Running command: translateModel(ModelicaTest.MultiBody.Joints.UniversalSpherical,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|bodyBox.body.Q.1.|bodyBox.body.Q.2.|bodyBox.body.Q.3.|bodyBox.body.Q.4.|bodyBox.body.w_a.1.|bodyBox.body.w_a.2.|bodyBox.body.w_a.3.|bodyBox.v_0.1.|bodyBox.v_0.2.|bodyBox.v_0.3.|bodyBox1.body.Q.1.|bodyBox1.body.Q.2.|bodyBox1.body.Q.3.|bodyBox1.body.Q.4.|bodyBox1.body.w_a.1.|bodyBox1.body.w_a.2.|bodyBox1.body.w_a.3.|bodyBox2.body.Q.1.|bodyBox2.body.Q.2.|bodyBox2.body.Q.3.|bodyBox2.body.Q.4.|bodyBox2.body.frame_a.r_0.1.|bodyBox2.body.frame_a.r_0.2.|bodyBox2.body.frame_a.r_0.3.|bodyBox2.body.w_a.1.|bodyBox2.body.w_a.2.|bodyBox2.body.w_a.3.|bodyBox2.v_0.1.|bodyBox2.v_0.2.|bodyBox2.v_0.3.|universal.phi_a|universal.phi_b|universal.w_a|universal.w_b|universalSpherical.rRod_0.1.|universalSpherical.rRod_0.2.|universalSpherical.rRod_0.3.",fileNamePrefix="ModelicaTest_3.2.1_ModelicaTest.MultiBody.Joints.UniversalSpherical")
Notification: Performance of loadModel(ModelicaTest): time 2.016/2.016, allocations: 209.3 MB / 221.5 MB, free: 1.938 MB / 186.7 MB
Notification: Performance of FrontEnd - loaded program: time 3.216e-05/3.239e-05, allocations: 7.984 kB / 273.1 MB, free: 232 kB / 218.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.08771/0.08777, allocations: 48.7 MB / 321.8 MB, free: 15.43 MB / 282.7 MB
Notification: Performance of FrontEnd - scodeFlatten: time 0.425/0.5128, allocations: 108.3 MB / 430.1 MB, free: 13.34 MB / 362.7 MB
Notification: Performance of FrontEnd - mkProgramGraph: time 0.0002349/0.5131, allocations: 75.95 kB / 430.1 MB, free: 13.26 MB / 362.7 MB
Notification: Performance of FrontEnd - DAE generated: time 0.9976/1.511, allocations: 229.8 MB / 0.6444 GB, free: 12.29 MB / 426.7 MB
Notification: Performance of FrontEnd: time 2.036e-06/1.511, allocations: 0 / 0.6444 GB, free: 12.29 MB / 426.7 MB
Notification: Performance of Transformations before backend: time 0.000646/1.512, allocations: 280 kB / 0.6447 GB, free: 12.02 MB / 426.7 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 4696
 * Number of variables: 4696
Notification: Performance of Generate backend data structure: time 0.7149/2.226, allocations: 14.49 MB / 0.6588 GB, free: 29.08 MB / 426.8 MB
Notification: Performance of prepare preOptimizeDAE: time 4.397e-05/2.226, allocations: 9.219 kB / 0.6589 GB, free: 29.08 MB / 426.8 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.05639/2.283, allocations: 10.47 MB / 0.6691 GB, free: 28.22 MB / 426.8 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.04105/2.324, allocations: 13.96 MB / 0.6827 GB, free: 27.7 MB / 426.8 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.001117/2.325, allocations: 1.08 MB / 0.6838 GB, free: 27.67 MB / 426.8 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.005731/2.331, allocations: 1.445 MB / 0.6852 GB, free: 27.66 MB / 426.8 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.08807/2.419, allocations: 32.51 MB / 0.7169 GB, free: 21.66 MB / 426.8 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0008679/2.42, allocations: 136.6 kB / 0.7171 GB, free: 21.65 MB / 426.8 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.00525/2.425, allocations: 0.6611 MB / 0.7177 GB, free: 21.65 MB / 426.8 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.004582/2.43, allocations: 2.541 MB / 0.7202 GB, free: 21.63 MB / 426.8 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.07015/2.5, allocations: 26.44 MB / 0.746 GB, free: 14.66 MB / 426.8 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.5394/3.039, allocations: 131.3 MB / 0.8742 GB, free: 22.24 MB / 490.8 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.04634/3.086, allocations: 12.85 MB / 0.8868 GB, free: 21.57 MB / 490.8 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.01104/3.097, allocations: 6.786 MB / 0.8934 GB, free: 21.51 MB / 490.8 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.059/3.156, allocations: 31.01 MB / 0.9237 GB, free: 30.14 MB / 0.4949 GB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 8.243e-05/3.156, allocations: 77 kB / 0.9237 GB, free: 30.1 MB / 0.4949 GB
Notification: Performance of pre-optimization done (n=424): time 1.123e-05/3.156, allocations: 3.75 kB / 0.9238 GB, free: 30.1 MB / 0.4949 GB
Notification: Performance of matching and sorting (n=554): time 0.3986/3.555, allocations: 106.4 MB / 1.028 GB, free: 6.941 MB / 0.5262 GB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.3397/3.894, allocations: 23.08 MB / 1.05 GB, free: 124.1 MB / 0.5262 GB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.02073/3.915, allocations: 8.258 MB / 1.058 GB, free: 123.6 MB / 0.5262 GB
Notification: Performance of collectPreVariables (initialization): time 0.001398/3.917, allocations: 109.4 kB / 1.058 GB, free: 123.6 MB / 0.5262 GB
Notification: Performance of collectInitialEqns (initialization): time 0.00652/3.923, allocations: 8.928 MB / 1.067 GB, free: 119.7 MB / 0.5262 GB
Notification: Performance of collectInitialBindings (initialization): time 0.003069/3.926, allocations: 2.144 MB / 1.069 GB, free: 118.4 MB / 0.5262 GB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.001911/3.928, allocations: 317.8 kB / 1.07 GB, free: 118.4 MB / 0.5262 GB
Notification: Performance of setup shared object (initialization): time 0.001135/3.929, allocations: 0.9883 MB / 1.07 GB, free: 118.1 MB / 0.5262 GB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.01776/3.947, allocations: 9.221 MB / 1.079 GB, free: 118.1 MB / 0.5262 GB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.02304/3.97, allocations: 18.38 MB / 1.097 GB, free: 106.2 MB / 0.5262 GB
Notification: Performance of analyzeInitialSystem (initialization): time 0.0239/3.994, allocations: 12.8 MB / 1.11 GB, free: 103.8 MB / 0.5262 GB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0003237/3.995, allocations: 91.47 kB / 1.11 GB, free: 103.8 MB / 0.5262 GB
Notification: Performance of matching and sorting (n=2093) (initialization): time 0.1374/4.132, allocations: 33.73 MB / 1.143 GB, free: 93.4 MB / 0.5262 GB
Notification: Performance of prepare postOptimizeDAE: time 0.0003625/4.132, allocations: 146.3 kB / 1.143 GB, free: 93.4 MB / 0.5262 GB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.05913/4.192, allocations: 21.65 MB / 1.164 GB, free: 86.5 MB / 0.5262 GB
Notification: Performance of postOpt tearingSystem (initialization): time 0.03794/4.23, allocations: 9.05 MB / 1.173 GB, free: 83.34 MB / 0.5262 GB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.01801/4.248, allocations: 3.988 MB / 1.177 GB, free: 79.99 MB / 0.5262 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.3775/4.625, allocations: 45.76 MB / 1.222 GB, free: 108.1 MB / 0.5262 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.02171/4.647, allocations: 1.697 MB / 1.223 GB, free: 108.1 MB / 0.5262 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.004292/4.651, allocations: 0.9803 MB / 1.224 GB, free: 108.1 MB / 0.5262 GB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 1485
 * Number of states: 0 ()
 * Number of discrete variables: 69 (init2.arrowColor[3],init2.arrowColor[2],init2.arrowColor[1],init.arrowColor[3],init.arrowColor[2],init.arrowColor[1],universal.cylinderColor[3],universal.cylinderColor[2],universal.cylinderColor[1],universalSpherical1.cylinderColor[3],universalSpherical1.cylinderColor[2],universalSpherical1.cylinderColor[1],universalSpherical1.sphereColor[3],universalSpherical1.sphereColor[2],universalSpherical1.sphereColor[1],universalSpherical1.rodColor[3],universalSpherical1.rodColor[2],universalSpherical1.rodColor[1],universalSpherical.cylinderColor[3],universalSpherical.cylinderColor[2],universalSpherical.cylinderColor[1],universalSpherical.sphereColor[3],universalSpherical.sphereColor[2],universalSpherical.sphereColor[1],universalSpherical.rodColor[3],universalSpherical.rodColor[2],universalSpherical.rodColor[1],rs3.arrowColor[3],rs3.arrowColor[2],rs3.arrowColor[1],rs2.arrowColor[3],rs2.arrowColor[2],rs2.arrowColor[1],bodyBox2.color[3],bodyBox2.color[2],bodyBox2.color[1],bodyBox2.body.sphereColor[3],bodyBox2.body.sphereColor[2],bodyBox2.body.sphereColor[1],bodyBox1.color[3],bodyBox1.color[2],bodyBox1.color[1],bodyBox1.body.sphereColor[3],bodyBox1.body.sphereColor[2],bodyBox1.body.sphereColor[1],spherical1.sphereColor[3],spherical1.sphereColor[2],spherical1.sphereColor[1],bodyBox.color[3],bodyBox.color[2],bodyBox.color[1],bodyBox.body.sphereColor[3],bodyBox.body.sphereColor[2],bodyBox.body.sphereColor[1],rs1.arrowColor[3],rs1.arrowColor[2],rs1.arrowColor[1],fixedTranslation.color[3],fixedTranslation.color[2],fixedTranslation.color[1],world.gravityArrowColor[3],world.gravityArrowColor[2],world.gravityArrowColor[1],world.axisColor_x[3],world.axisColor_x[2],world.axisColor_x[1],world.gravitySphereColor[3],world.gravitySphereColor[2],world.gravitySphereColor[1])
 * Number of discrete states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (1967):
 * Single equations (assignments): 1940
 * Array equations: 13
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 8
 * Torn equation systems: 6
 * Mixed (continuous/discrete) equation systems: 0
Notification: Equation system details:
 * Constant Jacobian: 0
 * Linear Jacobian (size,density): 3 {(4,100.0%),(4,100.0%),(4,100.0%)}
 * Non-linear Jacobian: 5 {1,1,1,1,1}
 * Without analytic Jacobian: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 6 {(4,93.8%) 8,(8,76.6%) 20,(1,100.0%) 3,(1,100.0%) 9,(4,87.5%) 6,(1,100.0%) 4}
 * Non-linear torn systems: 0
Notification: Performance of prepare postOptimizeDAE: time 0.005811/4.657, allocations: 1.299 MB / 1.226 GB, free: 108 MB / 0.5262 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.003301/4.66, allocations: 0.8693 MB / 1.226 GB, free: 108 MB / 0.5262 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.08308/4.744, allocations: 27.46 MB / 1.253 GB, free: 107.6 MB / 0.5262 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.0752/4.819, allocations: 25.62 MB / 1.278 GB, free: 107.3 MB / 0.5262 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 7.638e-05/4.819, allocations: 19.84 kB / 1.278 GB, free: 107.3 MB / 0.5262 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 0.0001354/4.819, allocations: 29.98 kB / 1.278 GB, free: 107.3 MB / 0.5262 GB
Warning: The model contains alias variables with conflicting start and/or 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 postOpt removeSimpleEquations (simulation): time 0.1472/4.966, allocations: 58.41 MB / 1.335 GB, free: 88.66 MB / 0.5262 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 8.161e-05/4.966, allocations: 10.05 kB / 1.335 GB, free: 88.65 MB / 0.5262 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.007992/4.974, allocations: 1.077 MB / 1.336 GB, free: 88.62 MB / 0.5262 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.06155/5.036, allocations: 14 MB / 1.35 GB, free: 83.37 MB / 0.5262 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.002205/5.038, allocations: 173.7 kB / 1.35 GB, free: 83.25 MB / 0.5262 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.4358/5.474, allocations: 59.14 MB / 1.408 GB, free: 103.3 MB / 0.5262 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.03962/5.514, allocations: 22.83 MB / 1.43 GB, free: 96.48 MB / 0.5262 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.09596/5.61, allocations: 39.19 MB / 1.469 GB, free: 95.02 MB / 0.5262 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.007779/5.618, allocations: 2.48 MB / 1.471 GB, free: 94.93 MB / 0.5262 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.003336/5.621, allocations: 122.9 kB / 1.471 GB, free: 94.92 MB / 0.5262 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.01045/5.631, allocations: 0.8553 MB / 1.472 GB, free: 94.92 MB / 0.5262 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.002652/5.634, allocations: 422.4 kB / 1.472 GB, free: 94.92 MB / 0.5262 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.001361/5.636, allocations: 175.6 kB / 1.472 GB, free: 94.92 MB / 0.5262 GB
Notification: Performance of sorting global known variables: time 0.01958/5.655, allocations: 5.693 MB / 1.478 GB, free: 93.12 MB / 0.5262 GB
Notification: Performance of sort global known variables: time 1.281e-06/5.655, allocations: 0 / 1.478 GB, free: 93.12 MB / 0.5262 GB
Notification: Performance of remove unused functions: time 0.02214/5.677, allocations: 4.272 MB / 1.482 GB, free: 92.78 MB / 0.5262 GB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 11
 * Number of states: 30 ($STATESET5.x[5],$STATESET5.x[4],$STATESET5.x[3],$STATESET5.x[2],$STATESET5.x[1],$STATESET4.x[2],$STATESET4.x[1],$STATESET3.x[6],$STATESET3.x[5],$STATESET3.x[4],$STATESET3.x[3],$STATESET3.x[2],$STATESET3.x[1],$STATESET2.x[5],$STATESET2.x[4],$STATESET2.x[3],$STATESET2.x[2],$STATESET2.x[1],$STATESET1.x[2],$STATESET1.x[1],bodyBox.body.w_a[1],bodyBox.body.w_a[2],bodyBox.body.w_a[3],bodyBox1.body.w_a[1],bodyBox1.body.w_a[2],bodyBox1.body.w_a[3],universal.phi_a,universal.phi_b,universal.w_a,universal.w_b)
 * Number of discrete variables: 0 ()
 * Number of discrete states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (435):
 * Single equations (assignments): 420
 * Array equations: 3
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 5
 * Torn equation systems: 7
 * Mixed (continuous/discrete) equation systems: 0
Notification: Equation system details:
 * Constant Jacobian: 0
 * Linear Jacobian (size,density): 3 {(3,100.0%),(4,100.0%),(4,100.0%)}
 * Non-linear Jacobian: 2 {3,8}
 * Without analytic Jacobian: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 6 {(1,100.0%) 6,(4,87.5%) 6,(1,100.0%) 4,(4,93.8%) 8,(8,76.6%) 20,(7,93.9%) 12}
 * Non-linear torn systems: 1 {7 12}
Notification: Performance of Backend phase and start with SimCode phase: time 0.001755/5.679, allocations: 283.6 kB / 1.482 GB, free: 92.62 MB / 0.5262 GB
Notification: Performance of simCode: created initialization part: time 0.0436/5.723, allocations: 22.24 MB / 1.504 GB, free: 84.37 MB / 0.5262 GB
Notification: Performance of simCode: created event and clocks part: time 8.251e-06/5.723, allocations: 0 / 1.504 GB, free: 84.37 MB / 0.5262 GB
Notification: Performance of simCode: created simulation system equations: time 0.02341/5.746, allocations: 10.98 MB / 1.515 GB, free: 79.5 MB / 0.5262 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.009219/5.755, allocations: 1.269 MB / 1.516 GB, free: 79.03 MB / 0.5262 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.09867/5.854, allocations: 31.12 MB / 1.547 GB, free: 57.17 MB / 0.5262 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.02408/5.878, allocations: 9.464 MB / 1.556 GB, free: 50.35 MB / 0.5262 GB
Notification: Performance of simCode: alias equations: time 0.01946/5.898, allocations: 5.106 MB / 1.561 GB, free: 47.04 MB / 0.5262 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.004994/5.903, allocations: 0.7039 MB / 1.561 GB, free: 46.44 MB / 0.5262 GB
Notification: Performance of SimCode: time 2.212e-06/5.903, allocations: 3.188 kB / 1.561 GB, free: 46.44 MB / 0.5262 GB
Notification: Performance of Templates: time 0.6916/6.595, allocations: 162.9 MB / 1.721 GB, free: 57.96 MB / 0.5262 GB
""

Variables in the reference:time,bodyBox.body.Q[1],bodyBox.body.Q[2],bodyBox.body.Q[3],bodyBox.body.Q[4],bodyBox.body.w_a[1],bodyBox.body.w_a[2],bodyBox.body.w_a[3],bodyBox.v_0[1],bodyBox.v_0[2],bodyBox.v_0[3],bodyBox1.body.Q[1],bodyBox1.body.Q[2],bodyBox1.body.Q[3],bodyBox1.body.Q[4],bodyBox1.body.w_a[1],bodyBox1.body.w_a[2],bodyBox1.body.w_a[3],bodyBox2.body.Q[1],bodyBox2.body.Q[2],bodyBox2.body.Q[3],bodyBox2.body.Q[4],bodyBox2.body.frame_a.r_0[1],bodyBox2.body.frame_a.r_0[2],bodyBox2.body.frame_a.r_0[3],bodyBox2.body.w_a[1],bodyBox2.body.w_a[2],bodyBox2.body.w_a[3],bodyBox2.v_0[1],bodyBox2.v_0[2],bodyBox2.v_0[3],universal.phi_a,universal.phi_b,universal.w_a,universal.w_b,universalSpherical.rRod_0[1],universalSpherical.rRod_0[2],universalSpherical.rRod_0[3]

Variables in the result:bodyBox.I[1,1],bodyBox.I[1,2],bodyBox.I[1,3],bodyBox.I[2,1],bodyBox.I[2,2],bodyBox.I[2,3],bodyBox.I[3,1],bodyBox.I[3,2],bodyBox.I[3,3],bodyBox.R.T[1,1],bodyBox.R.T[1,2],bodyBox.R.T[1,3],bodyBox.R.T[2,1],bodyBox.R.T[2,2],bodyBox.R.T[2,3],bodyBox.R.T[3,1],bodyBox.R.T[3,2],bodyBox.R.T[3,3],bodyBox.R.w[1],bodyBox.R.w[2],bodyBox.R.w[3],bodyBox.angles_fixed,bodyBox.angles_start[1],bodyBox.angles_start[2],bodyBox.angles_start[3],bodyBox.animation,bodyBox.body.I[1,1],bodyBox.body.I[1,2],bodyBox.body.I[1,3],bodyBox.body.I[2,1],bodyBox.body.I[2,2],bodyBox.body.I[2,3],bodyBox.body.I[3,1],bodyBox.body.I[3,2],bodyBox.body.I[3,3],bodyBox.body.I_11,bodyBox.body.I_21,bodyBox.body.I_22,bodyBox.body.I_31,bodyBox.body.I_32,bodyBox.body.I_33,bodyBox.body.Q[1],bodyBox.body.Q[2],bodyBox.body.Q[3],bodyBox.body.Q[4],bodyBox.body.Q_start[1],bodyBox.body.Q_start[2],bodyBox.body.Q_start[3],bodyBox.body.Q_start[4],bodyBox.body.R_start.T[1,1],bodyBox.body.R_start.T[1,2],bodyBox.body.R_start.T[1,3],bodyBox.body.R_start.T[2,1],bodyBox.body.R_start.T[2,2],bodyBox.body.R_start.T[2,3],bodyBox.body.R_start.T[3,1],bodyBox.body.R_start.T[3,2],bodyBox.body.R_start.T[3,3],bodyBox.body.R_start.w[1],bodyBox.body.R_start.w[2],bodyBox.body.R_start.w[3],bodyBox.body.angles_fixed,bodyBox.body.angles_start[1],bodyBox.body.angles_start[2],bodyBox.body.angles_start[3],bodyBox.body.animation,bodyBox.body.cylinderDiameter,bodyBox.body.enforceStates,bodyBox.body.frame_a.r_0[1],bodyBox.body.frame_a.r_0[2],bodyBox.body.frame_a.r_0[3],bodyBox.body.m,bodyBox.body.phi_start[1],bodyBox.body.phi_start[2],bodyBox.body.phi_start[3],bodyBox.body.r_CM[1],bodyBox.body.r_CM[2],bodyBox.body.r_CM[3],bodyBox.body.sequence_angleStates[1],bodyBox.body.sequence_angleStates[2],bodyBox.body.sequence_angleStates[3],bodyBox.body.sequence_start[1],bodyBox.body.sequence_start[2],bodyBox.body.sequence_start[3],bodyBox.body.specularCoefficient,bodyBox.body.sphereDiameter,bodyBox.body.useQuaternions,bodyBox.body.w_0_fixed,bodyBox.body.w_0_start[1],bodyBox.body.w_0_start[2],bodyBox.body.w_0_start[3],bodyBox.body.w_a[1],bodyBox.body.w_a[2],bodyBox.body.w_a[3],bodyBox.body.z_0_fixed,bodyBox.body.z_0_start[1],bodyBox.body.z_0_start[2],bodyBox.body.z_0_start[3],bodyBox.body.z_a_start[1],bodyBox.body.z_a_start[2],bodyBox.body.z_a_start[3],bodyBox.density,bodyBox.enforceStates,bodyBox.frameTranslation.animation,bodyBox.frameTranslation.extra,bodyBox.frameTranslation.height,bodyBox.frameTranslation.length,bodyBox.frameTranslation.lengthDirection[1],bodyBox.frameTranslation.lengthDirection[2],bodyBox.frameTranslation.lengthDirection[3],bodyBox.frameTranslation.r[1],bodyBox.frameTranslation.r[2],bodyBox.frameTranslation.r[3],bodyBox.frameTranslation.r_shape[1],bodyBox.frameTranslation.r_shape[2],bodyBox.frameTranslation.r_shape[3],bodyBox.frameTranslation.shape.extra,bodyBox.frameTranslation.shape.height,bodyBox.frameTranslation.shape.specularCoefficient,bodyBox.frameTranslation.shape.width,bodyBox.frameTranslation.specularCoefficient,bodyBox.frameTranslation.width,bodyBox.frameTranslation.widthDirection[1],bodyBox.frameTranslation.widthDirection[2],bodyBox.frameTranslation.widthDirection[3],bodyBox.height,bodyBox.innerHeight,bodyBox.innerWidth,bodyBox.length,bodyBox.lengthDirection[1],bodyBox.lengthDirection[2],bodyBox.lengthDirection[3],bodyBox.m,bodyBox.mi,bodyBox.mo,bodyBox.r[1],bodyBox.r[2],bodyBox.r[3],bodyBox.r_CM[1],bodyBox.r_CM[2],bodyBox.r_CM[3],bodyBox.r_shape[1],bodyBox.r_shape[2],bodyBox.r_shape[3],bodyBox.sequence_angleStates[1],bodyBox.sequence_angleStates[2],bodyBox.sequence_angleStates[3],bodyBox.sequence_start[1],bodyBox.sequence_start[2],bodyBox.sequence_start[3],bodyBox.specularCoefficient,bodyBox.useQuaternions,bodyBox.v_0[1],bodyBox.v_0[2],bodyBox.v_0[3],bodyBox.w_0_fixed,bodyBox.w_0_start[1],bodyBox.w_0_start[2],bodyBox.w_0_start[3],bodyBox.width,bodyBox.widthDirection[1],bodyBox.widthDirection[2],bodyBox.widthDirection[3],bodyBox.z_0_fixed,bodyBox.z_0_start[1],bodyBox.z_0_start[2],bodyBox.z_0_start[3],bodyBox1.I[1,1],bodyBox1.I[1,2],bodyBox1.I[1,3],bodyBox1.I[2,1],bodyBox1.I[2,2],bodyBox1.I[2,3],bodyBox1.I[3,1],bodyBox1.I[3,2],bodyBox1.I[3,3],bodyBox1.R.T[1,1],bodyBox1.R.T[1,2],bodyBox1.R.T[1,3],bodyBox1.R.T[2,1],bodyBox1.R.T[2,2],bodyBox1.R.T[2,3],bodyBox1.R.T[3,1],bodyBox1.R.T[3,2],bodyBox1.R.T[3,3],bodyBox1.R.w[1],bodyBox1.R.w[2],bodyBox1.R.w[3],bodyBox1.angles_fixed,bodyBox1.angles_start[1],bodyBox1.angles_start[2],bodyBox1.angles_start[3],bodyBox1.animation,bodyBox1.body.I[1,1],bodyBox1.body.I[1,2],bodyBox1.body.I[1,3],bodyBox1.body.I[2,1],bodyBox1.body.I[2,2],bodyBox1.body.I[2,3],bodyBox1.body.I[3,1],bodyBox1.body.I[3,2],bodyBox1.body.I[3,3],bodyBox1.body.I_11,bodyBox1.body.I_21,bodyBox1.body.I_22,bodyBox1.body.I_31,bodyBox1.body.I_32,bodyBox1.body.I_33,bodyBox1.body.Q[1],bodyBox1.body.Q[2],bodyBox1.body.Q[3],bodyBox1.body.Q[4],bodyBox1.body.Q_start[1],bodyBox1.body.Q_start[2],bodyBox1.body.Q_start[3],bodyBox1.body.Q_start[4],bodyBox1.body.R_start.T[1,1],bod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