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_3.2.2_ModelicaTest.MultiBody.Joints.UniversalSpherical")
Notification: Performance of loadModel(ModelicaTest): time 2.374/2.374, allocations: 234.9 MB / 249.4 MB, free: 10.02 MB / 202.7 MB
Notification: Performance of FrontEnd - loaded program: time 3.622e-05/3.615e-05, allocations: 4 kB / 308 MB, free: 15.33 MB / 266.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.432/0.432, allocations: 54.85 MB / 362.9 MB, free: 12.27 MB / 298.7 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.UniversalSpherical): time 0.1535/0.5856, allocations: 100.7 MB / 463.6 MB, free: 8.773 MB / 394.7 MB
Notification: Performance of NFInst.instExpressions: time 0.06462/0.6502, allocations: 22.16 MB / 485.8 MB, free: 2.535 MB / 410.7 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.02389/0.6742, allocations: 0.6041 MB / 486.4 MB, free: 1.93 MB / 410.7 MB
Notification: Performance of NFTyping.typeComponents: time 0.02152/0.6958, allocations: 5.51 MB / 491.9 MB, free: 12.39 MB / 426.7 MB
Notification: Performance of NFTyping.typeBindings: time 0.4548/1.151, allocations: 13.79 MB / 0.4938 GB, free: 3.758 MB / 426.7 MB
Notification: Performance of NFTyping.typeClassSections: time 0.01145/1.162, allocations: 2.015 MB / 0.4958 GB, free: 3.734 MB / 426.7 MB
Notification: Performance of NFFlatten.flatten: time 0.0713/1.233, allocations: 26.39 MB / 0.5216 GB, free: 0.8164 MB / 426.7 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.04318/1.277, allocations: 20.84 MB / 0.5419 GB, free: 11.57 MB / 442.7 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.005991/1.283, allocations: 2.193 MB / 0.5441 GB, free: 10.09 MB / 442.7 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.01239/1.295, allocations: 3.584 MB / 0.5476 GB, free: 7.445 MB / 442.7 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.008804/1.304, allocations: 1.474 MB / 0.549 GB, free: 6.215 MB / 442.7 MB
Notification: Performance of NFPackage.collectConstants: time 0.00467/1.309, allocations: 332 kB / 0.5493 GB, free: 5.891 MB / 442.7 MB
Notification: Performance of NFScalarize.scalarize: time 0.0124/1.321, allocations: 4.897 MB / 0.5541 GB, free: 2.266 MB / 442.7 MB
Notification: Performance of NFVerifyModel.verify: time 0.005276/1.327, allocations: 0.8164 MB / 0.5549 GB, free: 1.449 MB / 442.7 MB
Notification: Performance of NFConvertDAE.convert: time 0.03204/1.359, allocations: 20.69 MB / 0.5751 GB, free: 15.52 MB / 474.7 MB
Notification: Performance of FrontEnd - DAE generated: time 4.969e-06/1.359, allocations: 0 / 0.5751 GB, free: 15.52 MB / 474.7 MB
Notification: Performance of FrontEnd: time 2.524e-06/1.359, allocations: 0 / 0.5751 GB, free: 15.52 MB / 474.7 MB
Notification: Performance of Transformations before backend: time 0.0008857/1.36, allocations: 0 / 0.5751 GB, free: 15.52 MB / 474.7 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 4698
 * Number of variables: 4698
Notification: Performance of Generate backend data structure: time 0.05175/1.411, allocations: 13.18 MB / 0.588 GB, free: 3.453 MB / 474.7 MB
Notification: Performance of prepare preOptimizeDAE: time 5.027e-05/1.411, allocations: 12.03 kB / 0.588 GB, free: 3.441 MB / 474.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.5263/1.938, allocations: 28.82 MB / 0.6161 GB, free: 7.637 MB / 0.4948 GB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.03349/1.971, allocations: 9.461 MB / 0.6254 GB, free: 1.145 MB / 0.4948 GB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.001176/1.973, allocations: 0.8917 MB / 0.6262 GB, free: 0.6445 MB / 0.4948 GB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.008068/1.981, allocations: 1.458 MB / 0.6277 GB, free: 15.66 MB / 0.5105 GB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.1074/2.088, allocations: 32.6 MB / 0.6595 GB, free: 7.465 MB / 0.5261 GB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0008282/2.089, allocations: 106.3 kB / 0.6596 GB, free: 7.406 MB / 0.5261 GB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.005836/2.095, allocations: 0.5341 MB / 0.6601 GB, free: 7.266 MB / 0.5261 GB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.01153/2.106, allocations: 4.496 MB / 0.6645 GB, free: 3.641 MB / 0.5261 GB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.09559/2.202, allocations: 27.63 MB / 0.6915 GB, free: 492 kB / 0.5417 GB
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 0.884/3.086, allocations: 112.9 MB / 0.8018 GB, free: 121.5 MB / 0.5418 GB
Notification: Performance of preOpt comSubExp (simulation): time 0.07268/3.159, allocations: 13.26 MB / 0.8147 GB, free: 108.1 MB / 0.5418 GB
Notification: Performance of preOpt evalFunc (simulation): time 0.06698/3.226, allocations: 31.28 MB / 0.8453 GB, free: 75.91 MB / 0.5418 GB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 7.781e-05/3.226, allocations: 81.44 kB / 0.8453 GB, free: 75.82 MB / 0.5418 GB
Notification: Performance of pre-optimization done (n=427): time 8.646e-06/3.226, allocations: 0 / 0.8453 GB, free: 75.82 MB / 0.5418 GB
Notification: Performance of matching and sorting (n=555): time 1.421/4.647, allocations: 119.7 MB / 0.9623 GB, free: 191.6 MB / 0.5419 GB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.05311/4.7, allocations: 24.23 MB / 0.9859 GB, free: 170 MB / 0.5419 GB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.02135/4.721, allocations: 8.871 MB / 0.9946 GB, free: 161.2 MB / 0.5419 GB
Notification: Performance of collectPreVariables (initialization): time 0.001943/4.723, allocations: 116.1 kB / 0.9947 GB, free: 161.1 MB / 0.5419 GB
Notification: Performance of collectInitialEqns (initialization): time 0.007365/4.731, allocations: 8.897 MB / 1.003 GB, free: 152.2 MB / 0.5419 GB
Notification: Performance of collectInitialBindings (initialization): time 0.004136/4.735, allocations: 2.138 MB / 1.005 GB, free: 150.1 MB / 0.5419 GB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.003321/4.738, allocations: 318.5 kB / 1.006 GB, free: 149.8 MB / 0.5419 GB
Notification: Performance of setup shared object (initialization): time 0.001844/4.74, allocations: 0.9877 MB / 1.007 GB, free: 148.8 MB / 0.5419 GB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.02318/4.763, allocations: 9.655 MB / 1.016 GB, free: 139.1 MB / 0.5419 GB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.02868/4.792, allocations: 18.85 MB / 1.035 GB, free: 116 MB / 0.5419 GB
Notification: Performance of analyzeInitialSystem (initialization): time 0.02887/4.821, allocations: 13.12 MB / 1.047 GB, free: 102.8 MB / 0.5419 GB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0002954/4.821, allocations: 95.94 kB / 1.047 GB, free: 102.7 MB / 0.5419 GB
Notification: Performance of matching and sorting (n=2084) (initialization): time 0.1537/4.975, allocations: 38.61 MB / 1.085 GB, free: 64 MB / 0.5419 GB
Notification: Performance of prepare postOptimizeDAE: time 0.0002368/4.975, allocations: 144 kB / 1.085 GB, free: 63.86 MB / 0.5419 GB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.4931/5.468, allocations: 25.49 MB / 1.11 GB, free: 173.1 MB / 0.5419 GB
Notification: Performance of postOpt tearingSystem (initialization): time 0.09955/5.568, allocations: 12.86 MB / 1.123 GB, free: 173 MB / 0.5419 GB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.02547/5.594, allocations: 3.954 MB / 1.127 GB, free: 173 MB / 0.5419 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.1119/5.705, allocations: 56.41 MB / 1.182 GB, free: 144.1 MB / 0.5419 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.02709/5.733, allocations: 1.73 MB / 1.183 GB, free: 142.9 MB / 0.5419 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.004349/5.737, allocations: 0.9762 MB / 1.184 GB, free: 142 MB / 0.5419 GB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 1473
 * 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 (1949):
 * Single equations (assignments): 1922
 * 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 {1,1,4,4,4}
 * 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 0.01785/5.755, allocations: 6.161 MB / 1.19 GB, free: 135.8 MB / 0.5419 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.002845/5.758, allocations: 0.8686 MB / 1.191 GB, free: 135.4 MB / 0.5419 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.1161/5.874, allocations: 28.06 MB / 1.219 GB, free: 107.4 MB / 0.5419 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.1101/5.984, allocations: 26.23 MB / 1.244 GB, free: 81.2 MB / 0.5419 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 8.247e-05/5.984, allocations: 20 kB / 1.244 GB, free: 81.18 MB / 0.5419 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 0.000168/5.984, allocations: 31.89 kB / 1.244 GB, free: 81.15 MB / 0.5419 GB
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 postOpt removeSimpleEquations (simulation): time 0.1923/6.177, allocations: 59.52 MB / 1.302 GB, free: 21.26 MB / 0.5419 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 0.0001122/6.177, allocations: 4 kB / 1.302 GB, free: 21.26 MB / 0.5419 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.01094/6.188, allocations: 1.143 MB / 1.304 GB, free: 20.11 MB / 0.5419 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.4821/6.67, allocations: 14.25 MB / 1.317 GB, free: 172.6 MB / 0.5419 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.001961/6.672, allocations: 165.9 kB / 1.318 GB, free: 172.6 MB / 0.5419 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.1288/6.801, allocations: 62.69 MB / 1.379 GB, free: 140.1 MB / 0.5419 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.05392/6.855, allocations: 23.98 MB / 1.402 GB, free: 115.6 MB / 0.5419 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.1359/6.991, allocations: 40.03 MB / 1.441 GB, free: 75.92 MB / 0.5419 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.009107/7, allocations: 2.513 MB / 1.444 GB, free: 73.86 MB / 0.5419 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.004696/7.005, allocations: 127.9 kB / 1.444 GB, free: 73.73 MB / 0.5419 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.01538/7.02, allocations: 0.8658 MB / 1.445 GB, free: 72.87 MB / 0.5419 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.00316/7.023, allocations: 423.2 kB / 1.445 GB, free: 72.45 MB / 0.5419 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.001711/7.025, allocations: 177.1 kB / 1.445 GB, free: 72.28 MB / 0.5419 GB
Notification: Performance of sorting global known variables: time 0.01583/7.041, allocations: 6.205 MB / 1.451 GB, free: 66.12 MB / 0.5419 GB
Notification: Performance of sort global known variables: time 8.12e-07/7.041, allocations: 0 / 1.451 GB, free: 66.12 MB / 0.5419 GB
Notification: Performance of remove unused functions: time 0.02308/7.064, allocations: 4.39 MB / 1.456 GB, free: 61.75 MB / 0.5419 GB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 10
 * 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 (436):
 * Single equations (assignments): 421
 * 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 0.00251/7.067, allocations: 295.6 kB / 1.456 GB, free: 61.46 MB / 0.5419 GB
Notification: Performance of simCode: created initialization part: time 0.05671/7.123, allocations: 23.94 MB / 1.479 GB, free: 37.4 MB / 0.5419 GB
Notification: Performance of simCode: created event and clocks part: time 9.457e-06/7.123, allocations: 0 / 1.479 GB, free: 37.4 MB / 0.5419 GB
Notification: Performance of simCode: created simulation system equations: time 0.03229/7.156, allocations: 11.38 MB / 1.49 GB, free: 25.89 MB / 0.5419 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.01658/7.172, allocations: 1.298 MB / 1.492 GB, free: 24.61 MB / 0.5419 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.6001/7.772, allocations: 40.08 MB / 1.531 GB, free: 159.9 MB / 0.5419 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.03308/7.806, allocations: 9.458 MB / 1.54 GB, free: 158.8 MB / 0.5419 GB
Notification: Performance of simCode: alias equations: time 0.03425/7.84, allocations: 5.093 MB / 1.545 GB, free: 158.3 MB / 0.5419 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.009398/7.849, allocations: 0.7144 MB / 1.546 GB, free: 158.3 MB / 0.5419 GB
Notification: Performance of SimCode: time 2.164e-06/7.849, allocations: 0 / 1.546 GB, free: 158.3 MB / 0.5419 GB
Notification: Performance of Templates: time 0.8918/8.741, allocations: 178.6 MB / 1.72 GB, free: 163 MB / 0.5419 GB