Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.JointUSP2.conf.json
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo", uses=false)
Using package ModelicaTest with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo)
Using package Modelica with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo)
Using package Complex with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo)
Using package ModelicaServices with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo)
Running command: "" <> buildModelFMU(ModelicaTest.MultiBody.Joints.JointUSP2,fileNamePrefix="ModelicaTest_trunk_ModelicaTest_MultiBody_Joints_JointUSP2",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(ModelicaTest.MultiBody.Joints.JointUSP2,fileNamePrefix="ModelicaTest_trunk_ModelicaTest_MultiBody_Joints_JointUSP2",fmuType="me",version="2.0",platforms={"static"})
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo): time 0.001096/0.001096, allocations: 118.8 kB / 17.79 MB, free: 5.262 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo): time 0.001428/0.001428, allocations: 202 kB / 18.73 MB, free: 4.32 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo): time 1.43/1.43, allocations: 227.4 MB / 246.9 MB, free: 10.45 MB / 206.1 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo): time 0.2231/0.2231, allocations: 46.11 MB / 344.3 MB, free: 11.47 MB / 286.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.001356/0.001356, allocations: 83.86 kB / 480.8 MB, free: 4.547 MB / 350.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.3617/0.3631, allocations: 62.44 MB / 0.5305 GB, free: 13.41 MB / 398.1 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.JointUSP2): time 0.01551/0.3786, allocations: 13.25 MB / 0.5435 GB, free: 3.004 MB / 398.1 MB
Notification: Performance of NFInst.instExpressions: time 0.01223/0.3909, allocations: 4.853 MB / 0.5482 GB, free: 15.19 MB / 414.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.004433/0.3954, allocations: 84.59 kB / 0.5483 GB, free: 15.18 MB / 414.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.009635/0.4051, allocations: 3.967 MB / 0.5522 GB, free: 11.57 MB / 414.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.007662/0.4128, allocations: 2.174 MB / 0.5543 GB, free: 9.391 MB / 414.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.003234/0.4161, allocations: 1.189 MB / 0.5554 GB, free: 8.199 MB / 414.1 MB
Notification: Performance of NFFlatten.flatten: time 0.008854/0.425, allocations: 5.802 MB / 0.5611 GB, free: 2.387 MB / 414.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.006087/0.4311, allocations: 5.17 MB / 0.5662 GB, free: 13.15 MB / 430.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.003919/0.435, allocations: 2.169 MB / 0.5683 GB, free: 10.97 MB / 430.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.004666/0.4397, allocations: 2.964 MB / 0.5712 GB, free: 8 MB / 430.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.001979/0.4417, allocations: 0.5 MB / 0.5717 GB, free: 7.5 MB / 430.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.00385/0.4456, allocations: 1.639 MB / 0.5733 GB, free: 5.859 MB / 430.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.003477/0.4491, allocations: 2.654 MB / 0.5758 GB, free: 3.199 MB / 430.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.005197/0.4543, allocations: 3.081 MB / 0.5789 GB, free: 104 kB / 430.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.01299/0.4673, allocations: 10.06 MB / 0.5887 GB, free: 6.008 MB / 446.1 MB
Notification: Performance of FrontEnd - DAE generated: time 8.656e-06/0.4674, allocations: 0 / 0.5887 GB, free: 6.008 MB / 446.1 MB
Notification: Performance of FrontEnd: time 2.184e-06/0.4674, allocations: 4 kB / 0.5887 GB, free: 6.004 MB / 446.1 MB
Notification: Performance of Transformations before backend: time 0.0004/0.4678, allocations: 0 / 0.5887 GB, free: 6.004 MB / 446.1 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 0.02085/0.4887, allocations: 6.644 MB / 0.5952 GB, free: 15.28 MB / 462.1 MB
Notification: Performance of prepare preOptimizeDAE: time 4.305e-05/0.4887, allocations: 8.031 kB / 0.5952 GB, free: 15.27 MB / 462.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.00245/0.4912, allocations: 0.9216 MB / 0.5961 GB, free: 14.34 MB / 462.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.09786/0.5891, allocations: 7.409 MB / 0.6033 GB, free: 6.91 MB / 462.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.01152/0.6006, allocations: 4.142 MB / 0.6074 GB, free: 2.707 MB / 462.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0004247/0.6011, allocations: 358 kB / 0.6077 GB, free: 2.348 MB / 462.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.001852/0.603, allocations: 427.7 kB / 0.6081 GB, free: 1.93 MB / 462.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.03042/0.6334, allocations: 13.78 MB / 0.6216 GB, free: 3.289 MB / 478.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0003155/0.6338, allocations: 51.53 kB / 0.6216 GB, free: 3.238 MB / 478.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.001674/0.6355, allocations: 199.8 kB / 0.6218 GB, free: 3.043 MB / 478.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.004192/0.6397, allocations: 2.406 MB / 0.6242 GB, free: 0.6367 MB / 478.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02592/0.6656, allocations: 11.61 MB / 0.6355 GB, free: 5.016 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 0.07308/0.7387, allocations: 51.07 MB / 0.6854 GB, free: 452 kB / 0.5294 GB
Notification: Performance of preOpt comSubExp (simulation): time 0.01328/0.7521, allocations: 4.682 MB / 0.6899 GB, free: 11.61 MB / 0.545 GB
Notification: Performance of preOpt resolveLoops (simulation): time 0.004547/0.7567, allocations: 2.776 MB / 0.6927 GB, free: 8.82 MB / 0.545 GB
Notification: Performance of preOpt evalFunc (simulation): time 0.02348/0.7802, allocations: 12.43 MB / 0.7048 GB, free: 11.82 MB / 0.5606 GB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 5.885e-05/0.7803, allocations: 55.86 kB / 0.7048 GB, free: 11.75 MB / 0.5606 GB
Notification: Performance of pre-optimization done (n=191): time 5.891e-06/0.7803, allocations: 0 / 0.7048 GB, free: 11.75 MB / 0.5606 GB
Notification: Performance of matching and sorting (n=242): time 0.4121/1.192, allocations: 42.21 MB / 0.7461 GB, free: 151.6 MB / 0.5606 GB
Notification: Performance of inlineWhenForInitialization (initialization): time 8.066e-05/1.193, allocations: 235.5 kB / 0.7463 GB, free: 151.3 MB / 0.5606 GB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.00584/1.198, allocations: 4.789 MB / 0.751 GB, free: 146.5 MB / 0.5606 GB
Notification: Performance of collectPreVariables (initialization): time 0.0005558/1.199, allocations: 61.7 kB / 0.751 GB, free: 146.5 MB / 0.5606 GB
Notification: Performance of collectInitialEqns (initialization): time 0.001823/1.201, allocations: 3.909 MB / 0.7548 GB, free: 142.6 MB / 0.5606 GB
Notification: Performance of collectInitialBindings (initialization): time 0.0009599/1.202, allocations: 0.9044 MB / 0.7557 GB, free: 141.7 MB / 0.5606 GB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.00187/1.204, allocations: 1.466 MB / 0.7572 GB, free: 140.2 MB / 0.5606 GB
Notification: Performance of setup shared object (initialization): time 4.652e-05/1.204, allocations: 305.2 kB / 0.7575 GB, free: 139.9 MB / 0.5606 GB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.003948/1.208, allocations: 3.258 MB / 0.7606 GB, free: 136.6 MB / 0.5606 GB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.005715/1.213, allocations: 7.555 MB / 0.768 GB, free: 127 MB / 0.5606 GB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01104/1.225, allocations: 11.61 MB / 0.7794 GB, free: 113.3 MB / 0.5606 GB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001253/1.225, allocations: 40 kB / 0.7794 GB, free: 113.2 MB / 0.5606 GB
Notification: Performance of matching and sorting (n=940) (initialization): time 0.02596/1.251, allocations: 13.85 MB / 0.7929 GB, free: 99.36 MB / 0.5606 GB
Notification: Performance of prepare postOptimizeDAE: time 9.53e-05/1.251, allocations: 72 kB / 0.793 GB, free: 99.29 MB / 0.5606 GB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0001357/1.251, allocations: 148 kB / 0.7931 GB, free: 99.14 MB / 0.5606 GB
Notification: Performance of postOpt tearingSystem (initialization): time 0.01122/1.262, allocations: 3.779 MB / 0.7968 GB, free: 95.36 MB / 0.5606 GB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.004984/1.267, allocations: 1.602 MB / 0.7984 GB, free: 93.75 MB / 0.5606 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.02418/1.291, allocations: 19.16 MB / 0.8171 GB, free: 74.45 MB / 0.5606 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.005627/1.297, allocations: 451.3 kB / 0.8175 GB, free: 74.01 MB / 0.5606 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001176/1.298, allocations: 443.8 kB / 0.8179 GB, free: 73.58 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 0.004173/1.302, allocations: 2.65 MB / 0.8205 GB, free: 70.91 MB / 0.5606 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.0008087/1.303, allocations: 434.4 kB / 0.8209 GB, free: 70.48 MB / 0.5606 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01647/1.32, allocations: 8.142 MB / 0.8289 GB, free: 62.31 MB / 0.5606 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 4.103e-05/1.32, allocations: 28 kB / 0.8289 GB, free: 62.29 MB / 0.5606 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 1.753e-05/1.32, allocations: 8 kB / 0.8289 GB, free: 62.28 MB / 0.5606 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 4.428e-05/1.32, allocations: 11.97 kB / 0.8289 GB, free: 62.27 MB / 0.5606 GB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.03082/1.351, allocations: 17.31 MB / 0.8458 GB, free: 44.95 MB / 0.5606 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 5.375e-05/1.351, allocations: 4 kB / 0.8458 GB, free: 44.94 MB / 0.5606 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002046/1.353, allocations: 391.4 kB / 0.8462 GB, free: 44.56 MB / 0.5606 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.011/1.364, allocations: 3.835 MB / 0.85 GB, free: 40.71 MB / 0.5606 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0005068/1.364, allocations: 47.98 kB / 0.85 GB, free: 40.67 MB / 0.5606 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.02068/1.385, allocations: 17.53 MB / 0.8671 GB, free: 23 MB / 0.5606 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 3.306e-06/1.385, allocations: 0 / 0.8671 GB, free: 23 MB / 0.5606 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.02108/1.406, allocations: 12.54 MB / 0.8794 GB, free: 10.43 MB / 0.5606 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.001147/1.407, allocations: 467.3 kB / 0.8798 GB, free: 9.945 MB / 0.5606 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0009519/1.408, allocations: 43.73 kB / 0.8799 GB, free: 9.906 MB / 0.5606 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002528/1.411, allocations: 207.7 kB / 0.8801 GB, free: 9.703 MB / 0.5606 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0005999/1.412, allocations: 146.2 kB / 0.8802 GB, free: 9.559 MB / 0.5606 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002026/1.412, allocations: 60.45 kB / 0.8803 GB, free: 9.5 MB / 0.5606 GB
Notification: Performance of sorting global known variables: time 0.003915/1.416, allocations: 2.998 MB / 0.8832 GB, free: 6.508 MB / 0.5606 GB
Notification: Performance of sort global known variables: time 2.5e-07/1.416, allocations: 0 / 0.8832 GB, free: 6.508 MB / 0.5606 GB
Notification: Performance of remove unused functions: time 0.005771/1.422, allocations: 1.419 MB / 0.8846 GB, free: 5.094 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 0.02359/1.445, allocations: 13.24 MB / 0.8975 GB, free: 7.82 MB / 0.5763 GB
Notification: Performance of simCode: created initialization part: time 0.0126/1.458, allocations: 7.926 MB / 0.9052 GB, free: 15.91 MB / 0.5919 GB
Notification: Performance of simCode: created event and clocks part: time 6.763e-06/1.458, allocations: 3.938 kB / 0.9052 GB, free: 15.9 MB / 0.5919 GB
Notification: Performance of simCode: created simulation system equations: time 0.004774/1.463, allocations: 2.985 MB / 0.9082 GB, free: 12.91 MB / 0.5919 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.004383/1.467, allocations: 0.5459 MB / 0.9087 GB, free: 12.37 MB / 0.5919 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.3691/1.836, allocations: 65.77 MB / 0.9729 GB, free: 198.3 MB / 0.6231 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.004191/1.84, allocations: 4.095 MB / 0.9769 GB, free: 196.8 MB / 0.6231 GB
Notification: Performance of simCode: alias equations: time 0.004594/1.845, allocations: 2.171 MB / 0.979 GB, free: 196.5 MB / 0.6231 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.002603/1.848, allocations: 2.476 MB / 0.9815 GB, free: 194.3 MB / 0.6231 GB
Notification: Performance of SimCode: time 8.42e-07/1.848, allocations: 1.875 kB / 0.9815 GB, free: 194.3 MB / 0.6231 GB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.1634/2.011, allocations: 104.5 MB / 1.083 GB, free: 93.11 MB / 0.6231 GB
Notification: Performance of buildModelFMU: Generate platform static: time 30.98/32.99, allocations: 0 / 1.083 GB, free: 93.11 MB / 0.6231 GB
(rm -f ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.JointUSP2.pipe ; mkfifo ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.JointUSP2.pipe ; head -c 1048576 < ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.JointUSP2.pipe >> ../files/ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.JointUSP2.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.JointUSP2_res.mat --tempDir=temp_ModelicaTest_trunk_ModelicaTest_MultiBody_Joints_JointUSP2_fmu --startTime=0 --stopTime=4 --timeout=50 --tolerance=1e-06 ModelicaTest_trunk_ModelicaTest_MultiBody_Joints_JointUSP2.fmu > ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.JointUSP2.pipe 2>&1)
diffSimulationResults("ModelicaTest_trunk_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_trunk_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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