Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.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 3.2.3+maint.om/package.mo", uses=false)
Using package Modelica with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+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(Modelica.Mechanics.Rotational.Examples.FirstGrounded,fileNamePrefix="Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_FirstGrounded",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(Modelica.Mechanics.Rotational.Examples.FirstGrounded,fileNamePrefix="Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_FirstGrounded",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 0.001264/0.001264, allocations: 102.6 kB / 17.72 MB, free: 5.371 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001456/0.001456, allocations: 187.1 kB / 18.66 MB, free: 4.445 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.341/1.341, allocations: 205.1 MB / 224.5 MB, free: 12.25 MB / 190.1 MB
Notification: Modelica requested package Complex of version 3.2.3. Complex 4.0.0 is used instead which states that it is fully compatible without conversion script needed.
Notification: Modelica requested package ModelicaServices of version 3.2.3. ModelicaServices 4.0.0 is used instead which states that it is fully compatible without conversion script needed.
Notification: Performance of FrontEnd - loaded program: time 0.001327/0.001327, allocations: 51.92 kB / 328 MB, free: 3.832 MB / 270.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.08629/0.08762, allocations: 46.63 MB / 374.6 MB, free: 5.098 MB / 318.1 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.Rotational.Examples.FirstGrounded): time 0.003579/0.09125, allocations: 2.341 MB / 377 MB, free: 2.742 MB / 318.1 MB
Notification: Performance of NFInst.instExpressions: time 0.001073/0.09235, allocations: 0.6356 MB / 377.6 MB, free: 2.098 MB / 318.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.0001977/0.09257, allocations: 7.938 kB / 377.6 MB, free: 2.09 MB / 318.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.000181/0.09279, allocations: 31.66 kB / 377.7 MB, free: 2.059 MB / 318.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.0002031/0.093, allocations: 75.34 kB / 377.7 MB, free: 1.984 MB / 318.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.0002451/0.09326, allocations: 47.92 kB / 377.8 MB, free: 1.938 MB / 318.1 MB
Notification: Performance of NFFlatten.flatten: time 0.0003592/0.09362, allocations: 258.8 kB / 378 MB, free: 1.684 MB / 318.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.0002368/0.09387, allocations: 88.56 kB / 378.1 MB, free: 1.598 MB / 318.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.0002239/0.0941, allocations: 99.64 kB / 378.2 MB, free: 1.5 MB / 318.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.0002125/0.09433, allocations: 111.5 kB / 378.3 MB, free: 1.391 MB / 318.1 MB
Notification: Performance of NFPackage.collectConstants: time 4.631e-05/0.09438, allocations: 16 kB / 378.3 MB, free: 1.375 MB / 318.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 4.956e-05/0.09444, allocations: 20 kB / 378.4 MB, free: 1.355 MB / 318.1 MB
Notification: Performance of NFScalarize.scalarize: time 4.719e-05/0.09449, allocations: 47.78 kB / 378.4 MB, free: 1.309 MB / 318.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.0001278/0.09463, allocations: 119.4 kB / 378.5 MB, free: 1.191 MB / 318.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.0003102/0.09494, allocations: 247.1 kB / 378.8 MB, free: 0.9492 MB / 318.1 MB
Notification: Performance of FrontEnd - DAE generated: time 5.481e-06/0.09496, allocations: 4 kB / 378.8 MB, free: 0.9453 MB / 318.1 MB
Notification: Performance of FrontEnd: time 1.513e-06/0.09496, allocations: 0 / 378.8 MB, free: 0.9453 MB / 318.1 MB
Notification: Performance of Transformations before backend: time 1.245e-05/0.09498, allocations: 0 / 378.8 MB, free: 0.9453 MB / 318.1 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 50
 * Number of variables: 50
Notification: Performance of Generate backend data structure: time 0.0008446/0.09583, allocations: 0.5069 MB / 379.3 MB, free: 400 kB / 318.1 MB
Notification: Performance of prepare preOptimizeDAE: time 4.297e-05/0.09588, allocations: 15.91 kB / 379.3 MB, free: 384 kB / 318.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 6.349e-05/0.09595, allocations: 54.73 kB / 379.3 MB, free: 320 kB / 318.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 6.405e-05/0.09602, allocations: 24.66 kB / 379.4 MB, free: 296 kB / 318.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.000377/0.09641, allocations: 244.5 kB / 379.6 MB, free: 12 kB / 318.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.1584/0.2548, allocations: 14.3 kB / 379.6 MB, free: 13.02 MB / 318.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 8.972e-05/0.255, allocations: 19.75 kB / 379.6 MB, free: 13.02 MB / 318.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.0004254/0.2554, allocations: 210.7 kB / 379.8 MB, free: 12.96 MB / 318.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 1.792e-05/0.2554, allocations: 3.781 kB / 379.8 MB, free: 12.96 MB / 318.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 1.905e-05/0.2554, allocations: 8.312 kB / 379.8 MB, free: 12.96 MB / 318.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 8.135e-06/0.2555, allocations: 5.156 kB / 379.9 MB, free: 12.96 MB / 318.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.0002513/0.2557, allocations: 128.2 kB / 380 MB, free: 12.96 MB / 318.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.0009485/0.2567, allocations: 0.7013 MB / 380.7 MB, free: 12.59 MB / 318.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.000254/0.2569, allocations: 149.5 kB / 380.8 MB, free: 12.57 MB / 318.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.0001173/0.2571, allocations: 70.7 kB / 380.9 MB, free: 12.56 MB / 318.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 1.979e-05/0.2571, allocations: 4.125 kB / 380.9 MB, free: 12.56 MB / 318.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 1.89e-05/0.2571, allocations: 40.02 kB / 380.9 MB, free: 12.52 MB / 318.1 MB
Notification: Performance of pre-optimization done (n=20): time 2.144e-06/0.2571, allocations: 1.375 kB / 380.9 MB, free: 12.52 MB / 318.1 MB
Notification: Performance of matching and sorting (n=24): time 0.001381/0.2585, allocations: 0.8793 MB / 381.8 MB, free: 12.03 MB / 318.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 2.411e-05/0.2586, allocations: 58.59 kB / 381.9 MB, free: 11.97 MB / 318.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.0001641/0.2587, allocations: 177.8 kB / 382.1 MB, free: 11.86 MB / 318.1 MB
Notification: Performance of collectPreVariables (initialization): time 1.403e-05/0.2587, allocations: 31.86 kB / 382.1 MB, free: 11.83 MB / 318.1 MB
Notification: Performance of collectInitialEqns (initialization): time 6.062e-05/0.2588, allocations: 144.1 kB / 382.2 MB, free: 11.71 MB / 318.1 MB
Notification: Performance of collectInitialBindings (initialization): time 4.463e-05/0.2589, allocations: 90.52 kB / 382.3 MB, free: 11.64 MB / 318.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 6.373e-05/0.2589, allocations: 45.73 kB / 382.4 MB, free: 11.61 MB / 318.1 MB
Notification: Performance of setup shared object (initialization): time 5.398e-05/0.259, allocations: 329.7 kB / 382.7 MB, free: 11.29 MB / 318.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.0001307/0.2591, allocations: 54.66 kB / 382.7 MB, free: 11.27 MB / 318.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.0001298/0.2593, allocations: 100.1 kB / 382.8 MB, free: 11.21 MB / 318.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.0002925/0.2596, allocations: 167.4 kB / 383 MB, free: 11.11 MB / 318.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 1.963e-06/0.2596, allocations: 4.469 kB / 383 MB, free: 11.11 MB / 318.1 MB
Notification: Performance of matching and sorting (n=31) (initialization): time 0.000425/0.26, allocations: 251.6 kB / 383.2 MB, free: 10.99 MB / 318.1 MB
Notification: Performance of prepare postOptimizeDAE: time 1.618e-05/0.26, allocations: 13.34 kB / 383.3 MB, free: 10.99 MB / 318.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 5.771e-06/0.26, allocations: 1.562 kB / 383.3 MB, free: 10.99 MB / 318.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.0001602/0.2602, allocations: 31.38 kB / 383.3 MB, free: 10.98 MB / 318.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.000205/0.2604, allocations: 46.17 kB / 383.3 MB, free: 10.98 MB / 318.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.0008786/0.2613, allocations: 1.496 MB / 384.8 MB, free: 9.512 MB / 318.1 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.0001161/0.2614, allocations: 9.5 kB / 384.8 MB, free: 9.508 MB / 318.1 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 1.772e-05/0.2615, allocations: 7.281 kB / 384.8 MB, free: 9.508 MB / 318.1 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 5
 * Number of states: 0 ()
 * Number of discrete variables: 0 ()
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (28):
 * Single equations (assignments): 27
 * Array equations: 0
 * 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
   {(1,3,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of prepare postOptimizeDAE: time 9.511e-05/0.2616, allocations: 141.1 kB / 385 MB, free: 9.371 MB / 318.1 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 4.163e-05/0.2616, allocations: 20.91 kB / 385 MB, free: 9.359 MB / 318.1 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 4.718e-05/0.2617, allocations: 27.17 kB / 385 MB, free: 9.34 MB / 318.1 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 3.887e-06/0.2617, allocations: 2.938 kB / 385 MB, free: 9.34 MB / 318.1 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 6.392e-06/0.2617, allocations: 1.188 kB / 385 MB, free: 9.34 MB / 318.1 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 5.661e-06/0.2617, allocations: 1.125 kB / 385 MB, free: 9.34 MB / 318.1 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.0007879/0.2625, allocations: 0.6482 MB / 385.7 MB, free: 8.859 MB / 318.1 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.236e-06/0.2625, allocations: 1.766 kB / 385.7 MB, free: 8.859 MB / 318.1 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.0002064/0.2627, allocations: 41.19 kB / 385.7 MB, free: 8.859 MB / 318.1 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.0001122/0.2628, allocations: 31.33 kB / 385.8 MB, free: 8.848 MB / 318.1 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 1.607e-05/0.2629, allocations: 10.62 kB / 385.8 MB, free: 8.84 MB / 318.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.0007836/0.2637, allocations: 1.485 MB / 387.3 MB, free: 7.387 MB / 318.1 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 2.986e-06/0.2637, allocations: 5.375 kB / 387.3 MB, free: 7.383 MB / 318.1 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.0005143/0.2642, allocations: 408.9 kB / 387.7 MB, free: 7.121 MB / 318.1 MB
Notification: Performance of postOpt removeConstants (simulation): time 3.78e-05/0.2642, allocations: 93.27 kB / 387.7 MB, free: 7.02 MB / 318.1 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 2.218e-05/0.2643, allocations: 11.91 kB / 387.8 MB, free: 7.012 MB / 318.1 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.000116/0.2644, allocations: 3.344 kB / 387.8 MB, free: 7.012 MB / 318.1 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 5.452e-05/0.2645, allocations: 24.03 kB / 387.8 MB, free: 7.004 MB / 318.1 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 2.679e-05/0.2645, allocations: 4.484 kB / 387.8 MB, free: 7.004 MB / 318.1 MB
Notification: Performance of sorting global known variables: time 8.881e-05/0.2646, allocations: 133.5 kB / 387.9 MB, free: 6.91 MB / 318.1 MB
Notification: Performance of sort global known variables: time 1.3e-07/0.2646, allocations: 0 / 387.9 MB, free: 6.91 MB / 318.1 MB
Notification: Performance of remove unused functions: time 0.0003331/0.2649, allocations: 59.16 kB / 388 MB, free: 6.902 MB / 318.1 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 3
 * Number of states: 4 (inertia3.phi,inertia3.w,damper.phi_rel,damper.w_rel)
 * 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 (21):
 * Single equations (assignments): 20
 * Array equations: 0
 * 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
   {(1,3,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of Backend phase and start with SimCode phase: time 0.0006537/0.2656, allocations: 0.9402 MB / 388.9 MB, free: 6.109 MB / 318.1 MB
Notification: Performance of simCode: created initialization part: time 0.0005182/0.2661, allocations: 296 kB / 389.2 MB, free: 5.938 MB / 318.1 MB
Notification: Performance of simCode: created event and clocks part: time 2.354e-06/0.2661, allocations: 0.9688 kB / 389.2 MB, free: 5.938 MB / 318.1 MB
Notification: Performance of simCode: created simulation system equations: time 0.0002622/0.2664, allocations: 215.1 kB / 389.4 MB, free: 5.793 MB / 318.1 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.0003965/0.2668, allocations: 39.42 kB / 389.5 MB, free: 5.777 MB / 318.1 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.002559/0.2694, allocations: 2.535 MB / 392 MB, free: 3.918 MB / 318.1 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0001632/0.2696, allocations: 0.7419 MB / 392.7 MB, free: 3.219 MB / 318.1 MB
Notification: Performance of simCode: alias equations: time 7.982e-05/0.2696, allocations: 24.88 kB / 392.8 MB, free: 3.215 MB / 318.1 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 8.599e-05/0.2697, allocations: 69.23 kB / 392.8 MB, free: 3.164 MB / 318.1 MB
Notification: Performance of SimCode: time 4.11e-07/0.2697, allocations: 0 / 392.8 MB, free: 3.164 MB / 318.1 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.02863/0.2984, allocations: 4.82 MB / 397.6 MB, free: 2.336 MB / 318.1 MB
Notification: Performance of buildModelFMU: Generate platform static: time 9.57/9.869, allocations: 9.328 kB / 397.7 MB, free: 2.328 MB / 318.1 MB
(rm -f Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.pipe ; mkfifo Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.pipe ; head -c 1048576 < Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.pipe >> ../files/Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded_res.mat --tempDir=temp_Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_FirstGrounded_fmu --startTime=0 --stopTime=1 --timeout=50 --tolerance=1e-06 Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_FirstGrounded.fmu > Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.pipe 2>&1)
diffSimulationResults("Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v3.2.3+build.4/Modelica/Mechanics/Rotational/Examples/FirstGrounded/FirstGrounded.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
""

Variables in the reference:time,damper.phi_rel,damper.w_rel,inertia3.phi,inertia3.w

Variables in the result:Jload,Jmotor,amplitude,damper.a_rel,damper.d,damper.flange_a.phi,damper.flange_a.tau,damper.flange_b.phi,damper.flange_b.tau,damper.lossPower,damper.phi_nominal,damper.phi_rel,damper.stateSelect,damper.tau,damper.useHeatPort,damper.w_rel,damping,der(damper.phi_rel),der(damper.w_rel),der(inertia1.phi),der(inertia1.w),der(inertia2.phi),der(inertia2.w),der(inertia3.phi),der(inertia3.w),fixed.flange.phi,fixed.flange.tau,fixed.phi0,freqHz,idealGear.flange_a.phi,idealGear.flange_a.tau,idealGear.flange_b.phi,idealGear.flange_b.tau,idealGear.phi_a,idealGear.phi_b,idealGear.ratio,idealGear.useSupport,inertia1.J,inertia1.a,inertia1.flange_a.phi,inertia1.flange_a.tau,inertia1.flange_b.phi,inertia1.flange_b.tau,inertia1.phi,inertia1.stateSelect,inertia1.w,inertia2.J,inertia2.a,inertia2.flange_a.phi,inertia2.flange_a.tau,inertia2.flange_b.phi,inertia2.flange_b.tau,inertia2.phi,inertia2.stateSelect,inertia2.w,inertia3.J,inertia3.a,inertia3.flange_a.phi,inertia3.flange_a.tau,inertia3.flange_b.phi,inertia3.flange_b.tau,inertia3.phi,inertia3.stateSelect,inertia3.w,ratio,sine.amplitude,sine.freqHz,sine.offset,sine.phase,sine.startTime,sine.y,spring.c,spring.flange_a.phi,spring.flange_a.tau,spring.flange_b.phi,spring.flange_b.tau,spring.phi_rel,spring.phi_rel0,spring.tau,time,torque.flange.phi,torque.flange.tau,torque.tau,torque.useSupport