Running command: translateModel(ModelicaTest.MultiBody.Joints.JointUSR,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|rRod1_ia.1.|rRod1_ia.2.|rRod1_ia.3.|rRod2_ib.1.|rRod2_ib.2.|rRod2_ib.3.|Fixed1.frame_b.r_0.1.|Fixed1.frame_b.r_0.2.|Fixed1.frame_b.r_0.3.|Fixed1.frame_b.f.1.|Fixed1.frame_b.f.2.|Fixed1.frame_b.f.3.|Fixed1.frame_b.t.1.|Fixed1.frame_b.t.2.|Fixed1.frame_b.t.3.|jointUSR.frame_b.r_0.1.|jointUSR.frame_b.r_0.2.|jointUSR.frame_b.r_0.3.|jointUSR.frame_b.f.1.|jointUSR.frame_b.f.2.|jointUSR.frame_b.f.3.|jointUSR.frame_b.t.1.|jointUSR.frame_b.t.2.|jointUSR.frame_b.t.3.|jointUSR.frame_ia.r_0.1.|jointUSR.frame_ia.r_0.2.|jointUSR.frame_ia.r_0.3.|jointUSR.frame_ia.f.1.|jointUSR.frame_ia.f.2.|jointUSR.frame_ia.f.3.|jointUSR.frame_ia.t.1.|jointUSR.frame_ia.t.2.|jointUSR.frame_ia.t.3.|jointUSR.frame_im.r_0.1.|jointUSR.frame_im.r_0.1.|jointUSR.frame_im.r_0.2.|jointUSR.frame_im.r_0.2.|jointUSR.frame_im.r_0.3.|jointUSR.frame_im.r_0.3.|jointUSR.frame_im.f.1.|jointUSR.frame_im.f.1.|jointUSR.frame_im.f.2.|jointUSR.frame_im.f.2.|jointUSR.frame_im.f.3.|jointUSR.frame_im.f.3.|jointUSR.frame_im.t.1.|jointUSR.frame_im.t.1.|jointUSR.frame_im.t.2.|jointUSR.frame_im.t.2.|jointUSR.frame_im.t.3.|jointUSR.frame_im.t.3.|jointUSR.revolute.frame_b.r_0.1.|jointUSR.revolute.frame_b.r_0.2.|jointUSR.revolute.frame_b.r_0.3.|jointUSR.revolute.frame_b.f.1.|jointUSR.revolute.frame_b.f.2.|jointUSR.revolute.frame_b.f.3.|jointUSR.revolute.frame_b.t.1.|jointUSR.revolute.frame_b.t.2.|jointUSR.revolute.frame_b.t.3.|jointUSR.rod1.frame_b.r_0.1.|jointUSR.rod1.frame_b.r_0.2.|jointUSR.rod1.frame_b.r_0.3.|jointUSR.rod1.frame_b.f.1.|jointUSR.rod1.frame_b.f.2.|jointUSR.rod1.frame_b.f.3.|jointUSR.rod1.frame_b.t.1.|jointUSR.rod1.frame_b.t.2.|jointUSR.rod1.frame_b.t.3.|jointUSR.rod1.frame_ia.r_0.1.|jointUSR.rod1.frame_ia.r_0.2.|jointUSR.rod1.frame_ia.r_0.3.|jointUSR.rod1.frame_ia.f.1.|jointUSR.rod1.frame_ia.f.2.|jointUSR.rod1.frame_ia.f.3.|jointUSR.rod1.frame_ia.t.1.|jointUSR.rod1.frame_ia.t.2.|jointUSR.rod1.frame_ia.t.3.|jointUSR.rod2.frame_b.r_0.1.|jointUSR.rod2.frame_b.r_0.2.|jointUSR.rod2.frame_b.r_0.3.|jointUSR.rod2.frame_b.f.1.|jointUSR.rod2.frame_b.f.2.|jointUSR.rod2.frame_b.f.3.|jointUSR.rod2.frame_b.t.1.|jointUSR.rod2.frame_b.t.2.|jointUSR.rod2.frame_b.t.3.|jointUSR.relativePosition.frame_b.r_0.1.|jointUSR.relativePosition.frame_b.r_0.2.|jointUSR.relativePosition.frame_b.r_0.3.|jointUSR.relativePosition.frame_b.f.1.|jointUSR.relativePosition.frame_b.f.2.|jointUSR.relativePosition.frame_b.f.3.|jointUSR.relativePosition.frame_b.t.1.|jointUSR.relativePosition.frame_b.t.2.|jointUSR.relativePosition.frame_b.t.3.|jointUSR.relativePosition.relativePosition.frame_b.r_0.1.|jointUSR.relativePosition.relativePosition.frame_b.r_0.2.|jointUSR.relativePosition.relativePosition.frame_b.r_0.3.|jointUSR.relativePosition.relativePosition.frame_b.f.1.|jointUSR.relativePosition.relativePosition.frame_b.f.2.|jointUSR.relativePosition.relativePosition.frame_b.f.3.|jointUSR.relativePosition.relativePosition.frame_b.t.1.|jointUSR.relativePosition.relativePosition.frame_b.t.2.|jointUSR.relativePosition.relativePosition.frame_b.t.3.|jointUSR.position_b.1..y|jointUSR.position_b.2..y|jointUSR.position_b.3..y",fileNamePrefix="ModelicaTest_3.2.1_ModelicaTest.MultiBody.Joints.JointUSR")
Notification: Performance of loadModel(ModelicaTest): time 2.059/2.059, allocations: 209.3 MB / 221.5 MB, free: 7.734 MB / 186.7 MB
Notification: Performance of FrontEnd - loaded program: time 3.295e-05/3.317e-05, allocations: 4 kB / 273.1 MB, free: 3.156 MB / 218.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.08773/0.08779, allocations: 48.7 MB / 321.8 MB, free: 2.359 MB / 266.7 MB
Notification: Performance of FrontEnd - scodeFlatten: time 0.368/0.4558, allocations: 94.35 MB / 416.1 MB, free: 0.8359 MB / 314.7 MB
Notification: Performance of FrontEnd - mkProgramGraph: time 0.0002292/0.4561, allocations: 79 kB / 416.2 MB, free: 0.793 MB / 314.7 MB
Notification: Performance of FrontEnd - DAE generated: time 0.3192/0.7754, allocations: 75.72 MB / 491.9 MB, free: 12.18 MB / 394.7 MB
Notification: Performance of FrontEnd: time 2.642e-06/0.7754, allocations: 0 / 491.9 MB, free: 12.18 MB / 394.7 MB
Notification: Performance of Transformations before backend: time 0.0001928/0.7756, allocations: 68 kB / 492 MB, free: 12.12 MB / 394.7 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 1300
 * Number of variables: 1300
Notification: Performance of Generate backend data structure: time 0.01307/0.7887, allocations: 3.792 MB / 495.8 MB, free: 8.266 MB / 394.7 MB
Notification: Performance of prepare preOptimizeDAE: time 4.987e-05/0.7888, allocations: 12.03 kB / 495.8 MB, free: 8.254 MB / 394.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.004972/0.7938, allocations: 0.6854 MB / 496.5 MB, free: 7.562 MB / 394.7 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.007052/0.8008, allocations: 2.201 MB / 498.7 MB, free: 5.312 MB / 394.7 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0004659/0.8014, allocations: 295.7 kB / 499 MB, free: 5.023 MB / 394.7 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.001618/0.803, allocations: 379.9 kB / 499.4 MB, free: 4.652 MB / 394.7 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.02615/0.8292, allocations: 8.78 MB / 0.4962 GB, free: 11.49 MB / 410.7 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0001136/0.8293, allocations: 19.81 kB / 0.4962 GB, free: 11.47 MB / 410.7 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0008387/0.8302, allocations: 175.9 kB / 0.4964 GB, free: 11.3 MB / 410.7 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.002172/0.8324, allocations: 0.8387 MB / 0.4972 GB, free: 10.46 MB / 410.7 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02175/0.8542, allocations: 7.068 MB / 0.5041 GB, free: 3.383 MB / 410.7 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.2952/1.149, allocations: 29 MB / 0.5325 GB, free: 87.79 MB / 426.7 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.0106/1.16, allocations: 2.259 MB / 0.5347 GB, free: 87.68 MB / 426.7 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.001997/1.162, allocations: 1.057 MB / 0.5357 GB, free: 87.65 MB / 426.7 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.01342/1.176, allocations: 7.596 MB / 0.5431 GB, free: 84.03 MB / 426.7 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 3.145e-05/1.176, allocations: 44.2 kB / 0.5432 GB, free: 83.99 MB / 426.7 MB
Notification: Performance of pre-optimization done (n=81): time 4.28e-06/1.176, allocations: 0 / 0.5432 GB, free: 83.99 MB / 426.7 MB
Notification: Performance of matching and sorting (n=97): time 0.02469/1.2, allocations: 6.483 MB / 0.5495 GB, free: 82.03 MB / 426.7 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 4.734e-05/1.2, allocations: 144.6 kB / 0.5496 GB, free: 81.88 MB / 426.7 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.004445/1.205, allocations: 2.309 MB / 0.5519 GB, free: 81.59 MB / 426.7 MB
Notification: Performance of collectPreVariables (initialization): time 0.0001967/1.205, allocations: 40.33 kB / 0.5519 GB, free: 81.56 MB / 426.7 MB
Notification: Performance of collectInitialEqns (initialization): time 0.001628/1.207, allocations: 2.413 MB / 0.5543 GB, free: 80.3 MB / 426.7 MB
Notification: Performance of collectInitialBindings (initialization): time 0.000434/1.207, allocations: 393.3 kB / 0.5546 GB, free: 80.1 MB / 426.7 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0002304/1.208, allocations: 75.06 kB / 0.5547 GB, free: 80.1 MB / 426.7 MB
Notification: Performance of setup shared object (initialization): time 0.0002323/1.208, allocations: 470.8 kB / 0.5552 GB, free: 79.79 MB / 426.7 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.002137/1.21, allocations: 1.039 MB / 0.5562 GB, free: 79.79 MB / 426.7 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.003371/1.213, allocations: 3.402 MB / 0.5595 GB, free: 76.71 MB / 426.7 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.003519/1.217, allocations: 1.833 MB / 0.5613 GB, free: 76.69 MB / 426.7 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 6.376e-05/1.217, allocations: 25.16 kB / 0.5613 GB, free: 76.69 MB / 426.7 MB
Notification: Performance of matching and sorting (n=497) (initialization): time 0.009577/1.227, allocations: 4.117 MB / 0.5653 GB, free: 76.51 MB / 426.7 MB
Notification: Performance of prepare postOptimizeDAE: time 7.848e-05/1.227, allocations: 49.08 kB / 0.5654 GB, free: 76.51 MB / 426.7 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 9.675e-05/1.227, allocations: 84.5 kB / 0.5655 GB, free: 76.51 MB / 426.7 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.0001473/1.227, allocations: 125.4 kB / 0.5656 GB, free: 76.51 MB / 426.7 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.004072/1.231, allocations: 0.9453 MB / 0.5665 GB, free: 76.46 MB / 426.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.0001398/1.231, allocations: 165.4 kB / 0.5667 GB, free: 76.43 MB / 426.7 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.003673/1.235, allocations: 194.2 kB / 0.5669 GB, free: 76.42 MB / 426.7 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.0005705/1.236, allocations: 236.4 kB / 0.5671 GB, free: 76.42 MB / 426.7 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 388
 * Number of states: 0 ()
 * Number of discrete variables: 40 (jointUSR.revolute.positiveBranch,prism.color[3],prism.color[2],prism.color[1],rRod2.color[3],rRod2.color[2],rRod2.color[1],rRod1.color[3],rRod1.color[2],rRod1.color[1],n2_ia.color[3],n2_ia.color[2],n2_ia.color[1],n1_a.color[3],n1_a.color[2],n1_a.color[1],jointUSR.rod1Color[3],jointUSR.rod1Color[2],jointUSR.rod1Color[1],jointUSR.cylinderColor[3],jointUSR.cylinderColor[2],jointUSR.cylinderColor[1],jointUSR.sphereColor[3],jointUSR.sphereColor[2],jointUSR.sphereColor[1],jointUSR.revoluteColor[3],jointUSR.revoluteColor[2],jointUSR.revoluteColor[1],Fixed1.color[3],Fixed1.color[2],Fixed1.color[1],world.gravitySphereColor[3],world.gravitySphereColor[2],world.gravitySphereColor[1],world.gravityArrowColor[3],world.gravityArrowColor[2],world.gravityArrowColor[1],world.axisColor_x[3],world.axisColor_x[2],world.axisColor_x[1])
 * Number of discrete states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (497):
 * Single equations (assignments): 497
 * Array equations: 0
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 0
 * Torn equation systems: 0
 * Mixed (continuous/discrete) equation systems: 0
Notification: Performance of prepare postOptimizeDAE: time 0.0006554/1.236, allocations: 426.3 kB / 0.5675 GB, free: 76.18 MB / 426.7 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.0004504/1.237, allocations: 228.2 kB / 0.5677 GB, free: 76.05 MB / 426.7 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.002713/1.239, allocations: 1.368 MB / 0.569 GB, free: 75.96 MB / 426.7 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 1.349e-05/1.239, allocations: 11.16 kB / 0.5691 GB, free: 75.96 MB / 426.7 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 7.679e-06/1.239, allocations: 0 / 0.5691 GB, free: 75.96 MB / 426.7 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 1.443e-05/1.239, allocations: 7.453 kB / 0.5691 GB, free: 75.96 MB / 426.7 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.0121/1.252, allocations: 6.108 MB / 0.575 GB, free: 74.27 MB / 426.7 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 2.453e-05/1.252, allocations: 14.47 kB / 0.575 GB, free: 74.27 MB / 426.7 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.001164/1.253, allocations: 241.9 kB / 0.5753 GB, free: 74.25 MB / 426.7 MB
Notification: Performance of postOpt tearingSystem (simulation): time 3.164e-05/1.253, allocations: 29.88 kB / 0.5753 GB, free: 74.25 MB / 426.7 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 9.772e-05/1.253, allocations: 47.14 kB / 0.5753 GB, free: 74.23 MB / 426.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 2.55e-05/1.253, allocations: 34.58 kB / 0.5754 GB, free: 74.22 MB / 426.7 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 1.767e-05/1.253, allocations: 26.59 kB / 0.5754 GB, free: 74.21 MB / 426.7 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.002893/1.256, allocations: 3.549 MB / 0.5789 GB, free: 70.98 MB / 426.7 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.0006887/1.257, allocations: 326.1 kB / 0.5792 GB, free: 70.74 MB / 426.7 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0003443/1.257, allocations: 45.72 kB / 0.5792 GB, free: 70.72 MB / 426.7 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.001248/1.258, allocations: 57.64 kB / 0.5793 GB, free: 70.71 MB / 426.7 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0001975/1.259, allocations: 134.5 kB / 0.5794 GB, free: 70.66 MB / 426.7 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0001084/1.259, allocations: 56.81 kB / 0.5795 GB, free: 70.65 MB / 426.7 MB
Notification: Performance of sorting global known variables: time 0.003206/1.262, allocations: 1.637 MB / 0.5811 GB, free: 70.03 MB / 426.7 MB
Notification: Performance of sort global known variables: time 1.13e-06/1.262, allocations: 0 / 0.5811 GB, free: 70.03 MB / 426.7 MB
Notification: Performance of remove unused functions: time 0.00471/1.267, allocations: 0.6815 MB / 0.5817 GB, free: 69.95 MB / 426.7 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 77
 * Number of states: 0 ()
 * Number of discrete variables: 0 ()
 * Number of discrete states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (130):
 * Single equations (assignments): 130
 * Array equations: 0
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 0
 * Torn equation systems: 0
 * Mixed (continuous/discrete) equation systems: 0
Notification: Performance of Backend phase and start with SimCode phase: time 0.0004597/1.267, allocations: 206.7 kB / 0.5819 GB, free: 69.8 MB / 426.7 MB
Notification: Performance of simCode: created initialization part: time 0.004594/1.272, allocations: 2.357 MB / 0.5842 GB, free: 68.99 MB / 426.7 MB
Notification: Performance of simCode: created event and clocks part: time 1.576e-05/1.272, allocations: 11.53 kB / 0.5842 GB, free: 68.99 MB / 426.7 MB
Notification: Performance of simCode: created simulation system equations: time 0.001172/1.273, allocations: 0.5755 MB / 0.5848 GB, free: 68.79 MB / 426.7 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.001872/1.275, allocations: 301.3 kB / 0.5851 GB, free: 68.66 MB / 426.7 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.01232/1.287, allocations: 5.493 MB / 0.5904 GB, free: 66.07 MB / 426.7 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.004669/1.292, allocations: 2.811 MB / 0.5932 GB, free: 64.9 MB / 426.7 MB
Notification: Performance of simCode: alias equations: time 0.004105/1.296, allocations: 1.043 MB / 0.5942 GB, free: 64.79 MB / 426.7 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.0006666/1.297, allocations: 175.2 kB / 0.5944 GB, free: 64.78 MB / 426.7 MB
Notification: Performance of SimCode: time 1.739e-06/1.297, allocations: 0 / 0.5944 GB, free: 64.78 MB / 426.7 MB
Notification: Performance of Templates: time 0.06146/1.358, allocations: 20.01 MB / 0.6139 GB, free: 57.68 MB / 426.7 MB