Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr ModelicaTest_4.0.0_ModelicaTest.MultiBody.Forces.WorldTorques.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 4.0.0+maint.om/package.mo", uses=false) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/package.mo", uses=false) Using package ModelicaTest with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/package.mo) Using package Modelica with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+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.Forces.WorldTorques,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|Revolute1.phi|Revolute1.w|Revolute2.phi|Revolute2.w|Revolute3.phi|Revolute3.w",fileNamePrefix="ModelicaTest_4.0.0_ModelicaTest.MultiBody.Forces.WorldTorques") translateModel(ModelicaTest.MultiBody.Forces.WorldTorques,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|Revolute1.phi|Revolute1.w|Revolute2.phi|Revolute2.w|Revolute3.phi|Revolute3.w",fileNamePrefix="ModelicaTest_4.0.0_ModelicaTest.MultiBody.Forces.WorldTorques") Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo): time 0.001247/0.001247, allocations: 107.1 kB / 18.39 MB, free: 4.629 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001301/0.001301, allocations: 184.1 kB / 19.33 MB, free: 3.699 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo): time 1.358/1.358, allocations: 222.9 MB / 243 MB, free: 15.15 MB / 206.1 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/package.mo): time 0.2156/0.2156, allocations: 44.19 MB / 337.4 MB, free: 2.703 MB / 270.1 MB Notification: Performance of FrontEnd - loaded program: time 0.001451/0.001451, allocations: 64.84 kB / 409.9 MB, free: 26.54 MB / 302.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.1116/0.113, allocations: 60.83 MB / 470.7 MB, free: 13.66 MB / 350.1 MB Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Forces.WorldTorques): time 0.01811/0.1312, allocations: 15.7 MB / 486.4 MB, free: 13.88 MB / 366.1 MB Notification: Performance of NFInst.instExpressions: time 0.01138/0.1426, allocations: 5.085 MB / 491.5 MB, free: 8.781 MB / 366.1 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.002583/0.1452, allocations: 107.7 kB / 491.6 MB, free: 8.676 MB / 366.1 MB Notification: Performance of NFTyping.typeComponents: time 0.01014/0.1554, allocations: 5.031 MB / 496.6 MB, free: 3.629 MB / 366.1 MB Notification: Performance of NFTyping.typeBindings: time 0.008165/0.1636, allocations: 2.599 MB / 499.2 MB, free: 1.02 MB / 366.1 MB Notification: Performance of NFTyping.typeClassSections: time 0.003905/0.1676, allocations: 1.244 MB / 0.4887 GB, free: 15.77 MB / 382.1 MB Notification: Performance of NFFlatten.flatten: time 0.01187/0.1795, allocations: 7.941 MB / 0.4965 GB, free: 7.816 MB / 382.1 MB Notification: Performance of NFFlatten.resolveConnections: time 0.008329/0.1878, allocations: 6.042 MB / 0.5024 GB, free: 1.691 MB / 382.1 MB Notification: Performance of NFEvalConstants.evaluate: time 0.2675/0.4554, allocations: 2.565 MB / 0.5049 GB, free: 18.91 MB / 382.1 MB Notification: Performance of NFSimplifyModel.simplify: time 0.007179/0.4626, allocations: 3.511 MB / 0.5083 GB, free: 18.89 MB / 382.1 MB Notification: Performance of NFPackage.collectConstants: time 0.003308/0.4659, allocations: 0.5497 MB / 0.5089 GB, free: 18.89 MB / 382.1 MB Notification: Performance of NFFlatten.collectFunctions: time 0.007239/0.4732, allocations: 1.579 MB / 0.5104 GB, free: 18.89 MB / 382.1 MB Notification: Performance of NFScalarize.scalarize: time 0.007689/0.4809, allocations: 3.229 MB / 0.5136 GB, free: 18.59 MB / 382.1 MB Notification: Performance of NFVerifyModel.verify: time 0.01028/0.4912, allocations: 3.595 MB / 0.5171 GB, free: 17.36 MB / 382.1 MB Notification: Performance of NFConvertDAE.convert: time 0.0134/0.5047, allocations: 11.18 MB / 0.528 GB, free: 14.33 MB / 382.1 MB Notification: Performance of FrontEnd - DAE generated: time 5.981e-06/0.5047, allocations: 6.312 kB / 0.528 GB, free: 14.33 MB / 382.1 MB Notification: Performance of FrontEnd: time 2.695e-06/0.5047, allocations: 3.984 kB / 0.528 GB, free: 14.33 MB / 382.1 MB Notification: Performance of Transformations before backend: time 0.0004523/0.5052, allocations: 0 / 0.528 GB, free: 14.33 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: 2215 * Number of variables: 2215 Notification: Performance of Generate backend data structure: time 0.02527/0.5305, allocations: 7.708 MB / 0.5355 GB, free: 9.234 MB / 382.1 MB Notification: Performance of prepare preOptimizeDAE: time 5.68e-05/0.5305, allocations: 9.594 kB / 0.5355 GB, free: 9.234 MB / 382.1 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.02119/0.5517, allocations: 3.114 MB / 0.5386 GB, free: 7.668 MB / 382.1 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.01375/0.5655, allocations: 4.969 MB / 0.5434 GB, free: 4.898 MB / 382.1 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0003805/0.5659, allocations: 368.5 kB / 0.5438 GB, free: 4.773 MB / 382.1 MB Notification: Performance of preOpt expandDerOperator (simulation): time 0.002324/0.5683, allocations: 0.4958 MB / 0.5443 GB, free: 4.641 MB / 382.1 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.03176/0.6001, allocations: 14.86 MB / 0.5588 GB, free: 5.906 MB / 398.1 MB Notification: Performance of preOpt findStateOrder (simulation): time 0.0001916/0.6003, allocations: 73.61 kB / 0.5588 GB, free: 5.863 MB / 398.1 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0006005/0.6009, allocations: 234.1 kB / 0.5591 GB, free: 5.684 MB / 398.1 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.004243/0.6051, allocations: 2.722 MB / 0.5617 GB, free: 3 MB / 398.1 MB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02402/0.6292, allocations: 12.31 MB / 0.5737 GB, free: 6.945 MB / 414.1 MB Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.07687/0.7061, allocations: 57.12 MB / 0.6295 GB, free: 13.14 MB / 478.1 MB Notification: Performance of preOpt comSubExp (simulation): time 0.01253/0.7187, allocations: 4.65 MB / 0.6341 GB, free: 8.344 MB / 478.1 MB Notification: Performance of preOpt resolveLoops (simulation): time 0.004471/0.7232, allocations: 2.899 MB / 0.6369 GB, free: 5.434 MB / 478.1 MB Notification: Performance of preOpt evalFunc (simulation): time 0.0001662/0.7234, allocations: 36.95 kB / 0.6369 GB, free: 5.41 MB / 478.1 MB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 6.713e-05/0.7235, allocations: 66.86 kB / 0.637 GB, free: 5.34 MB / 478.1 MB Notification: Performance of pre-optimization done (n=186): time 5.17e-06/0.7235, allocations: 0 / 0.637 GB, free: 5.34 MB / 478.1 MB Notification: Performance of matching and sorting (n=204): time 0.06124/0.7847, allocations: 23.3 MB / 0.6597 GB, free: 13.85 MB / 0.4981 GB Notification: Performance of inlineWhenForInitialization (initialization): time 0.0001493/0.7849, allocations: 256.7 kB / 0.66 GB, free: 13.55 MB / 0.4981 GB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.01191/0.7968, allocations: 6.735 MB / 0.6666 GB, free: 6.82 MB / 0.4981 GB Notification: Performance of collectPreVariables (initialization): time 0.0008547/0.7977, allocations: 60.67 kB / 0.6666 GB, free: 6.758 MB / 0.4981 GB Notification: Performance of collectInitialEqns (initialization): time 0.004444/0.8022, allocations: 4.608 MB / 0.6711 GB, free: 2.152 MB / 0.4981 GB Notification: Performance of collectInitialBindings (initialization): time 0.001346/0.8036, allocations: 0.8188 MB / 0.6719 GB, free: 1.34 MB / 0.4981 GB Notification: Performance of simplifyInitialFunctions (initialization): time 0.00259/0.8062, allocations: 1.684 MB / 0.6736 GB, free: 15.64 MB / 0.5137 GB Notification: Performance of setup shared object (initialization): time 0.0001424/0.8063, allocations: 309 kB / 0.6739 GB, free: 15.34 MB / 0.5137 GB Notification: Performance of preBalanceInitialSystem (initialization): time 0.004522/0.8108, allocations: 2.905 MB / 0.6767 GB, free: 12.43 MB / 0.5137 GB Notification: Performance of partitionIndependentBlocks (initialization): time 0.008101/0.819, allocations: 7.863 MB / 0.6844 GB, free: 2.184 MB / 0.5137 GB Notification: Performance of analyzeInitialSystem (initialization): time 0.0136/0.8326, allocations: 11.51 MB / 0.6956 GB, free: 4.918 MB / 0.5294 GB Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001556/0.8328, allocations: 56 kB / 0.6957 GB, free: 4.863 MB / 0.5294 GB Notification: Performance of matching and sorting (n=1062) (initialization): time 0.3008/1.134, allocations: 11.97 MB / 0.7074 GB, free: 173.8 MB / 0.5294 GB Notification: Performance of prepare postOptimizeDAE: time 0.0001987/1.134, allocations: 84.53 kB / 0.7075 GB, free: 173.8 MB / 0.5294 GB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0004055/1.134, allocations: 179.3 kB / 0.7076 GB, free: 173.8 MB / 0.5294 GB Notification: Performance of postOpt tearingSystem (initialization): time 0.00574/1.14, allocations: 1.776 MB / 0.7094 GB, free: 173.8 MB / 0.5294 GB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.006864/1.147, allocations: 1.853 MB / 0.7112 GB, free: 173.7 MB / 0.5294 GB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.01425/1.161, allocations: 12.62 MB / 0.7235 GB, free: 166.8 MB / 0.5294 GB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.009062/1.17, allocations: 461.4 kB / 0.7239 GB, free: 166.6 MB / 0.5294 GB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.002042/1.172, allocations: 497.5 kB / 0.7244 GB, free: 166.6 MB / 0.5294 GB Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 795 * Number of states: 0 () * Number of discrete variables: 63 (worldTorque3.arrow.arrowLine.twoHeadedArrow,worldTorque3.arrow.headAtOrigin,worldTorque2.arrow.arrowLine.twoHeadedArrow,worldTorque2.arrow.headAtOrigin,worldTorque1.arrow.arrowLine.twoHeadedArrow,worldTorque1.arrow.headAtOrigin,worldTorque3.color[3],worldTorque3.color[2],worldTorque3.color[1],fixed3.color[3],fixed3.color[2],fixed3.color[1],BodyCylinder3.color[3],BodyCylinder3.color[2],BodyCylinder3.color[1],BodyCylinder3.body.sphereColor[3],BodyCylinder3.body.sphereColor[2],BodyCylinder3.body.sphereColor[1],Revolute3.cylinderColor[3],Revolute3.cylinderColor[2],Revolute3.cylinderColor[1],worldTorque2.color[3],worldTorque2.color[2],worldTorque2.color[1],BodyCylinder1.color[3],BodyCylinder1.color[2],BodyCylinder1.color[1],BodyCylinder1.body.sphereColor[3],BodyCylinder1.body.sphereColor[2],BodyCylinder1.body.sphereColor[1],Revolute1.cylinderColor[3],Revolute1.cylinderColor[2],Revolute1.cylinderColor[1],fixed1.color[3],fixed1.color[2],fixed1.color[1],worldTorque1.color[3],worldTorque1.color[2],worldTorque1.color[1],BodyCylinder2.color[3],BodyCylinder2.color[2],BodyCylinder2.color[1],BodyCylinder2.body.sphereColor[3],BodyCylinder2.body.sphereColor[2],BodyCylinder2.body.sphereColor[1],Revolute2.cylinderColor[3],Revolute2.cylinderColor[2],Revolute2.cylinderColor[1],fixed2.color[3],fixed2.color[2],fixed2.color[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 (996): * Single equations (assignments): 990 * Array equations: 3 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 0 * Torn equation systems: 3 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems (#iteration vars, #inner vars, density): 3 systems {(1,14,100.0%), (1,14,100.0%), (1,14,100.0%)} * Non-linear torn systems (#iteration vars, #inner vars): 0 systems Notification: Performance of prepare postOptimizeDAE: time 0.007355/1.18, allocations: 3.055 MB / 0.7274 GB, free: 165.3 MB / 0.5294 GB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001235/1.181, allocations: 0.5372 MB / 0.7279 GB, free: 165.3 MB / 0.5294 GB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.008329/1.189, allocations: 4.864 MB / 0.7327 GB, free: 163.7 MB / 0.5294 GB Notification: Performance of postOpt inlineArrayEqn (simulation): time 3.387e-05/1.189, allocations: 24.44 kB / 0.7327 GB, free: 163.7 MB / 0.5294 GB Notification: Performance of postOpt constantLinearSystem (simulation): time 2.034e-05/1.189, allocations: 10.94 kB / 0.7327 GB, free: 163.7 MB / 0.5294 GB Notification: Performance of postOpt simplifysemiLinear (simulation): time 2.166e-05/1.189, allocations: 7.406 kB / 0.7327 GB, free: 163.7 MB / 0.5294 GB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.01982/1.209, allocations: 11.24 MB / 0.7437 GB, free: 158.8 MB / 0.5294 GB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 1.842e-05/1.209, allocations: 0 / 0.7437 GB, free: 158.8 MB / 0.5294 GB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.001438/1.211, allocations: 320 kB / 0.744 GB, free: 158.5 MB / 0.5294 GB Notification: Performance of postOpt tearingSystem (simulation): time 0.00374/1.214, allocations: 1.493 MB / 0.7454 GB, free: 157.5 MB / 0.5294 GB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0002414/1.215, allocations: 32 kB / 0.7455 GB, free: 157.5 MB / 0.5294 GB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.01148/1.226, allocations: 11.71 MB / 0.7569 GB, free: 146.1 MB / 0.5294 GB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 3.085e-06/1.226, allocations: 0.875 kB / 0.7569 GB, free: 146.1 MB / 0.5294 GB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.01121/1.237, allocations: 7.961 MB / 0.7647 GB, free: 138.3 MB / 0.5294 GB Notification: Performance of postOpt removeConstants (simulation): time 0.002948/1.24, allocations: 0.6033 MB / 0.7653 GB, free: 137.7 MB / 0.5294 GB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001124/1.242, allocations: 32 kB / 0.7653 GB, free: 137.7 MB / 0.5294 GB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002211/1.244, allocations: 143.8 kB / 0.7654 GB, free: 137.5 MB / 0.5294 GB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0004915/1.244, allocations: 141.9 kB / 0.7656 GB, free: 137.4 MB / 0.5294 GB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0001591/1.245, allocations: 51.5 kB / 0.7656 GB, free: 137.3 MB / 0.5294 GB Notification: Performance of sorting global known variables: time 0.008216/1.253, allocations: 4.285 MB / 0.7698 GB, free: 133.1 MB / 0.5294 GB Notification: Performance of sort global known variables: time 6.82e-07/1.253, allocations: 0 / 0.7698 GB, free: 133.1 MB / 0.5294 GB Notification: Performance of remove unused functions: time 0.009645/1.262, allocations: 1.499 MB / 0.7713 GB, free: 131.6 MB / 0.5294 GB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 5 * Number of states: 6 (Revolute3.phi,Revolute3.w,Revolute2.phi,Revolute2.w,Revolute1.phi,Revolute1.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 (153): * Single equations (assignments): 147 * Array equations: 3 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 0 * Torn equation systems: 3 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems (#iteration vars, #inner vars, density): 3 systems {(1,11,100.0%), (1,11,100.0%), (1,11,100.0%)} * Non-linear torn systems (#iteration vars, #inner vars): 0 systems Notification: Performance of Backend phase and start with SimCode phase: time 0.0005311/1.263, allocations: 167.1 kB / 0.7714 GB, free: 131.4 MB / 0.5294 GB Notification: Performance of simCode: created initialization part: time 0.01004/1.273, allocations: 7.142 MB / 0.7784 GB, free: 124.3 MB / 0.5294 GB Notification: Performance of simCode: created event and clocks part: time 7.313e-06/1.273, allocations: 0 / 0.7784 GB, free: 124.3 MB / 0.5294 GB Notification: Performance of simCode: created simulation system equations: time 0.002521/1.276, allocations: 2.282 MB / 0.7806 GB, free: 121.9 MB / 0.5294 GB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.004966/1.281, allocations: 0.7844 MB / 0.7814 GB, free: 121.2 MB / 0.5294 GB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.02216/1.303, allocations: 13.87 MB / 0.7949 GB, free: 107.3 MB / 0.5294 GB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.006245/1.309, allocations: 4.661 MB / 0.7995 GB, free: 102.6 MB / 0.5294 GB Notification: Performance of simCode: alias equations: time 0.005595/1.315, allocations: 2.492 MB / 0.8019 GB, free: 100.1 MB / 0.5294 GB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.001156/1.316, allocations: 355.4 kB / 0.8023 GB, free: 99.76 MB / 0.5294 GB Notification: Performance of SimCode: time 1.242e-06/1.316, allocations: 0 / 0.8023 GB, free: 99.76 MB / 0.5294 GB Notification: Performance of Templates: time 0.09346/1.409, allocations: 51.42 MB / 0.8525 GB, free: 48.75 MB / 0.5294 GB make -j1 -f ModelicaTest_4.0.0_ModelicaTest.MultiBody.Forces.WorldTorques.makefile (rm -f ModelicaTest_4.0.0_ModelicaTest.MultiBody.Forces.WorldTorques.pipe ; mkfifo ModelicaTest_4.0.0_ModelicaTest.MultiBody.Forces.WorldTorques.pipe ; head -c 1048576 < ModelicaTest_4.0.0_ModelicaTest.MultiBody.Forces.WorldTorques.pipe >> ../files/ModelicaTest_4.0.0_ModelicaTest.MultiBody.Forces.WorldTorques.sim & ./ModelicaTest_4.0.0_ModelicaTest.MultiBody.Forces.WorldTorques -abortSlowSimulation -alarm=480 -s cvode -emit_protected -lv LOG_STATS > ModelicaTest_4.0.0_ModelicaTest.MultiBody.Forces.WorldTorques.pipe 2>&1) diffSimulationResults("ModelicaTest_4.0.0_ModelicaTest.MultiBody.Forces.WorldTorques_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/ModelicaTest/MultiBody/Forces/WorldTorques/WorldTorques.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/ModelicaTest_4.0.0_ModelicaTest.MultiBody.Forces.WorldTorques.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001) Reference file matches