Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.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 3.2.3+maint.om/package.mo", uses=false)
Using package Modelica with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+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(Modelica.Mechanics.Rotational.Examples.FirstGrounded,fileNamePrefix="Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_FirstGrounded",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(Modelica.Mechanics.Rotational.Examples.FirstGrounded,fileNamePrefix="Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_FirstGrounded",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 0.001366/0.001366, allocations: 102.5 kB / 17.72 MB, free: 5.363 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001424/0.001424, allocations: 191 kB / 18.66 MB, free: 4.434 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.256/1.256, allocations: 205.1 MB / 224.5 MB, free: 12.28 MB / 190.1 MB
Notification: Modelica requested package Complex of version 3.2.3. Complex 4.0.0 is used instead which states that it is fully compatible without conversion script needed.
Notification: Modelica requested package ModelicaServices of version 3.2.3. ModelicaServices 4.0.0 is used instead which states that it is fully compatible without conversion script needed.
Notification: Performance of FrontEnd - loaded program: time 0.001105/0.001105, allocations: 55.92 kB / 328 MB, free: 3.816 MB / 270.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.08491/0.08602, allocations: 46.61 MB / 374.6 MB, free: 5.094 MB / 318.1 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.Rotational.Examples.FirstGrounded): time 0.003022/0.08908, allocations: 2.349 MB / 377 MB, free: 2.73 MB / 318.1 MB
Notification: Performance of NFInst.instExpressions: time 0.0008716/0.08997, allocations: 0.6239 MB / 377.6 MB, free: 2.098 MB / 318.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.0001108/0.09009, allocations: 4 kB / 377.6 MB, free: 2.094 MB / 318.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.0001495/0.09026, allocations: 39.59 kB / 377.7 MB, free: 2.055 MB / 318.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.0001204/0.09038, allocations: 63.42 kB / 377.7 MB, free: 1.992 MB / 318.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.000202/0.09059, allocations: 59.86 kB / 377.8 MB, free: 1.934 MB / 318.1 MB
Notification: Performance of NFFlatten.flatten: time 0.0002504/0.09085, allocations: 262.8 kB / 378 MB, free: 1.676 MB / 318.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.0001772/0.09104, allocations: 84.58 kB / 378.1 MB, free: 1.594 MB / 318.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.0001284/0.09117, allocations: 99.64 kB / 378.2 MB, free: 1.496 MB / 318.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.0001317/0.09131, allocations: 107.5 kB / 378.3 MB, free: 1.391 MB / 318.1 MB
Notification: Performance of NFPackage.collectConstants: time 3.337e-05/0.09135, allocations: 20 kB / 378.3 MB, free: 1.371 MB / 318.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 3.204e-05/0.09139, allocations: 20 kB / 378.4 MB, free: 1.352 MB / 318.1 MB
Notification: Performance of NFScalarize.scalarize: time 3.985e-05/0.09144, allocations: 47.84 kB / 378.4 MB, free: 1.305 MB / 318.1 MB
Notification: Performance of NFVerifyModel.verify: time 9.503e-05/0.09153, allocations: 111.4 kB / 378.5 MB, free: 1.195 MB / 318.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.0002343/0.09178, allocations: 251 kB / 378.8 MB, free: 0.9492 MB / 318.1 MB
Notification: Performance of FrontEnd - DAE generated: time 4.328e-06/0.09179, allocations: 0 / 378.8 MB, free: 0.9492 MB / 318.1 MB
Notification: Performance of FrontEnd: time 1.362e-06/0.09179, allocations: 0 / 378.8 MB, free: 0.9492 MB / 318.1 MB
Notification: Performance of Transformations before backend: time 5.68e-06/0.09181, allocations: 4 kB / 378.8 MB, free: 0.9453 MB / 318.1 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 50
 * Number of variables: 50
Notification: Performance of Generate backend data structure: time 0.0006431/0.09245, allocations: 0.5069 MB / 379.3 MB, free: 400 kB / 318.1 MB
Notification: Performance of prepare preOptimizeDAE: time 3.448e-05/0.0925, allocations: 15.91 kB / 379.3 MB, free: 384 kB / 318.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 4.855e-05/0.09255, allocations: 58.73 kB / 379.3 MB, free: 316 kB / 318.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 4.257e-05/0.0926, allocations: 24.66 kB / 379.4 MB, free: 292 kB / 318.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.0002665/0.09287, allocations: 244.4 kB / 379.6 MB, free: 8 kB / 318.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.1664/0.2593, allocations: 14.42 kB / 379.6 MB, free: 13.09 MB / 318.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.0001017/0.2595, allocations: 22.88 kB / 379.6 MB, free: 13.09 MB / 318.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.0004175/0.2599, allocations: 211.1 kB / 379.8 MB, free: 13.03 MB / 318.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 1.813e-05/0.2599, allocations: 4.094 kB / 379.8 MB, free: 13.03 MB / 318.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 1.888e-05/0.2599, allocations: 7.906 kB / 379.9 MB, free: 13.03 MB / 318.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 9.398e-06/0.26, allocations: 6.109 kB / 379.9 MB, free: 13.03 MB / 318.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.0002395/0.2602, allocations: 126.4 kB / 380 MB, free: 13.03 MB / 318.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.0009491/0.2612, allocations: 0.7065 MB / 380.7 MB, free: 12.66 MB / 318.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.0002596/0.2614, allocations: 144.4 kB / 380.8 MB, free: 12.64 MB / 318.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.0001222/0.2616, allocations: 68.97 kB / 380.9 MB, free: 12.63 MB / 318.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 2.171e-05/0.2616, allocations: 9.688 kB / 380.9 MB, free: 12.63 MB / 318.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 1.53e-05/0.2616, allocations: 37.92 kB / 380.9 MB, free: 12.59 MB / 318.1 MB
Notification: Performance of pre-optimization done (n=20): time 1.704e-06/0.2616, allocations: 0 / 380.9 MB, free: 12.59 MB / 318.1 MB
Notification: Performance of matching and sorting (n=24): time 0.001403/0.263, allocations: 0.8817 MB / 381.8 MB, free: 12.09 MB / 318.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 2.719e-05/0.2631, allocations: 54.44 kB / 381.9 MB, free: 12.03 MB / 318.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.0001641/0.2632, allocations: 177.1 kB / 382.1 MB, free: 11.92 MB / 318.1 MB
Notification: Performance of collectPreVariables (initialization): time 1.27e-05/0.2633, allocations: 31.08 kB / 382.1 MB, free: 11.89 MB / 318.1 MB
Notification: Performance of collectInitialEqns (initialization): time 6.078e-05/0.2633, allocations: 143.9 kB / 382.2 MB, free: 11.76 MB / 318.1 MB
Notification: Performance of collectInitialBindings (initialization): time 5.069e-05/0.2634, allocations: 83.42 kB / 382.3 MB, free: 11.7 MB / 318.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 7.579e-05/0.2635, allocations: 50.91 kB / 382.4 MB, free: 11.66 MB / 318.1 MB
Notification: Performance of setup shared object (initialization): time 5.42e-05/0.2635, allocations: 329.1 kB / 382.7 MB, free: 11.34 MB / 318.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.0001268/0.2637, allocations: 53.86 kB / 382.7 MB, free: 11.32 MB / 318.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.0001444/0.2638, allocations: 100.1 kB / 382.8 MB, free: 11.26 MB / 318.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.00029/0.2641, allocations: 173.2 kB / 383 MB, free: 11.16 MB / 318.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 1.844e-06/0.2641, allocations: 4.469 kB / 383 MB, free: 11.16 MB / 318.1 MB
Notification: Performance of matching and sorting (n=31) (initialization): time 0.0004449/0.2646, allocations: 243.2 kB / 383.2 MB, free: 11.05 MB / 318.1 MB
Notification: Performance of prepare postOptimizeDAE: time 1.71e-05/0.2646, allocations: 5.312 kB / 383.2 MB, free: 11.05 MB / 318.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 6.602e-06/0.2646, allocations: 4.375 kB / 383.2 MB, free: 11.05 MB / 318.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.0001636/0.2648, allocations: 39.89 kB / 383.3 MB, free: 11.03 MB / 318.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.0002082/0.265, allocations: 46.64 kB / 383.3 MB, free: 11.03 MB / 318.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.0008774/0.2659, allocations: 1.491 MB / 384.8 MB, free: 9.566 MB / 318.1 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.0001132/0.266, allocations: 12.31 kB / 384.8 MB, free: 9.562 MB / 318.1 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 1.692e-05/0.266, allocations: 11.28 kB / 384.8 MB, free: 9.559 MB / 318.1 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 5
 * Number of states: 0 ()
 * Number of discrete variables: 0 ()
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (28):
 * Single equations (assignments): 27
 * Array equations: 0
 * 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
   {(1,3,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of prepare postOptimizeDAE: time 9.122e-05/0.2661, allocations: 139.3 kB / 385 MB, free: 9.422 MB / 318.1 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 3.762e-05/0.2662, allocations: 20.97 kB / 385 MB, free: 9.41 MB / 318.1 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 4.016e-05/0.2662, allocations: 27.73 kB / 385 MB, free: 9.391 MB / 318.1 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 2.695e-06/0.2662, allocations: 3.688 kB / 385 MB, free: 9.391 MB / 318.1 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 5.41e-06/0.2662, allocations: 1.188 kB / 385 MB, free: 9.391 MB / 318.1 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 4.709e-06/0.2663, allocations: 2.344 kB / 385 MB, free: 9.391 MB / 318.1 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.0007639/0.267, allocations: 0.643 MB / 385.7 MB, free: 8.914 MB / 318.1 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 2.855e-06/0.267, allocations: 6.141 kB / 385.7 MB, free: 8.91 MB / 318.1 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.0002027/0.2672, allocations: 45.36 kB / 385.7 MB, free: 8.906 MB / 318.1 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.0001039/0.2674, allocations: 31.12 kB / 385.8 MB, free: 8.895 MB / 318.1 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 1.604e-05/0.2674, allocations: 11.28 kB / 385.8 MB, free: 8.887 MB / 318.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.0007721/0.2682, allocations: 1.476 MB / 387.2 MB, free: 7.438 MB / 318.1 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 2.014e-06/0.2682, allocations: 1.844 kB / 387.2 MB, free: 7.438 MB / 318.1 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.0004728/0.2687, allocations: 409 kB / 387.6 MB, free: 7.176 MB / 318.1 MB
Notification: Performance of postOpt removeConstants (simulation): time 3.121e-05/0.2687, allocations: 93.17 kB / 387.7 MB, free: 7.074 MB / 318.1 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 2.551e-05/0.2687, allocations: 12.41 kB / 387.8 MB, free: 7.066 MB / 318.1 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.0001142/0.2688, allocations: 9.531 kB / 387.8 MB, free: 7.062 MB / 318.1 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 5.312e-05/0.2689, allocations: 21.45 kB / 387.8 MB, free: 7.055 MB / 318.1 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 1.071e-05/0.2689, allocations: 9.375 kB / 387.8 MB, free: 7.051 MB / 318.1 MB
Notification: Performance of sorting global known variables: time 7.895e-05/0.269, allocations: 129.8 kB / 387.9 MB, free: 6.961 MB / 318.1 MB
Notification: Performance of sort global known variables: time 1.3e-07/0.269, allocations: 0 / 387.9 MB, free: 6.961 MB / 318.1 MB
Notification: Performance of remove unused functions: time 0.0003115/0.2693, allocations: 58.11 kB / 388 MB, free: 6.953 MB / 318.1 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 3
 * Number of states: 4 (inertia3.phi,inertia3.w,damper.phi_rel,damper.w_rel)
 * 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 (21):
 * Single equations (assignments): 20
 * Array equations: 0
 * 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
   {(1,3,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of Backend phase and start with SimCode phase: time 0.0006533/0.27, allocations: 0.9371 MB / 388.9 MB, free: 6.164 MB / 318.1 MB
Notification: Performance of simCode: created initialization part: time 0.0004914/0.2705, allocations: 296 kB / 389.2 MB, free: 5.992 MB / 318.1 MB
Notification: Performance of simCode: created event and clocks part: time 2.094e-06/0.2705, allocations: 1.25 kB / 389.2 MB, free: 5.992 MB / 318.1 MB
Notification: Performance of simCode: created simulation system equations: time 0.000269/0.2708, allocations: 220.2 kB / 389.4 MB, free: 5.844 MB / 318.1 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.0004/0.2712, allocations: 38.69 kB / 389.5 MB, free: 5.832 MB / 318.1 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.002711/0.2739, allocations: 2.539 MB / 392 MB, free: 3.969 MB / 318.1 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0001876/0.2741, allocations: 0.7464 MB / 392.7 MB, free: 3.266 MB / 318.1 MB
Notification: Performance of simCode: alias equations: time 8.377e-05/0.2742, allocations: 24.81 kB / 392.8 MB, free: 3.262 MB / 318.1 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 9.218e-05/0.2743, allocations: 64.33 kB / 392.8 MB, free: 3.215 MB / 318.1 MB
Notification: Performance of SimCode: time 3.71e-07/0.2743, allocations: 1.625 kB / 392.8 MB, free: 3.215 MB / 318.1 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.02594/0.3003, allocations: 4.824 MB / 397.7 MB, free: 2.375 MB / 318.1 MB
Notification: Performance of buildModelFMU: Generate platform static: time 9.382/9.683, allocations: 5.453 kB / 397.7 MB, free: 2.371 MB / 318.1 MB
(rm -f Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.pipe ; mkfifo Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.pipe ; head -c 1048576 < Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.pipe >> ../files/Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded_res.mat --tempDir=temp_Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_FirstGrounded_fmu --startTime=0 --stopTime=1 --timeout=50 --tolerance=1e-06 Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_FirstGrounded.fmu > Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.pipe 2>&1)
diffSimulationResults("Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v3.2.3+build.4/Modelica/Mechanics/Rotational/Examples/FirstGrounded/FirstGrounded.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
""

Variables in the reference:time,damper.phi_rel,damper.w_rel,inertia3.phi,inertia3.w

Variables in the result:Jload,Jmotor,amplitude,damper.a_rel,damper.d,damper.flange_a.phi,damper.flange_a.tau,damper.flange_b.phi,damper.flange_b.tau,damper.lossPower,damper.phi_nominal,damper.phi_rel,damper.stateSelect,damper.tau,damper.useHeatPort,damper.w_rel,damping,der(damper.phi_rel),der(damper.w_rel),der(inertia1.phi),der(inertia1.w),der(inertia2.phi),der(inertia2.w),der(inertia3.phi),der(inertia3.w),fixed.flange.phi,fixed.flange.tau,fixed.phi0,freqHz,idealGear.flange_a.phi,idealGear.flange_a.tau,idealGear.flange_b.phi,idealGear.flange_b.tau,idealGear.phi_a,idealGear.phi_b,idealGear.ratio,idealGear.useSupport,inertia1.J,inertia1.a,inertia1.flange_a.phi,inertia1.flange_a.tau,inertia1.flange_b.phi,inertia1.flange_b.tau,inertia1.phi,inertia1.stateSelect,inertia1.w,inertia2.J,inertia2.a,inertia2.flange_a.phi,inertia2.flange_a.tau,inertia2.flange_b.phi,inertia2.flange_b.tau,inertia2.phi,inertia2.stateSelect,inertia2.w,inertia3.J,inertia3.a,inertia3.flange_a.phi,inertia3.flange_a.tau,inertia3.flange_b.phi,inertia3.flange_b.tau,inertia3.phi,inertia3.stateSelect,inertia3.w,ratio,sine.amplitude,sine.freqHz,sine.offset,sine.phase,sine.startTime,sine.y,spring.c,spring.flange_a.phi,spring.flange_a.tau,spring.flange_b.phi,spring.flange_b.tau,spring.phi_rel,spring.phi_rel0,spring.tau,time,torque.flange.phi,torque.flange.tau,torque.tau,torque.useSupport