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_cpp_ModelicaTest.MultiBody.Joints.UniversalSpherical")
Notification: Performance of loadModel(ModelicaTest): time 2.343/2.343, allocations: 234.9 MB / 250.1 MB, free: 11 MB / 202.7 MB
Notification: Performance of FrontEnd - loaded program: time 3.441e-05/3.451e-05, allocations: 11.11 kB / 308 MB, free: 0.9609 MB / 250.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.4079/0.408, allocations: 54.87 MB / 362.9 MB, free: 11.91 MB / 298.7 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.UniversalSpherical): time 0.1557/0.5638, allocations: 100.7 MB / 463.6 MB, free: 6.891 MB / 394.7 MB
Notification: Performance of NFInst.instExpressions: time 0.06546/0.6293, allocations: 22.17 MB / 485.8 MB, free: 0.6445 MB / 410.7 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.02466/0.654, allocations: 0.5963 MB / 486.4 MB, free: 48 kB / 410.7 MB
Notification: Performance of NFTyping.typeComponents: time 0.3804/1.035, allocations: 5.505 MB / 491.9 MB, free: 1.039 MB / 410.7 MB
Notification: Performance of NFTyping.typeBindings: time 0.05196/1.087, allocations: 13.81 MB / 0.4938 GB, free: 14.71 MB / 426.7 MB
Notification: Performance of NFTyping.typeClassSections: time 0.01191/1.099, allocations: 2.019 MB / 0.4958 GB, free: 14.1 MB / 426.7 MB
Notification: Performance of NFFlatten.flatten: time 0.08511/1.184, allocations: 26.38 MB / 0.5216 GB, free: 6.719 MB / 426.7 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.0725/1.256, allocations: 20.83 MB / 0.5419 GB, free: 8.742 MB / 442.7 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.008736/1.265, allocations: 2.192 MB / 0.5441 GB, free: 7.258 MB / 442.7 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.01327/1.278, allocations: 3.586 MB / 0.5476 GB, free: 4.609 MB / 442.7 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.009388/1.288, allocations: 1.475 MB / 0.549 GB, free: 3.379 MB / 442.7 MB
Notification: Performance of NFPackage.collectConstants: time 0.004689/1.293, allocations: 332 kB / 0.5493 GB, free: 3.055 MB / 442.7 MB
Notification: Performance of NFScalarize.scalarize: time 0.01026/1.303, allocations: 4.903 MB / 0.5541 GB, free: 15.43 MB / 458.7 MB
Notification: Performance of NFVerifyModel.verify: time 0.004633/1.308, allocations: 0.8164 MB / 0.5549 GB, free: 14.61 MB / 458.7 MB
Notification: Performance of NFConvertDAE.convert: time 0.03163/1.339, allocations: 20.68 MB / 0.5751 GB, free: 12.68 MB / 474.7 MB
Notification: Performance of FrontEnd - DAE generated: time 5.521e-06/1.339, allocations: 0 / 0.5751 GB, free: 12.68 MB / 474.7 MB
Notification: Performance of FrontEnd: time 3.256e-06/1.339, allocations: 4 kB / 0.5751 GB, free: 12.68 MB / 474.7 MB
Notification: Performance of Transformations before backend: time 0.0008154/1.34, allocations: 0 / 0.5751 GB, free: 12.68 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 0.05085/1.391, allocations: 13.18 MB / 0.588 GB, free: 0.6211 MB / 474.7 MB
Notification: Performance of prepare preOptimizeDAE: time 5.099e-05/1.391, allocations: 12.03 kB / 0.588 GB, free: 0.6094 MB / 474.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.6234/2.015, allocations: 28.82 MB / 0.6161 GB, free: 4.797 MB / 0.4948 GB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.03342/2.048, allocations: 9.448 MB / 0.6253 GB, free: 14.32 MB / 0.5105 GB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.001195/2.049, allocations: 0.8933 MB / 0.6262 GB, free: 13.82 MB / 0.5105 GB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.007838/2.057, allocations: 1.463 MB / 0.6277 GB, free: 12.83 MB / 0.5105 GB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.1115/2.169, allocations: 32.61 MB / 0.6595 GB, free: 4.633 MB / 0.5261 GB
Notification: Performance of preOpt findStateOrder (simulation): time 0.001313/2.17, allocations: 104.7 kB / 0.6596 GB, free: 4.574 MB / 0.5261 GB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.007503/2.178, allocations: 0.531 MB / 0.6601 GB, free: 4.438 MB / 0.5261 GB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.01658/2.194, allocations: 4.494 MB / 0.6645 GB, free: 0.8125 MB / 0.5261 GB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.8225/3.017, allocations: 27.63 MB / 0.6915 GB, free: 209.8 MB / 0.5418 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 0.2055/3.223, allocations: 112.9 MB / 0.8017 GB, free: 111.1 MB / 0.5418 GB
Notification: Performance of preOpt comSubExp (simulation): time 0.0621/3.285, allocations: 13.27 MB / 0.8147 GB, free: 97.71 MB / 0.5418 GB
Notification: Performance of preOpt evalFunc (simulation): time 0.07947/3.364, allocations: 31.27 MB / 0.8452 GB, free: 65.5 MB / 0.5418 GB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 7.643e-05/3.364, allocations: 81.44 kB / 0.8453 GB, free: 65.41 MB / 0.5418 GB
Notification: Performance of pre-optimization done (n=427): time 9.488e-06/3.364, allocations: 3.984 kB / 0.8453 GB, free: 65.4 MB / 0.5418 GB
Notification: Performance of matching and sorting (n=555): time 1.325/4.69, allocations: 119.7 MB / 0.9622 GB, free: 182.5 MB / 0.5419 GB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.05437/4.744, allocations: 24.23 MB / 0.9859 GB, free: 159.7 MB / 0.5419 GB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.02135/4.766, allocations: 8.885 MB / 0.9946 GB, free: 150.8 MB / 0.5419 GB
Notification: Performance of collectPreVariables (initialization): time 0.002016/4.768, allocations: 108.4 kB / 0.9947 GB, free: 150.7 MB / 0.5419 GB
Notification: Performance of collectInitialEqns (initialization): time 0.007042/4.775, allocations: 8.623 MB / 1.003 GB, free: 142.1 MB / 0.5419 GB
Notification: Performance of collectInitialBindings (initialization): time 0.004323/4.779, allocations: 2.142 MB / 1.005 GB, free: 140 MB / 0.5419 GB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.003172/4.782, allocations: 318 kB / 1.005 GB, free: 139.7 MB / 0.5419 GB
Notification: Performance of setup shared object (initialization): time 0.001714/4.784, allocations: 0.9847 MB / 1.006 GB, free: 138.7 MB / 0.5419 GB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.02256/4.807, allocations: 9.662 MB / 1.016 GB, free: 129 MB / 0.5419 GB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.02897/4.836, allocations: 18.84 MB / 1.034 GB, free: 105.9 MB / 0.5419 GB
Notification: Performance of analyzeInitialSystem (initialization): time 0.02871/4.865, allocations: 13.12 MB / 1.047 GB, free: 92.7 MB / 0.5419 GB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0002974/4.865, allocations: 92 kB / 1.047 GB, free: 92.61 MB / 0.5419 GB
Notification: Performance of matching and sorting (n=2084) (initialization): time 0.1506/5.016, allocations: 38.34 MB / 1.085 GB, free: 54.13 MB / 0.5419 GB
Notification: Performance of prepare postOptimizeDAE: time 0.0002147/5.016, allocations: 140 kB / 1.085 GB, free: 54 MB / 0.5419 GB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.485/5.501, allocations: 25.49 MB / 1.11 GB, free: 172 MB / 0.5419 GB
Notification: Performance of postOpt tearingSystem (initialization): time 0.09723/5.598, allocations: 12.87 MB / 1.122 GB, free: 171.9 MB / 0.5419 GB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.02493/5.623, allocations: 3.949 MB / 1.126 GB, free: 171.9 MB / 0.5419 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.1256/5.749, allocations: 56.4 MB / 1.181 GB, free: 135 MB / 0.5419 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.03775/5.787, allocations: 1.731 MB / 1.183 GB, free: 133.3 MB / 0.5419 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.004335/5.791, allocations: 0.9731 MB / 1.184 GB, free: 132.3 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 0.01766/5.809, allocations: 6.168 MB / 1.19 GB, free: 126.2 MB / 0.5419 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.003863/5.813, allocations: 0.867 MB / 1.191 GB, free: 125.8 MB / 0.5419 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.1169/5.93, allocations: 28.07 MB / 1.218 GB, free: 97.78 MB / 0.5419 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.1084/6.038, allocations: 26.22 MB / 1.244 GB, free: 71.55 MB / 0.5419 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 8.844e-05/6.038, allocations: 20 kB / 1.244 GB, free: 71.54 MB / 0.5419 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 0.0002047/6.038, allocations: 27.91 kB / 1.244 GB, free: 71.51 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 0.5882/6.627, allocations: 59.52 MB / 1.302 GB, free: 162.6 MB / 0.5419 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 0.0001116/6.627, allocations: 0 / 1.302 GB, free: 162.6 MB / 0.5419 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.01273/6.639, allocations: 1.137 MB / 1.303 GB, free: 162.6 MB / 0.5419 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.08711/6.727, allocations: 14.26 MB / 1.317 GB, free: 162.5 MB / 0.5419 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.00197/6.729, allocations: 168.3 kB / 1.317 GB, free: 162.5 MB / 0.5419 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.1824/6.911, allocations: 62.69 MB / 1.378 GB, free: 129.7 MB / 0.5419 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.05304/6.964, allocations: 23.98 MB / 1.402 GB, free: 105.2 MB / 0.5419 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.1482/7.112, allocations: 40.03 MB / 1.441 GB, free: 65.39 MB / 0.5419 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.01237/7.125, allocations: 2.522 MB / 1.443 GB, free: 63.33 MB / 0.5419 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.00532/7.13, allocations: 129.5 kB / 1.443 GB, free: 63.21 MB / 0.5419 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.01743/7.148, allocations: 0.8618 MB / 1.444 GB, free: 62.34 MB / 0.5419 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.003312/7.151, allocations: 415.2 kB / 1.445 GB, free: 61.94 MB / 0.5419 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.00141/7.153, allocations: 181.5 kB / 1.445 GB, free: 61.76 MB / 0.5419 GB
Notification: Performance of sorting global known variables: time 0.01427/7.167, allocations: 6.212 MB / 1.451 GB, free: 55.6 MB / 0.5419 GB
Notification: Performance of sort global known variables: time 2.405e-06/7.167, allocations: 0 / 1.451 GB, free: 55.6 MB / 0.5419 GB
Notification: Performance of remove unused functions: time 0.02298/7.19, allocations: 4.387 MB / 1.455 GB, free: 51.22 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 0.002521/7.192, allocations: 291.1 kB / 1.455 GB, free: 50.93 MB / 0.5419 GB
Notification: Performance of simCode: created initialization part: time 0.0547/7.247, allocations: 23.97 MB / 1.479 GB, free: 26.85 MB / 0.5419 GB
Notification: Performance of simCode: created event and clocks part: time 1.055e-05/7.247, allocations: 4 kB / 1.479 GB, free: 26.84 MB / 0.5419 GB
Notification: Performance of simCode: created simulation system equations: time 0.3884/7.636, allocations: 11.35 MB / 1.49 GB, free: 173.4 MB / 0.5419 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.01318/7.649, allocations: 1.303 MB / 1.491 GB, free: 173.3 MB / 0.5419 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.1044/7.753, allocations: 41.7 MB / 1.532 GB, free: 159.1 MB / 0.5419 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.02416/7.777, allocations: 9.462 MB / 1.541 GB, free: 156.1 MB / 0.5419 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.007953/7.786, allocations: 0.8181 MB / 1.542 GB, free: 156.1 MB / 0.5419 GB
Notification: Performance of SimCode: time 1.834e-06/7.786, allocations: 0 / 1.542 GB, free: 156.1 MB / 0.5419 GB
Notification: Performance of Templates: time 2.995/10.78, allocations: 0.8696 GB / 2.412 GB, free: 91.51 MB / 0.5575 GB