Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr ModelicaTest_trunk_cpp_ModelicaTest.MultiBody.Joints.JointUSP2.conf.json
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo", uses=false)
Using package ModelicaTest with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo)
Using package ModelicaServices with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo)
Using package Modelica with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo)
Using package Complex with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo)
Running command: translateModel(ModelicaTest.MultiBody.Joints.JointUSP2,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|revolute.phi|revolute.w",fileNamePrefix="ModelicaTest_trunk_cpp_ModelicaTest.MultiBody.Joints.JointUSP2")
translateModel(ModelicaTest.MultiBody.Joints.JointUSP2,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|revolute.phi|revolute.w",fileNamePrefix="ModelicaTest_trunk_cpp_ModelicaTest.MultiBody.Joints.JointUSP2")
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo): time 0.001732/0.001732, allocations: 197.7 kB / 15.8 MB, free: 6.328 MB / 13.93 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo): time 1.282/1.282, allocations: 226.6 MB / 243.1 MB, free: 14.3 MB / 202.7 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo): time 0.0007701/0.0007701, allocations: 94.89 kB / 295.1 MB, free: 10.07 MB / 234.7 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo): time 0.1847/0.1847, allocations: 44.84 MB / 392 MB, free: 9.344 MB / 330.7 MB
Notification: Performance of FrontEnd - loaded program: time 0.0002184/0.0002185, allocations: 8 kB / 464.7 MB, free: 49.79 MB / 330.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.1018/0.1021, allocations: 62.96 MB / 0.5153 GB, free: 2.785 MB / 346.7 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.JointUSP2): time 0.2263/0.3284, allocations: 43.67 MB / 0.558 GB, free: 14.86 MB / 378.7 MB
Notification: Performance of NFInst.instExpressions: time 0.02532/0.3537, allocations: 10.14 MB / 0.5679 GB, free: 7.719 MB / 378.7 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.01036/0.3641, allocations: 207.8 kB / 0.5681 GB, free: 7.57 MB / 378.7 MB
Notification: Performance of NFTyping.typeComponents: time 0.007085/0.3713, allocations: 2.235 MB / 0.5703 GB, free: 5.324 MB / 378.7 MB
Notification: Performance of NFTyping.typeBindings: time 0.01928/0.3906, allocations: 6.785 MB / 0.5769 GB, free: 14.52 MB / 394.7 MB
Notification: Performance of NFTyping.typeClassSections: time 0.004015/0.3946, allocations: 0.9749 MB / 0.5778 GB, free: 13.54 MB / 394.7 MB
Notification: Performance of NFFlatten.flatten: time 0.03759/0.4322, allocations: 34.19 MB / 0.6112 GB, free: 11.31 MB / 426.7 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.0101/0.4424, allocations: 6.274 MB / 0.6174 GB, free: 4.977 MB / 426.7 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.00355/0.446, allocations: 1.697 MB / 0.619 GB, free: 3.273 MB / 426.7 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.004104/0.4501, allocations: 2.68 MB / 0.6216 GB, free: 0.5859 MB / 426.7 MB
Notification: Performance of NFPackage.collectConstants: time 0.001165/0.4513, allocations: 203.9 kB / 0.6218 GB, free: 396 kB / 426.7 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.003118/0.4544, allocations: 1.19 MB / 0.623 GB, free: 15.2 MB / 442.7 MB
Notification: Performance of NFScalarize.scalarize: time 0.003087/0.4575, allocations: 2.279 MB / 0.6252 GB, free: 12.91 MB / 442.7 MB
Notification: Performance of NFVerifyModel.verify: time 0.001983/0.4595, allocations: 1.088 MB / 0.6263 GB, free: 11.81 MB / 442.7 MB
Notification: Performance of NFConvertDAE.convert: time 0.008339/0.4679, allocations: 7.704 MB / 0.6338 GB, free: 4.09 MB / 442.7 MB
Notification: Performance of FrontEnd - DAE generated: time 5.52e-06/0.4679, allocations: 4 kB / 0.6338 GB, free: 4.086 MB / 442.7 MB
Notification: Performance of FrontEnd: time 2.024e-06/0.4679, allocations: 0 / 0.6338 GB, free: 4.086 MB / 442.7 MB
Notification: Performance of Transformations before backend: time 0.0003486/0.4683, allocations: 0 / 0.6338 GB, free: 4.086 MB / 442.7 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 1932
 * Number of variables: 1932
Notification: Performance of Generate backend data structure: time 0.01263/0.4809, allocations: 5.458 MB / 0.6391 GB, free: 14.55 MB / 458.7 MB
Notification: Performance of prepare preOptimizeDAE: time 3.801e-05/0.481, allocations: 16.03 kB / 0.6391 GB, free: 14.54 MB / 458.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.01629/0.4973, allocations: 2.769 MB / 0.6418 GB, free: 11.75 MB / 458.7 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.008177/0.5055, allocations: 3.517 MB / 0.6453 GB, free: 8.176 MB / 458.7 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0003856/0.5059, allocations: 345.9 kB / 0.6456 GB, free: 7.828 MB / 458.7 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.001594/0.5075, allocations: 431.7 kB / 0.646 GB, free: 7.406 MB / 458.7 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.0254/0.5329, allocations: 13.86 MB / 0.6596 GB, free: 8.695 MB / 474.7 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0001506/0.5331, allocations: 59.45 kB / 0.6596 GB, free: 8.637 MB / 474.7 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0006061/0.5338, allocations: 199.8 kB / 0.6598 GB, free: 8.441 MB / 474.7 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.003306/0.5371, allocations: 2.41 MB / 0.6622 GB, free: 6.031 MB / 474.7 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02159/0.5587, allocations: 11.74 MB / 0.6736 GB, free: 10.27 MB / 490.7 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 0.2773/0.836, allocations: 51.76 MB / 0.7242 GB, free: 135.4 MB / 0.5105 GB
Notification: Performance of preOpt comSubExp (simulation): time 0.01201/0.8481, allocations: 4.734 MB / 0.7288 GB, free: 134.7 MB / 0.5105 GB
Notification: Performance of preOpt resolveLoops (simulation): time 0.003793/0.8519, allocations: 2.946 MB / 0.7317 GB, free: 134.6 MB / 0.5105 GB
Notification: Performance of preOpt evalFunc (simulation): time 0.01768/0.8696, allocations: 12.86 MB / 0.7442 GB, free: 127.7 MB / 0.5105 GB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 3.51e-05/0.8697, allocations: 59.28 kB / 0.7443 GB, free: 127.7 MB / 0.5105 GB
Notification: Performance of pre-optimization done (n=197): time 4.759e-06/0.8697, allocations: 0 / 0.7443 GB, free: 127.7 MB / 0.5105 GB
Notification: Performance of matching and sorting (n=248): time 0.1328/1.003, allocations: 43.31 MB / 0.7866 GB, free: 97.1 MB / 0.5105 GB
Notification: Performance of inlineWhenForInitialization (initialization): time 9.312e-05/1.003, allocations: 235.1 kB / 0.7868 GB, free: 96.82 MB / 0.5105 GB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.005623/1.008, allocations: 4.747 MB / 0.7914 GB, free: 92.07 MB / 0.5105 GB
Notification: Performance of collectPreVariables (initialization): time 0.0004883/1.009, allocations: 61.7 kB / 0.7915 GB, free: 92 MB / 0.5105 GB
Notification: Performance of collectInitialEqns (initialization): time 0.001578/1.01, allocations: 3.837 MB / 0.7952 GB, free: 88.16 MB / 0.5105 GB
Notification: Performance of collectInitialBindings (initialization): time 0.0006959/1.011, allocations: 0.9372 MB / 0.7962 GB, free: 87.23 MB / 0.5105 GB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0003052/1.011, allocations: 148.9 kB / 0.7963 GB, free: 87.09 MB / 0.5105 GB
Notification: Performance of setup shared object (initialization): time 0.0002577/1.012, allocations: 0.6122 MB / 0.7969 GB, free: 86.47 MB / 0.5105 GB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.003876/1.016, allocations: 3.415 MB / 0.8002 GB, free: 83.05 MB / 0.5105 GB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.005236/1.021, allocations: 7.677 MB / 0.8077 GB, free: 73.35 MB / 0.5105 GB
Notification: Performance of analyzeInitialSystem (initialization): time 0.005344/1.026, allocations: 4.951 MB / 0.8126 GB, free: 68.52 MB / 0.5105 GB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 4.743e-05/1.026, allocations: 48 kB / 0.8126 GB, free: 68.48 MB / 0.5105 GB
Notification: Performance of matching and sorting (n=967) (initialization): time 0.02406/1.05, allocations: 14.41 MB / 0.8267 GB, free: 54.06 MB / 0.5105 GB
Notification: Performance of prepare postOptimizeDAE: time 8.544e-05/1.05, allocations: 68 kB / 0.8268 GB, free: 53.99 MB / 0.5105 GB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0001246/1.051, allocations: 152 kB / 0.8269 GB, free: 53.84 MB / 0.5105 GB
Notification: Performance of postOpt tearingSystem (initialization): time 0.01057/1.061, allocations: 4.056 MB / 0.8309 GB, free: 49.79 MB / 0.5105 GB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.004879/1.066, allocations: 1.63 MB / 0.8324 GB, free: 48.15 MB / 0.5105 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.02211/1.088, allocations: 18.66 MB / 0.8507 GB, free: 29.35 MB / 0.5105 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.006214/1.094, allocations: 460.4 kB / 0.8511 GB, free: 28.9 MB / 0.5105 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.0013/1.096, allocations: 436 kB / 0.8515 GB, free: 28.47 MB / 0.5105 GB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 679
 * Number of states: 0 ()
 * Number of discrete variables: 37 (jointUSP.prismatic.positiveBranch,bodyBox.color[3],bodyBox.color[2],bodyBox.color[1],bodyBox.body.sphereColor[3],bodyBox.body.sphereColor[2],bodyBox.body.sphereColor[1],revolute.cylinderColor[3],revolute.cylinderColor[2],revolute.cylinderColor[1],fixedTranslation.color[3],fixedTranslation.color[2],fixedTranslation.color[1],body.sphereColor[3],body.sphereColor[2],body.sphereColor[1],jointUSP.rod1Color[3],jointUSP.rod1Color[2],jointUSP.rod1Color[1],jointUSP.cylinderColor[3],jointUSP.cylinderColor[2],jointUSP.cylinderColor[1],jointUSP.sphereColor[3],jointUSP.sphereColor[2],jointUSP.sphereColor[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])
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (884):
 * Single equations (assignments): 880
 * Array equations: 3
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 0
 * Torn equation systems: 1
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 1 {(2,100.0%) 58}
 * Non-linear torn systems: 0
Notification: Performance of prepare postOptimizeDAE: time 0.005328/1.101, allocations: 2.658 MB / 0.8541 GB, free: 25.8 MB / 0.5105 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001149/1.102, allocations: 428.7 kB / 0.8545 GB, free: 25.38 MB / 0.5105 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01687/1.119, allocations: 8.625 MB / 0.863 GB, free: 16.73 MB / 0.5105 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 5.549e-05/1.119, allocations: 29.09 kB / 0.863 GB, free: 16.71 MB / 0.5105 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 3.041e-05/1.119, allocations: 12 kB / 0.863 GB, free: 16.7 MB / 0.5105 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 3.974e-05/1.119, allocations: 11.95 kB / 0.863 GB, free: 16.68 MB / 0.5105 GB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.0325/1.152, allocations: 17.88 MB / 0.8805 GB, free: 14.79 MB / 0.5261 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 2.887e-05/1.152, allocations: 3.984 kB / 0.8805 GB, free: 14.78 MB / 0.5261 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.001928/1.154, allocations: 399.3 kB / 0.8809 GB, free: 14.39 MB / 0.5261 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.01172/1.166, allocations: 4.073 MB / 0.8848 GB, free: 10.3 MB / 0.5261 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0004266/1.166, allocations: 40 kB / 0.8849 GB, free: 10.27 MB / 0.5261 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.02583/1.192, allocations: 17.1 MB / 0.9016 GB, free: 9.031 MB / 0.5417 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 2.966e-06/1.192, allocations: 0 / 0.9016 GB, free: 9.031 MB / 0.5417 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.02499/1.217, allocations: 13.2 MB / 0.9145 GB, free: 11.8 MB / 0.5573 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.001237/1.218, allocations: 475.4 kB / 0.9149 GB, free: 11.31 MB / 0.5573 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001093/1.219, allocations: 40.94 kB / 0.915 GB, free: 11.27 MB / 0.5573 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002668/1.222, allocations: 211.7 kB / 0.9152 GB, free: 11.06 MB / 0.5573 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0005605/1.223, allocations: 150.2 kB / 0.9153 GB, free: 10.91 MB / 0.5573 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.000258/1.223, allocations: 72.77 kB / 0.9154 GB, free: 10.84 MB / 0.5573 GB
Notification: Performance of sorting global known variables: time 0.004969/1.228, allocations: 2.95 MB / 0.9182 GB, free: 7.898 MB / 0.5573 GB
Notification: Performance of sort global known variables: time 1.91e-07/1.228, allocations: 0 / 0.9182 GB, free: 7.898 MB / 0.5573 GB
Notification: Performance of remove unused functions: time 0.006148/1.234, allocations: 1.493 MB / 0.9197 GB, free: 6.414 MB / 0.5573 GB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 5
 * Number of states: 2 (revolute.phi,revolute.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 (173):
 * Single equations (assignments): 169
 * Array equations: 3
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 0
 * Torn equation systems: 1
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 1 {(2,100.0%) 52}
 * Non-linear torn systems: 0
Notification: Performance of Backend phase and start with SimCode phase: time 0.0007199/1.235, allocations: 208 kB / 0.9199 GB, free: 6.211 MB / 0.5573 GB
Notification: Performance of simCode: created initialization part: time 0.2017/1.436, allocations: 8.22 MB / 0.9279 GB, free: 200.4 MB / 0.5573 GB
Notification: Performance of simCode: created event and clocks part: time 6.923e-06/1.436, allocations: 0 / 0.9279 GB, free: 200.4 MB / 0.5573 GB
Notification: Performance of simCode: created simulation system equations: time 0.004617/1.441, allocations: 3.103 MB / 0.931 GB, free: 200.2 MB / 0.5573 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.003395/1.445, allocations: 0.5033 MB / 0.9315 GB, free: 200.2 MB / 0.5573 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.02574/1.47, allocations: 15.65 MB / 0.9467 GB, free: 192.9 MB / 0.5573 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.005964/1.476, allocations: 4.084 MB / 0.9507 GB, free: 191.4 MB / 0.5573 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.001432/1.478, allocations: 332.4 kB / 0.951 GB, free: 191.4 MB / 0.5573 GB
Notification: Performance of SimCode: time 1.052e-06/1.478, allocations: 0.6562 kB / 0.951 GB, free: 191.4 MB / 0.5573 GB
Notification: Performance of Templates: time 0.1237/1.601, allocations: 100.4 MB / 1.049 GB, free: 104.7 MB / 0.5573 GB
make -j1 -f ModelicaTest_trunk_cpp_ModelicaTest.MultiBody.Joints.JointUSP2.makefile
(rm -f ModelicaTest_trunk_cpp_ModelicaTest.MultiBody.Joints.JointUSP2.pipe ; mkfifo ModelicaTest_trunk_cpp_ModelicaTest.MultiBody.Joints.JointUSP2.pipe ; head -c 1048576 < ModelicaTest_trunk_cpp_ModelicaTest.MultiBody.Joints.JointUSP2.pipe >> ../files/ModelicaTest_trunk_cpp_ModelicaTest.MultiBody.Joints.JointUSP2.sim & ./ModelicaTest_trunk_cpp_ModelicaTest.MultiBody.Joints.JointUSP2  --alarm=480   -emit_protected > ModelicaTest_trunk_cpp_ModelicaTest.MultiBody.Joints.JointUSP2.pipe 2>&1)
diffSimulationResults("ModelicaTest_trunk_cpp_ModelicaTest.MultiBody.Joints.JointUSP2_res.mat","/var/lib/jenkins/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/ModelicaTest/MultiBody/Joints/JointUSP2/JointUSP2.csv","../files/ModelicaTest_trunk_cpp_ModelicaTest.MultiBody.Joints.JointUSP2.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
""

Variables in the reference:time,revolute.phi,revolute.w

Variables in the result:body.I[1,1],body.I[1,2],body.I[1,3],body.I[2,1],body.I[2,2],body.I[2,3],body.I[3,1],body.I[3,2],body.I[3,3],body.I_11,body.I_21,body.I_22,body.I_31,body.I_32,body.I_33,body.R_start.T[1,1],body.R_start.T[1,2],body.R_start.T[1,3],body.R_start.T[2,1],body.R_start.T[2,2],body.R_start.T[2,3],body.R_start.T[3,1],body.R_start.T[3,2],body.R_start.T[3,3],body.R_start.w[1],body.R_start.w[2],body.R_start.w[3],body.a_0[1],body.a_0[2],body.a_0[3],body.angles_fixed,body.angles_start[1],body.angles_start[2],body.angles_start[3],body.animation,body.cylinderColor[1],body.cylinderColor[2],body.cylinderColor[3],body.cylinderDiameter,body.enforceStates,body.frame_a.R.T[1,1],body.frame_a.R.T[1,2],body.frame_a.R.T[1,3],body.frame_a.R.T[2,1],body.frame_a.R.T[2,2],body.frame_a.R.T[2,3],body.frame_a.R.T[3,1],body.frame_a.R.T[3,2],body.frame_a.R.T[3,3],body.frame_a.R.w[1],body.frame_a.R.w[2],body.frame_a.R.w[3],body.frame_a.f[1],body.frame_a.f[2],body.frame_a.f[3],body.frame_a.r_0[1],body.frame_a.r_0[2],body.frame_a.r_0[3],body.frame_a.t[1],body.frame_a.t[2],body.frame_a.t[3],body.g_0[1],body.g_0[2],body.g_0[3],body.m,body.r_0[1],body.r_0[2],body.r_0[3],body.r_CM[1],body.r_CM[2],body.r_CM[3],body.sequence_angleStates[1],body.sequence_angleStates[2],body.sequence_angleStates[3],body.sequence_start[1],body.sequence_start[2],body.sequence_start[3],body.specularCoefficient,body.sphereColor[1],body.sphereColor[2],body.sphereColor[3],body.sphereDiameter,body.useQuaternions,body.v_0[1],body.v_0[2],body.v_0[3],body.w_0_fixed,body.w_0_start[1],body.w_0_start[2],body.w_0_start[3],body.w_a[1],body.w_a[2],body.w_a[3],body.z_0_fixed,body.z_0_start[1],body.z_0_start[2],body.z_0_start[3],body.z_a[1],body.z_a[2],body.z_a[3],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.a_0[1],bodyBox.a_0[2],bodyBox.a_0[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.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.a_0[1],bodyBox.body.a_0[2],bodyBox.body.a_0[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.cylinderColor[1],bodyBox.body.cylinderColor[2],bodyBox.body.cylinderColor[3],bodyBox.body.cylinderDiameter,bodyBox.body.enforceStates,bodyBox.body.frame_a.R.T[1,1],bodyBox.body.frame_a.R.T[1,2],bodyBox.body.frame_a.R.T[1,3],bodyBox.body.frame_a.R.T[2,1],bodyBox.body.frame_a.R.T[2,2],bodyBox.body.frame_a.R.T[2,3],bodyBox.body.frame_a.R.T[3,1],bodyBox.body.frame_a.R.T[3,2],bodyBox.body.frame_a.R.T[3,3],bodyBox.body.frame_a.R.w[1],bodyBox.body.frame_a.R.w[2],bodyBox.body.frame_a.R.w[3],bodyBox.body.frame_a.f[1],bodyBox.body.frame_a.f[2],bodyBox.body.frame_a.f[3],bodyBox.body.frame_a.r_0[1],bodyBox.body.frame_a.r_0[2],bodyBox.body.frame_a.r_0[3],bodyBox.body.frame_a.t[1],bodyBox.body.frame_a.t[2],bodyBox.body.frame_a.t[3],bodyBox.body.g_0[1],bodyBox.body.g_0[2],bodyBox.body.g_0[3],bodyBox.body.m,bodyBox.body.r_0[1],bodyBox.body.r_0[2],bodyBox.body.r_0[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.sphereColor[1],bodyBox.body.sphereColor[2],bodyBox.body.sphereColor[3],bodyBox.body.sphereDiameter,bodyBox.body.useQuaternions,bodyBox.body.v_0[1],bodyBox.body.v_0[2],bodyBox.body.v_0[3],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[1],bodyBox.body.z_a[2],bodyBox.body.z_a[3],bodyBox.color[1],bodyBox.color[2],bodyBox.color[3],bodyBox.density,bodyBox.enforceStates,bodyBox.frameTranslation.animation,bodyBox.frameTranslation.color[1],bodyBox.frameTranslation.color[2],bodyBox.frameTranslation.color[3],bodyBox.frameTranslation.extra,bodyBox.frameTranslation.frame_a.R.T[1,1],bodyBox.frameTranslation.frame_a.R.T[1,2],bodyBox.frameTranslation.frame_a.R.T[1,3],bodyBox.frameTranslation.frame_a.R.T[2,1],bodyBox.frameTranslation.frame_a.R.T[2,2],bodyBox.frameTranslation.frame_a.R.T[2,3],bodyBox.frameTranslation.frame_a.R.T[3,1],bodyBox.frameTranslation.frame_a.R.T[3,2],bodyBox.frameTranslation.frame_a.R.T[3,3],bodyBox.frameTranslation.frame_a.R.w[1],bodyBox.frameTranslation.frame_a.R.w[2],bodyBox.frameTranslation.frame_a.R.w[3],bodyBox.frameTranslation.frame_a.f[1],bodyBox.frameTranslation.frame_a.f[2],bodyBox.frameTranslation.frame_a.f[3],bodyBox.frameTranslation.frame_a.r_0[1],bodyBox.frameTranslation.frame_a.r_0[2],bodyBox.frameTranslation.frame_a.r_0[3],bodyBox.frameTranslation.frame_a.t[1],bodyBox.frameTranslation.frame_a.t[2],bodyBox.frameTranslation.frame_a.t[3],bodyBox.frameTranslation.frame_b.R.T[1,1],bodyBox.frameTranslation.frame_b.R.T[1,2],bodyBox.frameTranslation.frame_b.R.T[1,3],bodyBox.frameTranslation.frame_b.R.T[2,1],bodyBox.frameTranslation.frame_b.R.T[2,2],bodyBox.frameTranslation.frame_b.R.T[2,3],bodyBox.frameTranslation.frame_b.R.T[3,1],bodyBox.frameTranslation.frame_b.R.T[3,2],bodyBox.frameTranslation.frame_b.R.T[3,3],bodyBox.frameTranslation.frame_b.R.w[1],bodyBox.frameTranslation.frame_b.R.w[2],bodyBox.frameTranslation.frame_b.R.w[3],bodyBox.frameTranslation.frame_b.f[1],bodyBox.frameTranslation.frame_b.f[2],bodyBox.frameTranslation.frame_b.f[3],bodyBox.frameTranslation.frame_b.r_0[1],bodyBox.frameTranslation.frame_b.r_0[2],bodyBox.frameTranslation.frame_b.r_0[3],bodyBox.frameTranslation.frame_b.t[1],bodyBox.frameTranslation.frame_b.t[2],bodyBox.frameTranslation.frame_b.t[3],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.specularCoefficient,bodyBox.frameTranslation.width,bodyBox.frameTranslation.widthDirection[1],bodyBox.frameTranslation.widthDirection[2],bodyBox.frameTranslation.widthDirection[3],bodyBox.frame_a.R.T[1,1],bodyBox.frame_a.R.T[1,2],bodyBox.frame_a.R.T[1,3],bodyBox.frame_a.R.T[2,1],bodyBox.frame_a.R.T[2,2],bodyBox.frame_a.R.T[2,3],bodyBox.frame_a.R.T[3,1],bodyBox.frame_a.R.T[3,2],bodyBox.frame_a.R.T[3,3],bodyBox.frame_a.R.w[1],bodyBox.frame_a.R.w[2],bodyBox.frame_a.R.w[3],bodyBox.frame_a.f[1],bodyBox.frame_a.f[2],bodyBox.frame_a.f[3],bodyBox.frame_a.r_0[1],bodyBox.frame_a.r_0[2],bodyBox.frame_a.r_0[3],bodyBox.frame_a.t[1],bodyBox.frame_a.t[2],bodyBox.frame_a.t[3],bodyBox.frame_b.R.T[1,1],bodyBox.frame_b.R.T[1,2],bodyBox.frame_b.R.T[1,3],bodyBox.frame_b.R.T[2,1],bodyBox.frame_b.R.T[2,2],bodyBox.frame_b.R.T[2,3],bodyBox.frame_b.R.T[3,1],bodyBox.frame_b.R.T[3,2],bodyBox.frame_b.R.T[3,3],bodyBox.frame_b.R.w[1],bodyBox.frame_b.R.w[2],bodyBox.frame_b.R.w[3],bodyBox.frame_b.f[1],bodyBox.frame_b.f[2],bodyBox.frame_b.f[3],bodyBox.frame_b.r_0[1],bodyBox.frame_b.r_0[2],bodyBox.frame_b.r_0[3],bodyBox.frame_b.t[1],bodyBox.frame_b.t[2],bodyBox.frame_b.t[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_0[1],bodyBox.r_0[2],bodyBox.r_0[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],der(body.frame_a.r_0[1]),der(body.frame_a.r_0[2]),der(body.frame_a.r_0[3]),der(body.v_0[1]),der(body.v_0[2]),der(body.v_0[3]),der(body.w_a[1]),der(body.w_a[2]),der(body.w_a[3]),der(bodyBox.frame_b.R.T[1,2]),der(der(jointUSP.frame_b.r_0[1])),der(der(jointUSP.frame_b.r_0[2])),der(der(jointUSP.frame_b.r_0[3])),der(der(jointUSP.frame_ib.r_0[1])),der(der(jointUSP.frame_ib.r_0[2])),der(der(jointUSP.frame_ib.r_0[3])),der(der(jointUSP.prismatic.r_rel_a[3])),der(jointUSP.frame_b.r_0[1]),der(jointUSP.frame_b.r_0[2]),der(jointUSP.frame_b.r_0[3]),der(jointUSP.frame_ib.r_0[1]),der(jointUSP.frame_ib.r_0[2]),der(jointUSP.frame_ib.r_0[3]),der(jointUSP.prismatic.r_rel_a[3]),der(revolute.phi),der(revolute.w),fixedTranslation.animation,fixedTranslation.color[1],fixedTranslation.color[2],fixedTranslation.color[3],fixedTranslation.extra,fixedTranslation.frame_a.R.T[1,1],fixedTranslation.frame_a.R.T[1,2],fixedTranslation.frame_a.R.T[1,3],fixedTranslation.frame_a.R.T[2,1],fixedTranslation.frame_a.R.T[2,2],fixedTranslation.frame_a.R.T[2,3],fixedTranslation.frame_a.R.T[3,1],fixedTranslation.frame_a.R.T[3,2],fixedTranslation.frame_a.R.T[3,3],fixedTranslation.frame_a.R.w[1],fixedTranslation.frame_a.R.w[2],fixedTranslation.frame_a.R.w[3],fixedTranslation.frame_a.f[1],fixedTranslation.frame_a.f[2],fixedTranslation.frame_a.f[3],fixedTranslation.frame_a.r_0[1],fixedTranslation.frame_a.r_0[2],fixedTranslation.frame_a.r_0[3],fixedTranslation.frame_a.t[1],fixedTranslation.frame_a.t[2],fixedTranslation.frame_a.t[3],fixedTranslation.frame_b.R.T[1,1],fixedTranslation.frame_b.R.T[1,2],fixedTranslation.frame_b.R.T[1,3],fixedTranslation.frame_b.R.T[2,1],fixedTranslation.frame_b.R.T[2,2],fixedTranslation.frame_b.R.T[2,3],fixedTranslation.frame_b.R.T[3,1],fixedTranslation.frame_b.R.T[3,2],fixedTranslation.frame_b.R.T[3,3],fixedTranslation.frame_b.R.w[1],fixedTranslation.frame_b.R.w[2],fixedTranslation.frame_b.R.w[3],fixedTranslation.frame_b.f[1],fixedTranslation.frame_b.f[2],fixedTranslation.frame_b.f[3],fixedTranslation.frame_b.r_0[1],fixedTranslation.frame_b.r_0[2],fixedTranslation.frame_b.r_0[3],fixedTranslation.frame_b.t[1],fixedTranslation.frame_b.t[2],fixedTranslation.frame_b.t[3],fixedTranslation.height,fixedTranslation.length,fixedTranslation.lengthDirection[1],fixedTranslation.lengthDirection[2],fixedTranslation.lengthDirection[3],fixedTranslation.r[1],fixedTranslation.r[2],fixedTranslation.r[3],fixedTranslation.r_shape[1],fixedTranslation.r_shape[2],fixedTranslation.r_shape[3],fixedTranslation.specularCoefficient,fixedTranslation.width,fixedTranslation.widthDirection[1],fixedTranslation.widthDirection[2],fixedTranslation.widthDirection[3],jointUSP.animation,jointUSP.axis.f,jointUSP.axis.s,jointUSP.bearing.f,jointUSP.bearing.s,jointUSP.boxColor[1],jointUSP.boxColor[2],jointUSP.boxColor[3],jointUSP.boxHeight,jointUSP.boxWidth,jointUSP.boxWidthDirection[1],jointUSP.boxWidthDirection[2],jointUSP.boxWidthDirection[3],jointUSP.checkTotalPower,jointUSP.cylinderColor[1],jointUSP.cylinderColor[2],jointUSP.cylinderColor[3],jointUSP.cylinderDiameter,jointUSP.cylinderLength,jointUSP.e2_ia[1],jointUSP.e2_ia[2],jointUSP.e2_ia[3],jointUSP.eRod1_ia[1],jointUSP.eRod1_ia[2],jointUSP.eRod1_ia[3],jointUSP.f_rod,jointUSP.frame_a.R.T[1,1],jointUSP.frame_a.R.T[1,2],jointUSP.frame_a.R.T[1,3],jointUSP.frame_a.R.T[2,1],jointUSP.frame_a.R.T[2,2],jointUSP.frame_a.R.T[2,3],jointUSP.frame_a.R.T[3,1],jointUSP.frame_a.R.T[3,2],jointUSP.frame_a.R.T[3,3],jointUSP.frame_a.R.w[1],jointUSP.frame_a.R.w[2],jointUSP.frame_a.R.w[3],jointUSP.frame_a.f[1],jointUSP.frame_a.f[2],jointUSP.frame_a.f[3],jointUSP.frame_a.r_0[1],jointUSP.frame_a.r_0[2],jointUSP.frame_a.r_0[3],jointUSP.frame_a.t[1],jointUSP.frame_a.t[2],jointUSP.frame_a.t[3],jointUSP.frame_b.R.T[1,1],jointUSP.frame_b.R.T[1,2],jointUSP.frame_b.R.T[1,3],jointUSP.frame_b.R.T[2,1],jointUSP.frame_b.R.T[2,2],jointUSP.frame_b.R.T[2,3],jointUSP.frame_b.R.T[3,1],jointUSP.frame_b.R.T[3,2],jointUSP.frame_b.R.T[3,3],jointUSP.frame_b.R.w[1],jointUSP.frame_b.R.w[2],jointUSP.frame_b.R.w[3],jointUSP.frame_b.f[1],jointUSP.frame_b.f[2],jointUSP.frame_b.f[3],jointUSP.frame_b.r_0[1],jointUSP.frame_b.r_0[2],jointUSP.frame_b.r_0[3],jointUSP.frame_b.t[1],jointUSP.frame_b.t[2],jointUSP.frame_b.t[3],jointUSP.frame_ia.R.T[1,1],jointUSP.frame_ia.R.T[1,2],jointUSP.frame_ia.R.T[1,3],jointUSP.frame_ia.R.T[2,1],jointUSP.frame_ia.R.T[2,2],jointUSP.frame_ia.R.T[2,3],jointUSP.frame_ia.R.T[3,1],jointUSP.frame_ia.R.T[3,2],jointUSP.frame_ia.R.T[3,3],jointUSP.frame_ia.R.w[1],jointUSP.frame_ia.R.w[2],jointUSP.frame_ia.R.w[3],jointUSP.frame_ia.f[1],jointUSP.frame_ia.f[2],jointUSP.frame_ia.f[3],jointUSP.frame_ia.r_0[1],jointUSP.frame_ia.r_0[2],jointUSP.frame_ia.r_0[3],jointUSP.frame_ia.t[1],jointUSP.frame_ia.t[2],jointUSP.frame_ia.t[3],jointUSP.frame_ib.R.T[1,1],jointUSP.frame_ib.R.T[1,2],jointUSP.frame_ib.R.T[1,3],jointUSP.frame_ib.R.T[2,1],jointUSP.frame_ib.R.T[2,2],jointUSP.frame_ib.R.T[2,3],jointUSP.frame_ib.R.T[3,1],jointUSP.frame_ib.R.T[3,2],jointUSP.frame_ib.R.T[3,3],jointUSP.frame_ib.R.w[1],jointUSP.frame_ib.R.w[2],jointUSP.frame_ib.R.w[3],jointUSP.frame_ib.f[1],jointUSP.frame_ib.f[2],jointUSP.frame_ib.f[3],jointUSP.frame_ib.r_0[1],jointUSP.frame_ib.r_0[2],jointUSP.frame_ib.r_0[3],jointUSP.frame_ib.t[1],jointUSP.frame_ib.t[2],jointUSP.frame_ib.t[3],jointUSP.frame_im.R.T[1,1],jointUSP.frame_im.R.T[1,2],jointUSP.frame_im.R.T[1,3],jointUSP.frame_im.R.T[2,1],jointUSP.frame_im.R.T[2,2],jointUSP.frame_im.R.T[2,3],jointUSP.frame_im.R.T[3,1],jointUSP.frame_im.R.T[3,2],jointUSP.frame_im.R.T[3,3],jointUSP.frame_im.R.w[1],jointUSP.frame_im.R.w[2],jointUSP.frame_im.R.w[3],jointUSP.frame_im.f[1],jointUSP.frame_im.f[2],jointUSP.frame_im.f[3],jointUSP.frame_im.r_0[1],jointUSP.frame_im.r_0[2],jointUSP.frame_im.r_0[3],jointUSP.frame_im.t[1],jointUSP.frame_im.t[2],jointUSP.frame_im.t[3],jointUSP.n1_a[1],jointUSP.n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