Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr ModelicaTest_3.2.3_ModelicaTest.MultiBody.Joints.FreeMotion.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) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.3+maint.om/package.mo", uses=false) Using package ModelicaTest with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.3+maint.om/package.mo) 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: translateModel(ModelicaTest.MultiBody.Joints.FreeMotion,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|freeMotion.Q.1.|freeMotion.Q.2.|freeMotion.Q.3.|freeMotion.Q.4.|freeMotion.r_rel_a.1.|freeMotion.r_rel_a.2.|freeMotion.r_rel_a.3.|freeMotion.v_rel_a.1.|freeMotion.v_rel_a.2.|freeMotion.v_rel_a.3.|freeMotion.w_rel_b.1.|freeMotion.w_rel_b.2.|freeMotion.w_rel_b.3.",fileNamePrefix="ModelicaTest_3.2.3_ModelicaTest.MultiBody.Joints.FreeMotion") translateModel(ModelicaTest.MultiBody.Joints.FreeMotion,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|freeMotion.Q.1.|freeMotion.Q.2.|freeMotion.Q.3.|freeMotion.Q.4.|freeMotion.r_rel_a.1.|freeMotion.r_rel_a.2.|freeMotion.r_rel_a.3.|freeMotion.v_rel_a.1.|freeMotion.v_rel_a.2.|freeMotion.v_rel_a.3.|freeMotion.w_rel_b.1.|freeMotion.w_rel_b.2.|freeMotion.w_rel_b.3.",fileNamePrefix="ModelicaTest_3.2.3_ModelicaTest.MultiBody.Joints.FreeMotion") Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo): time 0.001294/0.001294, allocations: 96.14 kB / 15.87 MB, free: 16 kB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001132/0.001132, allocations: 202.9 kB / 16.79 MB, free: 6.84 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.495/1.495, allocations: 205.1 MB / 222.6 MB, free: 5.004 MB / 174.1 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.3+maint.om/package.mo): time 0.3636/0.3636, allocations: 43.5 MB / 313.5 MB, free: 8.629 MB / 254.1 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 0.001482/0.001482, allocations: 67.91 kB / 382 MB, free: 9.035 MB / 318.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.1597/0.1612, allocations: 57.78 MB / 439.8 MB, free: 15.16 MB / 382.1 MB Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.FreeMotion): time 0.3907/0.552, allocations: 29.62 MB / 469.4 MB, free: 33.91 MB / 382.1 MB Notification: Performance of NFInst.instExpressions: time 0.0195/0.5715, allocations: 6.928 MB / 476.4 MB, free: 30.38 MB / 382.1 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.008702/0.5803, allocations: 124.8 kB / 476.5 MB, free: 30.36 MB / 382.1 MB Notification: Performance of NFTyping.typeComponents: time 0.002881/0.5832, allocations: 1.151 MB / 477.6 MB, free: 29.86 MB / 382.1 MB Notification: Performance of NFTyping.typeBindings: time 0.004976/0.5883, allocations: 1.712 MB / 479.4 MB, free: 29.17 MB / 382.1 MB Notification: Performance of NFTyping.typeClassSections: time 0.001181/0.5895, allocations: 459.9 kB / 479.8 MB, free: 29 MB / 382.1 MB Notification: Performance of NFFlatten.flatten: time 0.006744/0.5962, allocations: 5.675 MB / 485.5 MB, free: 27.39 MB / 382.1 MB Notification: Performance of NFFlatten.resolveConnections: time 0.003001/0.5993, allocations: 1.813 MB / 487.3 MB, free: 26.78 MB / 382.1 MB Notification: Performance of NFEvalConstants.evaluate: time 0.002264/0.6015, allocations: 1.056 MB / 488.3 MB, free: 26.38 MB / 382.1 MB Notification: Performance of NFSimplifyModel.simplify: time 0.003413/0.605, allocations: 1.868 MB / 490.2 MB, free: 25.79 MB / 382.1 MB Notification: Performance of NFPackage.collectConstants: time 0.0007124/0.6057, allocations: 161.4 kB / 490.4 MB, free: 25.79 MB / 382.1 MB Notification: Performance of NFFlatten.collectFunctions: time 0.003405/0.6091, allocations: 1.093 MB / 491.5 MB, free: 25.52 MB / 382.1 MB Notification: Performance of NFScalarize.scalarize: time 0.002909/0.612, allocations: 1.64 MB / 493.1 MB, free: 25.02 MB / 382.1 MB Notification: Performance of NFVerifyModel.verify: time 0.003911/0.616, allocations: 1.903 MB / 495 MB, free: 23.66 MB / 382.1 MB Notification: Performance of NFConvertDAE.convert: time 0.01398/0.63, allocations: 6.133 MB / 0.4894 GB, free: 21.51 MB / 382.1 MB Notification: Performance of FrontEnd - DAE generated: time 8.496e-06/0.63, allocations: 1.125 kB / 0.4894 GB, free: 21.51 MB / 382.1 MB Notification: Performance of FrontEnd: time 2.825e-06/0.63, allocations: 0 / 0.4894 GB, free: 21.51 MB / 382.1 MB Notification: Performance of Transformations before backend: time 0.0003342/0.6304, allocations: 0 / 0.4894 GB, free: 21.51 MB / 382.1 MB Notification: Model statistics after passing the front-end and creating the data structures used by the back-end: * Number of equations: 1560 * Number of variables: 1560 Notification: Performance of Generate backend data structure: time 0.01987/0.6503, allocations: 4.321 MB / 0.4936 GB, free: 19 MB / 382.1 MB Notification: Performance of prepare preOptimizeDAE: time 6.788e-05/0.6504, allocations: 9.781 kB / 0.4936 GB, free: 19 MB / 382.1 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.01488/0.6652, allocations: 3.174 MB / 0.4967 GB, free: 17.44 MB / 382.1 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.008944/0.6743, allocations: 2.158 MB / 0.4988 GB, free: 16.08 MB / 382.1 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0006561/0.675, allocations: 190.5 kB / 0.499 GB, free: 15.98 MB / 382.1 MB Notification: Performance of preOpt expandDerOperator (simulation): time 0.003352/0.6784, allocations: 341.9 kB / 0.4993 GB, free: 15.85 MB / 382.1 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.02787/0.7063, allocations: 10.79 MB / 0.5099 GB, free: 9.367 MB / 382.1 MB Notification: Performance of preOpt findStateOrder (simulation): time 0.0001329/0.7065, allocations: 27.8 kB / 0.5099 GB, free: 9.34 MB / 382.1 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0004311/0.7069, allocations: 119.8 kB / 0.51 GB, free: 9.223 MB / 382.1 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.003618/0.7106, allocations: 2.561 MB / 0.5125 GB, free: 6.66 MB / 382.1 MB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02267/0.7332, allocations: 10.29 MB / 0.5226 GB, free: 12.36 MB / 398.1 MB Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.06849/0.8018, allocations: 35.87 MB / 0.5576 GB, free: 7.645 MB / 430.1 MB Notification: Performance of preOpt comSubExp (simulation): time 0.008997/0.8108, allocations: 4.422 MB / 0.5619 GB, free: 2.996 MB / 430.1 MB Notification: Performance of preOpt resolveLoops (simulation): time 0.003765/0.8146, allocations: 2.207 MB / 0.5641 GB, free: 0.7891 MB / 430.1 MB Notification: Performance of preOpt evalFunc (simulation): time 0.00142/0.8161, allocations: 1.323 MB / 0.5654 GB, free: 15.24 MB / 446.1 MB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 5.287e-05/0.8162, allocations: 56.55 kB / 0.5654 GB, free: 15.18 MB / 446.1 MB Notification: Performance of pre-optimization done (n=245): time 5.47e-06/0.8162, allocations: 0 / 0.5654 GB, free: 15.18 MB / 446.1 MB Notification: Performance of matching and sorting (n=261): time 0.04279/0.859, allocations: 17.05 MB / 0.5821 GB, free: 13.97 MB / 462.1 MB Notification: Performance of inlineWhenForInitialization (initialization): time 0.001502/0.8605, allocations: 1.535 MB / 0.5836 GB, free: 12.28 MB / 462.1 MB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.006494/0.867, allocations: 2.786 MB / 0.5863 GB, free: 9.477 MB / 462.1 MB Notification: Performance of collectPreVariables (initialization): time 0.001197/0.8682, allocations: 65.69 kB / 0.5864 GB, free: 9.406 MB / 462.1 MB Notification: Performance of collectInitialEqns (initialization): time 0.003126/0.8714, allocations: 2.725 MB / 0.589 GB, free: 6.641 MB / 462.1 MB Notification: Performance of collectInitialBindings (initialization): time 0.002494/0.8739, allocations: 0.9674 MB / 0.59 GB, free: 5.66 MB / 462.1 MB Notification: Performance of simplifyInitialFunctions (initialization): time 0.002745/0.8767, allocations: 1.139 MB / 0.5911 GB, free: 4.508 MB / 462.1 MB Notification: Performance of setup shared object (initialization): time 0.0001508/0.8768, allocations: 305.1 kB / 0.5914 GB, free: 4.207 MB / 462.1 MB Notification: Performance of preBalanceInitialSystem (initialization): time 0.005869/0.8827, allocations: 2.482 MB / 0.5938 GB, free: 1.719 MB / 462.1 MB Notification: Performance of partitionIndependentBlocks (initialization): time 0.01068/0.8934, allocations: 5.529 MB / 0.5992 GB, free: 10.7 MB / 478.1 MB Notification: Performance of analyzeInitialSystem (initialization): time 0.0182/0.9117, allocations: 8.701 MB / 0.6077 GB, free: 0.5195 MB / 478.1 MB Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001533/0.9119, allocations: 32 kB / 0.6077 GB, free: 500 kB / 478.1 MB Notification: Performance of matching and sorting (n=762) (initialization): time 0.03083/0.9427, allocations: 9.872 MB / 0.6174 GB, free: 6.602 MB / 494.1 MB Notification: Performance of prepare postOptimizeDAE: time 0.0001783/0.9429, allocations: 52.03 kB / 0.6174 GB, free: 6.551 MB / 494.1 MB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.01675/0.9597, allocations: 4.909 MB / 0.6222 GB, free: 1.625 MB / 494.1 MB Notification: Performance of postOpt tearingSystem (initialization): time 0.01175/0.9715, allocations: 2.378 MB / 0.6245 GB, free: 15.23 MB / 0.4981 GB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.00593/0.9775, allocations: 1.31 MB / 0.6258 GB, free: 13.92 MB / 0.4981 GB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.009229/0.9868, allocations: 5.829 MB / 0.6315 GB, free: 7.82 MB / 0.4981 GB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.006594/0.9934, allocations: 407.6 kB / 0.6319 GB, free: 7.422 MB / 0.4981 GB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001811/0.9952, allocations: 328 kB / 0.6322 GB, free: 7.102 MB / 0.4981 GB Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 481 * Number of states: 0 () * Number of discrete variables: 24 (frame_a1.color_x[3],frame_a1.color_x[2],frame_a1.color_x[1],frame_a.color_x[3],frame_a.color_x[2],frame_a.color_x[1],body.sphereColor[3],body.sphereColor[2],body.sphereColor[1],freeMotion.arrowColor[3],freeMotion.arrowColor[2],freeMotion.arrowColor[1],world.groundColor[3],world.groundColor[2],world.groundColor[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 () * Number of clocked states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for initialization (700): * Single equations (assignments): 688 * Array equations: 8 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 3 * Torn equation systems: 1 * Mixed (continuous/discrete) equation systems: 0 Notification: Equation system details (not torn): * Constant Jacobian (size): 0 systems * Linear Jacobian (size,density): 2 systems {(4,100.0%), (3,100.0%)} * Non-linear Jacobian (size): 1 system {4} * Without analytic Jacobian (size): 0 systems Notification: Torn system details for strict tearing set: * Linear torn systems (#iteration vars, #inner vars, density): 1 system {(2,1,100.0%)} * Non-linear torn systems (#iteration vars, #inner vars): 0 systems Notification: Performance of prepare postOptimizeDAE: time 0.007287/1.003, allocations: 2.121 MB / 0.6343 GB, free: 4.969 MB / 0.4981 GB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001157/1.004, allocations: 284.5 kB / 0.6345 GB, free: 4.688 MB / 0.4981 GB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.3192/1.323, allocations: 5.433 MB / 0.6398 GB, free: 158.1 MB / 0.4981 GB Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.009429/1.332, allocations: 4.698 MB / 0.6444 GB, free: 158 MB / 0.4981 GB Notification: Performance of postOpt constantLinearSystem (simulation): time 1.541e-05/1.332, allocations: 2.938 kB / 0.6444 GB, free: 158 MB / 0.4981 GB Notification: Performance of postOpt simplifysemiLinear (simulation): time 2.467e-05/1.332, allocations: 12.39 kB / 0.6444 GB, free: 158 MB / 0.4981 GB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.02528/1.358, allocations: 14.74 MB / 0.6588 GB, free: 153.4 MB / 0.4981 GB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 1.915e-05/1.358, allocations: 12.81 kB / 0.6589 GB, free: 153.4 MB / 0.4981 GB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.001725/1.36, allocations: 424.5 kB / 0.6593 GB, free: 153.4 MB / 0.4981 GB Notification: Performance of postOpt tearingSystem (simulation): time 0.004069/1.364, allocations: 1.244 MB / 0.6605 GB, free: 153.3 MB / 0.4981 GB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0004142/1.364, allocations: 65.2 kB / 0.6605 GB, free: 153.2 MB / 0.4981 GB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.004601/1.369, allocations: 4.422 MB / 0.6649 GB, free: 150.3 MB / 0.4981 GB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.0008826/1.37, allocations: 1.473 MB / 0.6663 GB, free: 148.9 MB / 0.4981 GB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.0178/1.387, allocations: 8.161 MB / 0.6743 GB, free: 146 MB / 0.4981 GB Notification: Performance of postOpt removeConstants (simulation): time 0.001338/1.389, allocations: 338.4 kB / 0.6746 GB, free: 145.9 MB / 0.4981 GB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001243/1.39, allocations: 61.16 kB / 0.6746 GB, free: 145.8 MB / 0.4981 GB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002557/1.393, allocations: 196.5 kB / 0.6748 GB, free: 145.8 MB / 0.4981 GB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.000722/1.393, allocations: 172.5 kB / 0.675 GB, free: 145.8 MB / 0.4981 GB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0003995/1.394, allocations: 77.47 kB / 0.6751 GB, free: 145.8 MB / 0.4981 GB Notification: Performance of sorting global known variables: time 0.005767/1.4, allocations: 1.713 MB / 0.6767 GB, free: 145.2 MB / 0.4981 GB Notification: Performance of sort global known variables: time 4.21e-07/1.4, allocations: 0 / 0.6767 GB, free: 145.2 MB / 0.4981 GB Notification: Performance of remove unused functions: time 0.008893/1.408, allocations: 1.085 MB / 0.6778 GB, free: 145.1 MB / 0.4981 GB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 42 * Number of states: 12 ($STATESET1.x[3],$STATESET1.x[2],$STATESET1.x[1],freeMotion.r_rel_a[1],freeMotion.r_rel_a[2],freeMotion.r_rel_a[3],freeMotion.v_rel_a[1],freeMotion.v_rel_a[2],freeMotion.v_rel_a[3],freeMotion.w_rel_b[1],freeMotion.w_rel_b[2],freeMotion.w_rel_b[3]) * 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 (202): * Single equations (assignments): 192 * Array equations: 6 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 3 * Torn equation systems: 1 * Mixed (continuous/discrete) equation systems: 0 Notification: Equation system details (not torn): * Constant Jacobian (size): 0 systems * Linear Jacobian (size,density): 2 systems {(4,100.0%), (3,100.0%)} * Non-linear Jacobian (size): 1 system {4} * Without analytic Jacobian (size): 0 systems Notification: Torn system details for strict tearing set: * Linear torn systems (#iteration vars, #inner vars, density): 1 system {(2,1,100.0%)} * Non-linear torn systems (#iteration vars, #inner vars): 0 systems Notification: Performance of Backend phase and start with SimCode phase: time 0.001525/1.41, allocations: 204.1 kB / 0.678 GB, free: 144.9 MB / 0.4981 GB Notification: Performance of simCode: created initialization part: time 0.01434/1.424, allocations: 6.59 MB / 0.6844 GB, free: 142.7 MB / 0.4981 GB Notification: Performance of simCode: created event and clocks part: time 1.788e-05/1.424, allocations: 0 / 0.6844 GB, free: 142.7 MB / 0.4981 GB Notification: Performance of simCode: created simulation system equations: time 0.006699/1.431, allocations: 2.897 MB / 0.6873 GB, free: 141.5 MB / 0.4981 GB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.005863/1.437, allocations: 380.3 kB / 0.6876 GB, free: 141.4 MB / 0.4981 GB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.02586/1.463, allocations: 12.84 MB / 0.7002 GB, free: 132.8 MB / 0.4981 GB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.006552/1.47, allocations: 3.302 MB / 0.7034 GB, free: 130.1 MB / 0.4981 GB Notification: Performance of simCode: alias equations: time 0.006452/1.476, allocations: 2.107 MB / 0.7054 GB, free: 127.9 MB / 0.4981 GB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.00153/1.478, allocations: 231.4 kB / 0.7057 GB, free: 127.7 MB / 0.4981 GB Notification: Performance of SimCode: time 1.704e-06/1.478, allocations: 0 / 0.7057 GB, free: 127.7 MB / 0.4981 GB Notification: Performance of Templates: time 0.06834/1.546, allocations: 36.38 MB / 0.7412 GB, free: 91.44 MB / 0.4981 GB make -j1 -f ModelicaTest_3.2.3_ModelicaTest.MultiBody.Joints.FreeMotion.makefile (rm -f ModelicaTest_3.2.3_ModelicaTest.MultiBody.Joints.FreeMotion.pipe ; mkfifo ModelicaTest_3.2.3_ModelicaTest.MultiBody.Joints.FreeMotion.pipe ; head -c 1048576 < ModelicaTest_3.2.3_ModelicaTest.MultiBody.Joints.FreeMotion.pipe >> ../files/ModelicaTest_3.2.3_ModelicaTest.MultiBody.Joints.FreeMotion.sim & ./ModelicaTest_3.2.3_ModelicaTest.MultiBody.Joints.FreeMotion -abortSlowSimulation -alarm=480 -emit_protected -lv LOG_STATS > ModelicaTest_3.2.3_ModelicaTest.MultiBody.Joints.FreeMotion.pipe 2>&1) diffSimulationResults("ModelicaTest_3.2.3_ModelicaTest.MultiBody.Joints.FreeMotion_res.mat","/var/lib/jenkins/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v3.2.3+build.4/ModelicaTest/MultiBody/Joints/FreeMotion/FreeMotion.csv","../files/ModelicaTest_3.2.3_ModelicaTest.MultiBody.Joints.FreeMotion.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001) Reference file matches