Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.MovingActuatedDrive.conf.json loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 3.2.3+maint.om/package.mo", uses=false) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo", uses=false) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 3.2.3+maint.om/package.mo", uses=false) Using package ModelicaServices with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 3.2.3+maint.om/package.mo) 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 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 3.2.3+maint.om/package.mo) Running command: "" <> buildModelFMU(Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.MovingActuatedDrive,fileNamePrefix="Modelica_3_2_3_cpp_Modelica_Mechanics_MultiBody_Examples_Rotational3DEffects_MovingActuatedDrive",fmuType="me",version="2.0",platforms={"static"}) "" <> buildModelFMU(Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.MovingActuatedDrive,fileNamePrefix="Modelica_3_2_3_cpp_Modelica_Mechanics_MultiBody_Examples_Rotational3DEffects_MovingActuatedDrive",fmuType="me",version="2.0",platforms={"static"}) Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 3.2.3+maint.om/package.mo): time 0.0009788/0.0009788, allocations: 175.2 kB / 16.72 MB, free: 5.082 MB / 13.93 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.203/1.203, allocations: 205.4 MB / 222.9 MB, free: 9.031 MB / 186.7 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 3.2.3+maint.om/package.mo): time 0.0007362/0.0007362, allocations: 104.2 kB / 271.2 MB, free: 8.25 MB / 218.7 MB Notification: Performance of FrontEnd - loaded program: time 0.0002865/0.0002866, allocations: 8 kB / 327.6 MB, free: 15.8 MB / 282.7 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.187/0.1873, allocations: 47.57 MB / 375.2 MB, free: 45.43 MB / 298.7 MB Notification: Performance of NFInst.instantiate(Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.MovingActuatedDrive): time 0.03749/0.2249, allocations: 60.07 MB / 435.3 MB, free: 4.488 MB / 314.7 MB Notification: Performance of NFInst.instExpressions: time 0.02294/0.2479, allocations: 12.43 MB / 447.7 MB, free: 8.012 MB / 330.7 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.007781/0.2557, allocations: 279.3 kB / 448 MB, free: 7.738 MB / 330.7 MB Notification: Performance of NFTyping.typeComponents: time 0.007226/0.2629, allocations: 3.13 MB / 451.1 MB, free: 4.594 MB / 330.7 MB Notification: Performance of NFTyping.typeBindings: time 0.0204/0.2833, allocations: 9.122 MB / 460.2 MB, free: 11.44 MB / 346.7 MB Notification: Performance of NFTyping.typeClassSections: time 0.003305/0.2867, allocations: 0.6553 MB / 460.9 MB, free: 10.78 MB / 346.7 MB Notification: Performance of NFFlatten.flatten: time 0.006194/0.2929, allocations: 5.247 MB / 466.1 MB, free: 5.52 MB / 346.7 MB Notification: Performance of NFFlatten.resolveConnections: time 0.007213/0.3001, allocations: 6.331 MB / 472.5 MB, free: 15.09 MB / 362.7 MB Notification: Performance of NFEvalConstants.evaluate: time 0.001976/0.3021, allocations: 1.471 MB / 473.9 MB, free: 13.62 MB / 362.7 MB Notification: Performance of NFSimplifyModel.simplify: time 0.002509/0.3046, allocations: 2.301 MB / 476.2 MB, free: 11.31 MB / 362.7 MB Notification: Performance of NFPackage.collectConstants: time 0.0004517/0.3051, allocations: 176 kB / 476.4 MB, free: 11.14 MB / 362.7 MB Notification: Performance of NFFlatten.collectFunctions: time 0.001671/0.3068, allocations: 0.9438 MB / 477.3 MB, free: 10.19 MB / 362.7 MB Notification: Performance of NFScalarize.scalarize: time 0.001664/0.3085, allocations: 1.987 MB / 479.3 MB, free: 8.199 MB / 362.7 MB Notification: Performance of NFVerifyModel.verify: time 0.002032/0.3105, allocations: 2.285 MB / 481.6 MB, free: 5.895 MB / 362.7 MB Notification: Performance of NFConvertDAE.convert: time 0.005691/0.3162, allocations: 6.651 MB / 488.3 MB, free: 15.23 MB / 378.7 MB Notification: Performance of FrontEnd - DAE generated: time 5.851e-06/0.3162, allocations: 0 / 488.3 MB, free: 15.23 MB / 378.7 MB Notification: Performance of FrontEnd: time 2.795e-06/0.3162, allocations: 0 / 488.3 MB, free: 15.23 MB / 378.7 MB Notification: Performance of Transformations before backend: time 0.000166/0.3164, allocations: 0 / 488.3 MB, free: 15.23 MB / 378.7 MB Notification: Model statistics after passing the front-end and creating the data structures used by the back-end: * Number of equations: 1851 * Number of variables: 1851 Notification: Performance of Generate backend data structure: time 0.01725/0.3337, allocations: 5.293 MB / 493.6 MB, free: 9.863 MB / 378.7 MB Notification: Performance of prepare preOptimizeDAE: time 4.726e-05/0.3337, allocations: 8.031 kB / 493.6 MB, free: 9.855 MB / 378.7 MB Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.002026/0.3358, allocations: 0.8922 MB / 494.5 MB, free: 8.949 MB / 378.7 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.006726/0.3425, allocations: 2.045 MB / 496.5 MB, free: 6.895 MB / 378.7 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.005292/0.3478, allocations: 3.19 MB / 499.7 MB, free: 3.645 MB / 378.7 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0001983/0.348, allocations: 303.8 kB / 500 MB, free: 3.348 MB / 378.7 MB Notification: Performance of preOpt expandDerOperator (simulation): time 0.0007634/0.3488, allocations: 399.8 kB / 0.4886 GB, free: 2.957 MB / 378.7 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.1637/0.5125, allocations: 12.86 MB / 0.5012 GB, free: 104.9 MB / 378.7 MB Notification: Performance of preOpt findStateOrder (simulation): time 0.0002331/0.5128, allocations: 57.3 kB / 0.5013 GB, free: 104.9 MB / 378.7 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.001189/0.514, allocations: 191.5 kB / 0.5014 GB, free: 104.8 MB / 378.7 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.003981/0.518, allocations: 2.369 MB / 0.5038 GB, free: 103.9 MB / 378.7 MB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.01889/0.5369, allocations: 11.71 MB / 0.5152 GB, free: 94.5 MB / 378.7 MB Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.05902/0.5959, allocations: 48.64 MB / 0.5627 GB, free: 45.25 MB / 378.7 MB Notification: Performance of preOpt comSubExp (simulation): time 0.0249/0.6209, allocations: 5.567 MB / 0.5681 GB, free: 39.53 MB / 378.7 MB Notification: Performance of preOpt resolveLoops (simulation): time 0.00545/0.6264, allocations: 3.492 MB / 0.5715 GB, free: 36.04 MB / 378.7 MB Notification: Performance of preOpt evalFunc (simulation): time 0.0006449/0.627, allocations: 382.3 kB / 0.5719 GB, free: 35.62 MB / 378.7 MB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 3.315e-05/0.6271, allocations: 55.81 kB / 0.572 GB, free: 35.55 MB / 378.7 MB Notification: Performance of pre-optimization done (n=221): time 4.889e-06/0.6271, allocations: 4 kB / 0.572 GB, free: 35.55 MB / 378.7 MB Notification: Performance of matching and sorting (n=252): time 0.08616/0.7133, allocations: 28 MB / 0.5993 GB, free: 7.422 MB / 378.7 MB Notification: Performance of inlineWhenForInitialization (initialization): time 5.759e-05/0.7134, allocations: 154.5 kB / 0.5995 GB, free: 7.238 MB / 378.7 MB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.004905/0.7183, allocations: 4.588 MB / 0.6039 GB, free: 2.637 MB / 378.7 MB Notification: Performance of collectPreVariables (initialization): time 0.0005005/0.7188, allocations: 61.7 kB / 0.604 GB, free: 2.57 MB / 378.7 MB Notification: Performance of collectInitialEqns (initialization): time 0.00186/0.7207, allocations: 3.584 MB / 0.6075 GB, free: 14.98 MB / 394.7 MB Notification: Performance of collectInitialBindings (initialization): time 0.001242/0.7219, allocations: 0.9508 MB / 0.6084 GB, free: 14.04 MB / 394.7 MB Notification: Performance of simplifyInitialFunctions (initialization): time 0.0003667/0.7223, allocations: 140 kB / 0.6086 GB, free: 13.9 MB / 394.7 MB Notification: Performance of setup shared object (initialization): time 0.0004034/0.7227, allocations: 0.5995 MB / 0.6091 GB, free: 13.3 MB / 394.7 MB Notification: Performance of preBalanceInitialSystem (initialization): time 0.004686/0.7274, allocations: 3.43 MB / 0.6125 GB, free: 9.863 MB / 394.7 MB Notification: Performance of partitionIndependentBlocks (initialization): time 0.007312/0.7347, allocations: 7.489 MB / 0.6198 GB, free: 380 kB / 394.7 MB Notification: Performance of analyzeInitialSystem (initialization): time 0.01356/0.7483, allocations: 11.79 MB / 0.6313 GB, free: 2.578 MB / 410.7 MB Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001359/0.7485, allocations: 40 kB / 0.6314 GB, free: 2.539 MB / 410.7 MB Notification: Performance of matching and sorting (n=910) (initialization): time 0.02207/0.7706, allocations: 11.83 MB / 0.6429 GB, free: 6.695 MB / 426.7 MB Notification: Performance of prepare postOptimizeDAE: time 0.0001436/0.7708, allocations: 66.66 kB / 0.643 GB, free: 6.633 MB / 426.7 MB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0001929/0.771, allocations: 144 kB / 0.6431 GB, free: 6.492 MB / 426.7 MB Notification: Performance of postOpt tearingSystem (initialization): time 0.002814/0.7738, allocations: 1.132 MB / 0.6442 GB, free: 5.355 MB / 426.7 MB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.006566/0.7804, allocations: 1.801 MB / 0.646 GB, free: 3.551 MB / 426.7 MB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.1865/0.9669, allocations: 6.009 MB / 0.6518 GB, free: 135.6 MB / 426.7 MB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.005423/0.9723, allocations: 423.1 kB / 0.6522 GB, free: 135.6 MB / 426.7 MB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001307/0.9737, allocations: 468.3 kB / 0.6527 GB, free: 135.6 MB / 426.7 MB Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 651 * Number of states: 0 () * Number of discrete variables: 42 (fixed.color[3],fixed.color[2],fixed.color[1],r2.cylinderColor[3],r2.cylinderColor[2],r2.cylinderColor[1],r1.cylinderColor[3],r1.cylinderColor[2],r1.cylinderColor[1],rotor1D.cylinderColor[3],rotor1D.cylinderColor[2],rotor1D.cylinderColor[1],torque.connectionLineColor[3],torque.connectionLineColor[2],torque.connectionLineColor[1],torque.torqueColor[3],torque.torqueColor[2],torque.torqueColor[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],revolute.cylinderColor[3],revolute.cylinderColor[2],revolute.cylinderColor[1],bodyCylinder.color[3],bodyCylinder.color[2],bodyCylinder.color[1],bodyCylinder.body.sphereColor[3],bodyCylinder.body.sphereColor[2],bodyCylinder.body.sphereColor[1],bodyCylinder.frameTranslation.color[3],bodyCylinder.frameTranslation.color[2],bodyCylinder.frameTranslation.color[1]) * Number of discrete states: 0 () * Number of clocked states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for initialization (871): * Single equations (assignments): 867 * Array equations: 3 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (linear and non-linear blocks): 0 * Torn equation systems: 1 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems: 1 {(3,77.8%) 13} * Non-linear torn systems: 0 Notification: Performance of prepare postOptimizeDAE: time 0.004545/0.9782, allocations: 2.445 MB / 0.6551 GB, free: 134.9 MB / 426.7 MB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001235/0.9795, allocations: 417.7 kB / 0.6555 GB, free: 134.9 MB / 426.7 MB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01127/0.9908, allocations: 6.485 MB / 0.6618 GB, free: 132.8 MB / 426.7 MB Notification: Performance of postOpt inlineArrayEqn (simulation): time 5.477e-05/0.9909, allocations: 31.12 kB / 0.6618 GB, free: 132.8 MB / 426.7 MB Notification: Performance of postOpt constantLinearSystem (simulation): time 2.192e-05/0.9909, allocations: 4.531 kB / 0.6618 GB, free: 132.8 MB / 426.7 MB Notification: Performance of postOpt simplifysemiLinear (simulation): time 3.448e-05/0.9909, allocations: 20.47 kB / 0.6619 GB, free: 132.8 MB / 426.7 MB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.02062/1.012, allocations: 13.61 MB / 0.6752 GB, free: 128.1 MB / 426.7 MB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 1.732e-05/1.012, allocations: 4.375 kB / 0.6752 GB, free: 128.1 MB / 426.7 MB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002733/1.014, allocations: 0.5843 MB / 0.6757 GB, free: 128.1 MB / 426.7 MB Notification: Performance of postOpt tearingSystem (simulation): time 0.002238/1.017, allocations: 0.9509 MB / 0.6767 GB, free: 127.6 MB / 426.7 MB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0003282/1.017, allocations: 91.25 kB / 0.6767 GB, free: 127.6 MB / 426.7 MB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.005935/1.023, allocations: 5.731 MB / 0.6823 GB, free: 123.8 MB / 426.7 MB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 4.349e-06/1.023, allocations: 5.969 kB / 0.6823 GB, free: 123.8 MB / 426.7 MB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.01362/1.037, allocations: 10.92 MB / 0.693 GB, free: 113 MB / 426.7 MB Notification: Performance of postOpt removeConstants (simulation): time 0.001909/1.038, allocations: 0.941 MB / 0.6939 GB, free: 112.2 MB / 426.7 MB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0009279/1.039, allocations: 44 kB / 0.694 GB, free: 112.2 MB / 426.7 MB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002488/1.042, allocations: 173 kB / 0.6941 GB, free: 112 MB / 426.7 MB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0007019/1.043, allocations: 201.2 kB / 0.6943 GB, free: 111.8 MB / 426.7 MB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002832/1.043, allocations: 107.9 kB / 0.6944 GB, free: 111.7 MB / 426.7 MB Notification: Performance of sorting global known variables: time 0.00406/1.047, allocations: 2.879 MB / 0.6972 GB, free: 108.8 MB / 426.7 MB Notification: Performance of sort global known variables: time 3.3e-07/1.047, allocations: 0 / 0.6972 GB, free: 108.8 MB / 426.7 MB Notification: Performance of remove unused functions: time 0.005065/1.052, allocations: 1.272 MB / 0.6985 GB, free: 107.6 MB / 426.7 MB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 14 * Number of states: 8 (revolute.phi,revolute.w,rotor1D.phi,rotor1D.w,position1.phi,position1.w,position2.phi,position2.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 (225): * Single equations (assignments): 221 * Array equations: 3 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (linear and non-linear blocks): 0 * Torn equation systems: 1 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems: 1 {(3,77.8%) 13} * Non-linear torn systems: 0 Notification: Performance of Backend phase and start with SimCode phase: time 0.01285/1.065, allocations: 11.59 MB / 0.7098 GB, free: 95.92 MB / 426.7 MB Notification: Performance of simCode: created initialization part: time 0.009491/1.075, allocations: 8.098 MB / 0.7177 GB, free: 87.89 MB / 426.7 MB Notification: Performance of simCode: created event and clocks part: time 6.392e-06/1.075, allocations: 0 / 0.7177 GB, free: 87.89 MB / 426.7 MB Notification: Performance of simCode: created simulation system equations: time 0.003619/1.078, allocations: 3.169 MB / 0.7208 GB, free: 84.71 MB / 426.7 MB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.004926/1.083, allocations: 495.7 kB / 0.7213 GB, free: 84.24 MB / 426.7 MB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.06326/1.146, allocations: 48.82 MB / 0.769 GB, free: 31.23 MB / 426.7 MB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.004096/1.151, allocations: 3.813 MB / 0.7727 GB, free: 27.39 MB / 426.7 MB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.003572/1.154, allocations: 2.495 MB / 0.7751 GB, free: 24.89 MB / 426.7 MB Notification: Performance of SimCode: time 8.12e-07/1.154, allocations: 4 kB / 0.7751 GB, free: 24.89 MB / 426.7 MB Notification: Performance of buildModelFMU: Generate C++ for platform static: time 11.72/12.88, allocations: 113.2 MB / 0.8857 GB, free: 86.75 MB / 442.7 MB (rm -f Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.MovingActuatedDrive.pipe ; mkfifo Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.MovingActuatedDrive.pipe ; head -c 1048576 < Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.MovingActuatedDrive.pipe >> ../files/Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.MovingActuatedDrive.sim & /home/hudson/saved_omc/OMSimulator/install/linux/bin/OMSimulator -r=Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.MovingActuatedDrive_res.mat --tempDir=temp_Modelica_3_2_3_cpp_Modelica_Mechanics_MultiBody_Examples_Rotational3DEffects_MovingActuatedDrive_fmu --startTime=0 --stopTime=1.1 --timeout=50 --tolerance=1e-06 Modelica_3_2_3_cpp_Modelica_Mechanics_MultiBody_Examples_Rotational3DEffects_MovingActuatedDrive.fmu > Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.MovingActuatedDrive.pipe 2>&1) diffSimulationResults("Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.MovingActuatedDrive_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v3.2.3+build.4/Modelica/Mechanics/MultiBody/Examples/Rotational3DEffects/MovingActuatedDrive/MovingActuatedDrive.csv","../files/Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.MovingActuatedDrive.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001) "" Variables in the reference:time,position1.w,position2.w,r1.phi,r2.phi,revolute.phi,revolute.w,rotor1D.phi,rotor1D.w Variables in the result:bodyCylinder.I_11,bodyCylinder.I_21,bodyCylinder.I_22,bodyCylinder.I_31,bodyCylinder.I_32,bodyCylinder.I_33,bodyCylinder.a_0[1],bodyCylinder.a_0[2],bodyCylinder.a_0[3],bodyCylinder.angles_fixed,bodyCylinder.angles_start[1],bodyCylinder.angles_start[2],bodyCylinder.angles_start[3],bodyCylinder.animateSphere,bodyCylinder.animation,bodyCylinder.body.I[1,1],bodyCylinder.body.I[1,2],bodyCylinder.body.I[1,3],bodyCylinder.body.I[2,1],bodyCylinder.body.I[2,2],bodyCylinder.body.I[2,3],bodyCylinder.body.I[3,1],bodyCylinder.body.I[3,2],bodyCylinder.body.I[3,3],bodyCylinder.body.I_11,bodyCylinder.body.I_21,bodyCylinder.body.I_22,bodyCylinder.body.I_31,bodyCylinder.body.I_32,bodyCylinder.body.I_33,bodyCylinder.body.Q[1],bodyCylinder.body.Q[2],bodyCylinder.body.Q[3],bodyCylinder.body.Q[4],bodyCylinder.body.Q_start[1],bodyCylinder.body.Q_start[2],bodyCylinder.body.Q_start[3],bodyCylinder.body.Q_start[4],bodyCylinder.body.R_start.T[1,1],bodyCylinder.body.R_start.T[1,2],bodyCylinder.body.R_start.T[1,3],bodyCylinder.body.R_start.T[2,1],bodyCylinder.body.R_start.T[2,2],bodyCylinder.body.R_start.T[2,3],bodyCylinder.body.R_start.T[3,1],bodyCylinder.body.R_start.T[3,2],bodyCylinder.body.R_start.T[3,3],bodyCylinder.body.R_start.w[1],bodyCylinder.body.R_start.w[2],bodyCylinder.body.R_start.w[3],bodyCylinder.body.a_0[1],bodyCylinder.body.a_0[2],bodyCylinder.body.a_0[3],bodyCylinder.body.angles_fixed,bodyCylinder.body.angles_start[1],bodyCylinder.body.angles_start[2],bodyCylinder.body.angles_start[3],bodyCylinder.body.animation,bodyCylinder.body.cylinderColor[1],bodyCylinder.body.cylinderColor[2],bodyCylinder.body.cylinderColor[3],bodyCylinder.body.cylinderDiameter,bodyCylinder.body.enforceStates,bodyCylinder.body.frame_a.R.T[1,1],bodyCylinder.body.frame_a.R.T[1,2],bodyCylinder.body.frame_a.R.T[1,3],bodyCylinder.body.frame_a.R.T[2,1],bodyCylinder.body.frame_a.R.T[2,2],bodyCylinder.body.frame_a.R.T[2,3],bodyCylinder.body.frame_a.R.T[3,1],bodyCylinder.body.frame_a.R.T[3,2],bodyCylinder.body.frame_a.R.T[3,3],bodyCylinder.body.frame_a.R.w[1],bodyCylinder.body.frame_a.R.w[2],bodyCylinder.body.frame_a.R.w[3],bodyCylinder.body.frame_a.f[1],bodyCylinder.body.frame_a.f[2],bodyCylinder.body.frame_a.f[3],bodyCylinder.body.frame_a.r_0[1],bodyCylinder.body.frame_a.r_0[2],bodyCylinder.body.frame_a.r_0[3],bodyCylinder.body.frame_a.t[1],bodyCylinder.body.frame_a.t[2],bodyCylinder.body.frame_a.t[3],bodyCylinder.body.g_0[1],bodyCylinder.body.g_0[2],bodyCylinder.body.g_0[3],bodyCylinder.body.m,bodyCylinder.body.phi[1],bodyCylinder.body.phi[2],bodyCylinder.body.phi[3],bodyCylinder.body.phi_d[1],bodyCylinder.body.phi_d[2],bodyCylinder.body.phi_d[3],bodyCylinder.body.phi_dd[1],bodyCylinder.body.phi_dd[2],bodyCylinder.body.phi_dd[3],bodyCylinder.body.phi_start[1],bodyCylinder.body.phi_start[2],bodyCylinder.body.phi_start[3],bodyCylinder.body.r_0[1],bodyCylinder.body.r_0[2],bodyCylinder.body.r_0[3],bodyCylinder.body.r_CM[1],bodyCylinder.body.r_CM[2],bodyCylinder.body.r_CM[3],bodyCylinder.body.sequence_angleStates[1],bodyCylinder.body.sequence_angleStates[2],bodyCylinder.body.sequence_angleStates[3],bodyCylinder.body.sequence_start[1],bodyCylinder.body.sequence_start[2],bodyCylinder.body.sequence_start[3],bodyCylinder.body.specularCoefficient,bodyCylinder.body.sphereColor[1],bodyCylinder.body.sphereColor[2],bodyCylinder.body.sphereColor[3],bodyCylinder.body.sphereDiameter,bodyCylinder.body.useQuaternions,bodyCylinder.body.v_0[1],bodyCylinder.body.v_0[2],bodyCylinder.body.v_0[3],bodyCylinder.body.w_0_fixed,bodyCylinder.body.w_0_start[1],bodyCylinder.body.w_0_start[2],bodyCylinder.body.w_0_start[3],bodyCylinder.body.w_a[1],bodyCylinder.body.w_a[2],bodyCylinder.body.w_a[3],bodyCylinder.body.z_0_fixed,bodyCylinder.body.z_0_start[1],bodyCylinder.body.z_0_start[2],bodyCylinder.body.z_0_start[3],bodyCylinder.body.z_a[1],bodyCylinder.body.z_a[2],bodyCylinder.body.z_a[3],bodyCylinder.body.z_a_start[1],bodyCylinder.body.z_a_start[2],bodyCylinder.body.z_a_start[3],bodyCylinder.color[1],bodyCylinder.color[2],bodyCylinder.color[3],bodyCylinder.enforceStates,bodyCylinder.extra,bodyCylinder.frameTranslation.animation,bodyCylinder.frameTranslation.color[1],bodyCylinder.frameTranslation.color[2],bodyCylinder.frameTranslation.color[3],bodyCylinder.frameTranslation.extra,bodyCylinder.frameTranslation.frame_a.R.T[1,1],bodyCylinder.frameTranslation.frame_a.R.T[1,2],bodyCylinder.frameTranslation.frame_a.R.T[1,3],bodyCylinder.frameTranslation.frame_a.R.T[2,1],bodyCylinder.frameTranslation.frame_a.R.T[2,2],bodyCylinder.frameTranslation.frame_a.R.T[2,3],bodyCylinder.frameTranslation.frame_a.R.T[3,1],bodyCylinder.frameTranslation.frame_a.R.T[3,2],bodyCylinder.frameTranslation.frame_a.R.T[3,3],bodyCylinder.frameTranslation.frame_a.R.w[1],bodyCylinder.frameTranslation.frame_a.R.w[2],bodyCylinder.frameTranslation.frame_a.R.w[3],bodyCylinder.frameTranslation.frame_a.f[1],bodyCylinder.frameTranslation.frame_a.f[2],bodyCylinder.frameTranslation.frame_a.f[3],bodyCylinder.frameTransl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