Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2.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: "" <> buildModelFMU(ModelicaTest.MultiBody.Joints.JointUSP2,fileNamePrefix="ModelicaTest_4_0_0_ModelicaTest_MultiBody_Joints_JointUSP2",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(ModelicaTest.MultiBody.Joints.JointUSP2,fileNamePrefix="ModelicaTest_4_0_0_ModelicaTest_MultiBody_Joints_JointUSP2",fmuType="me",version="2.0",platforms={"static"})
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo): time 0.001243/0.001243, allocations: 110.4 kB / 17.78 MB, free: 5.289 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001276/0.001276, allocations: 187.1 kB / 18.71 MB, free: 4.371 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo): time 1.427/1.427, allocations: 222.9 MB / 242.4 MB, free: 15.16 MB / 206.1 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/package.mo): time 0.2065/0.2065, allocations: 44.18 MB / 336.7 MB, free: 2.68 MB / 270.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.001446/0.001446, allocations: 67.84 kB / 470 MB, free: 13.66 MB / 350.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.3823/0.3838, allocations: 60.82 MB / 0.5184 GB, free: 3.309 MB / 382.1 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.JointUSP2): time 0.01412/0.3979, allocations: 13.26 MB / 0.5314 GB, free: 9.883 MB / 398.1 MB
Notification: Performance of NFInst.instExpressions: time 0.01178/0.4098, allocations: 4.848 MB / 0.5361 GB, free: 6.117 MB / 398.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.003282/0.4131, allocations: 81 kB / 0.5362 GB, free: 6.105 MB / 398.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.007912/0.421, allocations: 3.983 MB / 0.5401 GB, free: 3.441 MB / 398.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.006722/0.4278, allocations: 2.203 MB / 0.5422 GB, free: 1.859 MB / 398.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.002819/0.4306, allocations: 1.186 MB / 0.5434 GB, free: 1.055 MB / 398.1 MB
Notification: Performance of NFFlatten.flatten: time 0.008137/0.4388, allocations: 5.725 MB / 0.549 GB, free: 12.76 MB / 414.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.0058/0.4446, allocations: 5.182 MB / 0.554 GB, free: 7.508 MB / 414.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.003503/0.4481, allocations: 2.181 MB / 0.5562 GB, free: 5.32 MB / 414.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.004198/0.4524, allocations: 2.96 MB / 0.5591 GB, free: 2.352 MB / 414.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.001094/0.4535, allocations: 0.5038 MB / 0.5596 GB, free: 1.848 MB / 414.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.002971/0.4565, allocations: 1.658 MB / 0.5612 GB, free: 192 kB / 414.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.002382/0.4588, allocations: 2.677 MB / 0.5638 GB, free: 13.5 MB / 430.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.004273/0.4631, allocations: 3.1 MB / 0.5668 GB, free: 10.38 MB / 430.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.01197/0.4751, allocations: 10.13 MB / 0.5767 GB, free: 232 kB / 430.1 MB
Notification: Performance of FrontEnd - DAE generated: time 9.348e-06/0.4752, allocations: 4 kB / 0.5767 GB, free: 228 kB / 430.1 MB
Notification: Performance of FrontEnd: time 2.104e-06/0.4752, allocations: 3.938 kB / 0.5767 GB, free: 224 kB / 430.1 MB
Notification: Performance of Transformations before backend: time 0.0002946/0.4755, allocations: 0 / 0.5767 GB, free: 224 kB / 430.1 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 0.01722/0.4927, allocations: 6.663 MB / 0.5832 GB, free: 9.477 MB / 446.1 MB
Notification: Performance of prepare preOptimizeDAE: time 5.321e-05/0.4928, allocations: 11.97 kB / 0.5832 GB, free: 9.465 MB / 446.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.002495/0.4953, allocations: 0.9216 MB / 0.5841 GB, free: 8.531 MB / 446.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.09591/0.5912, allocations: 7.401 MB / 0.5914 GB, free: 1.113 MB / 446.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.01005/0.6013, allocations: 4.36 MB / 0.5956 GB, free: 12.69 MB / 462.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0003437/0.6017, allocations: 354 kB / 0.596 GB, free: 12.33 MB / 462.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.001469/0.6032, allocations: 423.7 kB / 0.5964 GB, free: 11.92 MB / 462.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.02571/0.6289, allocations: 13.77 MB / 0.6098 GB, free: 13.29 MB / 478.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0001591/0.6291, allocations: 51.53 kB / 0.6099 GB, free: 13.24 MB / 478.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0006012/0.6297, allocations: 203.8 kB / 0.61 GB, free: 13.04 MB / 478.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.003774/0.6335, allocations: 2.41 MB / 0.6124 GB, free: 10.63 MB / 478.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.0248/0.6583, allocations: 11.61 MB / 0.6237 GB, free: 15.01 MB / 494.1 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 0.07262/0.731, allocations: 51.09 MB / 0.6736 GB, free: 10.43 MB / 0.5294 GB
Notification: Performance of preOpt comSubExp (simulation): time 0.01291/0.7439, allocations: 4.665 MB / 0.6782 GB, free: 5.605 MB / 0.5294 GB
Notification: Performance of preOpt resolveLoops (simulation): time 0.004085/0.748, allocations: 2.772 MB / 0.6809 GB, free: 2.824 MB / 0.5294 GB
Notification: Performance of preOpt evalFunc (simulation): time 0.02071/0.7688, allocations: 12.34 MB / 0.6929 GB, free: 5.926 MB / 0.545 GB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 6.613e-05/0.7689, allocations: 55.88 kB / 0.693 GB, free: 5.863 MB / 0.545 GB
Notification: Performance of pre-optimization done (n=191): time 6.452e-06/0.7689, allocations: 0 / 0.693 GB, free: 5.863 MB / 0.545 GB
Notification: Performance of matching and sorting (n=242): time 0.4673/1.236, allocations: 42.45 MB / 0.7344 GB, free: 163.2 MB / 0.5606 GB
Notification: Performance of inlineWhenForInitialization (initialization): time 8.305e-05/1.236, allocations: 234.2 kB / 0.7347 GB, free: 162.9 MB / 0.5606 GB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.005773/1.242, allocations: 4.797 MB / 0.7394 GB, free: 161.2 MB / 0.5606 GB
Notification: Performance of collectPreVariables (initialization): time 0.0004466/1.243, allocations: 61.23 kB / 0.7394 GB, free: 161.1 MB / 0.5606 GB
Notification: Performance of collectInitialEqns (initialization): time 0.001668/1.244, allocations: 3.906 MB / 0.7432 GB, free: 158.1 MB / 0.5606 GB
Notification: Performance of collectInitialBindings (initialization): time 0.0008206/1.245, allocations: 0.9161 MB / 0.7441 GB, free: 157.5 MB / 0.5606 GB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.001654/1.247, allocations: 1.454 MB / 0.7455 GB, free: 156.7 MB / 0.5606 GB
Notification: Performance of setup shared object (initialization): time 4.671e-05/1.247, allocations: 309 kB / 0.7458 GB, free: 156.4 MB / 0.5606 GB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.003735/1.251, allocations: 3.251 MB / 0.749 GB, free: 154.8 MB / 0.5606 GB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.005178/1.256, allocations: 7.547 MB / 0.7564 GB, free: 146.7 MB / 0.5606 GB
Notification: Performance of analyzeInitialSystem (initialization): time 0.009846/1.266, allocations: 11.59 MB / 0.7677 GB, free: 133 MB / 0.5606 GB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001053/1.266, allocations: 44 kB / 0.7677 GB, free: 132.9 MB / 0.5606 GB
Notification: Performance of matching and sorting (n=940) (initialization): time 0.02624/1.292, allocations: 13.85 MB / 0.7813 GB, free: 119.1 MB / 0.5606 GB
Notification: Performance of prepare postOptimizeDAE: time 9.719e-05/1.292, allocations: 68 kB / 0.7813 GB, free: 119 MB / 0.5606 GB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0001369/1.292, allocations: 152 kB / 0.7815 GB, free: 118.8 MB / 0.5606 GB
Notification: Performance of postOpt tearingSystem (initialization): time 0.01093/1.303, allocations: 3.775 MB / 0.7852 GB, free: 115.1 MB / 0.5606 GB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.005011/1.308, allocations: 1.599 MB / 0.7867 GB, free: 113.5 MB / 0.5606 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.02215/1.33, allocations: 19.16 MB / 0.8054 GB, free: 94.16 MB / 0.5606 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.006187/1.337, allocations: 443.3 kB / 0.8059 GB, free: 93.72 MB / 0.5606 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001188/1.338, allocations: 432 kB / 0.8063 GB, free: 93.3 MB / 0.5606 GB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 687
 * 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 (857):
 * Single equations (assignments): 853
 * Array equations: 3
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (not torn): 0
 * Torn equation systems: 1
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems (#iteration vars, #inner vars, density): 1 system
   {(2,58,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of prepare postOptimizeDAE: time 0.0048/1.343, allocations: 2.666 MB / 0.8089 GB, free: 90.62 MB / 0.5606 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001279/1.344, allocations: 430.4 kB / 0.8093 GB, free: 90.2 MB / 0.5606 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01569/1.36, allocations: 8.141 MB / 0.8172 GB, free: 82.04 MB / 0.5606 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 5.518e-05/1.36, allocations: 31.94 kB / 0.8173 GB, free: 82.01 MB / 0.5606 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 2.623e-05/1.36, allocations: 12 kB / 0.8173 GB, free: 82 MB / 0.5606 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 4.976e-05/1.36, allocations: 11.95 kB / 0.8173 GB, free: 81.98 MB / 0.5606 GB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.03195/1.392, allocations: 17.28 MB / 0.8342 GB, free: 64.68 MB / 0.5606 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 5.523e-05/1.392, allocations: 7.984 kB / 0.8342 GB, free: 64.68 MB / 0.5606 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002022/1.394, allocations: 391.4 kB / 0.8346 GB, free: 64.29 MB / 0.5606 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.01082/1.405, allocations: 3.825 MB / 0.8383 GB, free: 60.46 MB / 0.5606 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0005469/1.405, allocations: 47.92 kB / 0.8383 GB, free: 60.41 MB / 0.5606 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.02018/1.426, allocations: 17.53 MB / 0.8555 GB, free: 42.74 MB / 0.5606 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 5.28e-06/1.426, allocations: 7.141 kB / 0.8555 GB, free: 42.74 MB / 0.5606 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.02071/1.446, allocations: 12.53 MB / 0.8677 GB, free: 30.17 MB / 0.5606 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.002109/1.449, allocations: 459.4 kB / 0.8681 GB, free: 29.7 MB / 0.5606 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001688/1.45, allocations: 36 kB / 0.8682 GB, free: 29.66 MB / 0.5606 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.003707/1.454, allocations: 203.7 kB / 0.8684 GB, free: 29.46 MB / 0.5606 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0009636/1.455, allocations: 146.2 kB / 0.8685 GB, free: 29.32 MB / 0.5606 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002398/1.455, allocations: 67.81 kB / 0.8686 GB, free: 29.26 MB / 0.5606 GB
Notification: Performance of sorting global known variables: time 0.004306/1.46, allocations: 3.007 MB / 0.8715 GB, free: 26.26 MB / 0.5606 GB
Notification: Performance of sort global known variables: time 4.81e-07/1.46, allocations: 4 kB / 0.8715 GB, free: 26.25 MB / 0.5606 GB
Notification: Performance of remove unused functions: time 0.006605/1.466, allocations: 1.445 MB / 0.8729 GB, free: 24.82 MB / 0.5606 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 (167):
 * Single equations (assignments): 163
 * Array equations: 3
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (not torn): 0
 * Torn equation systems: 1
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems (#iteration vars, #inner vars, density): 1 system
   {(2,52,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of Backend phase and start with SimCode phase: time 0.02085/1.487, allocations: 13.24 MB / 0.8858 GB, free: 11.55 MB / 0.5606 GB
Notification: Performance of simCode: created initialization part: time 0.0108/1.498, allocations: 7.908 MB / 0.8936 GB, free: 3.66 MB / 0.5606 GB
Notification: Performance of simCode: created event and clocks part: time 7.955e-06/1.498, allocations: 384 / 0.8936 GB, free: 3.66 MB / 0.5606 GB
Notification: Performance of simCode: created simulation system equations: time 0.003828/1.502, allocations: 2.981 MB / 0.8965 GB, free: 0.6602 MB / 0.5606 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.003776/1.506, allocations: 0.5462 MB / 0.897 GB, free: 120 kB / 0.5606 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.3833/1.889, allocations: 65.78 MB / 0.9613 GB, free: 207.5 MB / 0.6231 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.004457/1.893, allocations: 4.09 MB / 0.9652 GB, free: 206 MB / 0.6231 GB
Notification: Performance of simCode: alias equations: time 0.00448/1.898, allocations: 2.177 MB / 0.9674 GB, free: 205.9 MB / 0.6231 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.002896/1.901, allocations: 2.483 MB / 0.9698 GB, free: 203.9 MB / 0.6231 GB
Notification: Performance of SimCode: time 9.32e-07/1.901, allocations: 0 / 0.9698 GB, free: 203.9 MB / 0.6231 GB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.1337/2.035, allocations: 104.7 MB / 1.072 GB, free: 105.3 MB / 0.6231 GB
Notification: Performance of buildModelFMU: Generate platform static: time 32.87/34.9, allocations: 6.609 kB / 1.072 GB, free: 105.3 MB / 0.6231 GB
(rm -f ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2.pipe ; mkfifo ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2.pipe ; head -c 1048576 < ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2.pipe >> ../files/ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2_res.mat --tempDir=temp_ModelicaTest_4_0_0_ModelicaTest_MultiBody_Joints_JointUSP2_fmu --startTime=0 --stopTime=4 --timeout=50 --tolerance=1e-06 ModelicaTest_4_0_0_ModelicaTest_MultiBody_Joints_JointUSP2.fmu > ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2.pipe 2>&1)
diffSimulationResults("ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/ModelicaTest/MultiBody/Joints/JointUSP2/JointUSP2.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/ModelicaTest_4.0.0_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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