >> ../files/Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.sim & ./Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint -abortSlowSimulation -alarm=480 -emit_protected -lv LOG_STATS > Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.pipe 2>&1) diffSimulationResults("Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/Modelica/Mechanics/MultiBody/Examples/Constraints/RevoluteConstraint/RevoluteConstraint.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001) "" Variables in the reference:time,bodyOfConstraint.body.w_a[1],bodyOfConstraint.body.w_a[2],bodyOfConstraint.body.w_a[3],bodyOfJoint.body.w_a[2],joint.phi Variables in the result:bodyOfConstraint.body.w_a[1],bodyOfConstraint.body.w_a[2],bodyOfConstraint.body.w_a[3],bodyOfJoint.body.w_a[2],joint.phi,time