Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr Modelica_Synchronous_Modelica_Synchronous.Examples.CascadeControlledDrive.Continuous.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)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica_Synchronous 0.93.0-master/package.mo", uses=false)
Using package Modelica_Synchronous with version 0.93.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica_Synchronous 0.93.0-master/package.mo)
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_Synchronous.Examples.CascadeControlledDrive.Continuous,fileNamePrefix="Modelica_Synchronous_Modelica_Synchronous_Examples_CascadeControlledDrive_Continuous",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(Modelica_Synchronous.Examples.CascadeControlledDrive.Continuous,fileNamePrefix="Modelica_Synchronous_Modelica_Synchronous_Examples_CascadeControlledDrive_Continuous",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 0.0008717/0.0008717, allocations: 181.1 kB / 16.12 MB, free: 5.691 MB / 13.93 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.174/1.174, allocations: 205 MB / 221.9 MB, free: 9.141 MB / 186.7 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 3.2.3+maint.om/package.mo): time 0.0007248/0.000725, allocations: 100.8 kB / 269.9 MB, free: 8.676 MB / 218.7 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica_Synchronous 0.93.0-master/package.mo): time 0.06376/0.06376, allocations: 12.56 MB / 330.3 MB, free: 12.08 MB / 282.7 MB
Notification: Performance of FrontEnd - loaded program: time 0.0003306/0.0003307, allocations: 12 kB / 391.2 MB, free: 66.34 MB / 298.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.06976/0.07011, allocations: 49.98 MB / 441.1 MB, free: 16.31 MB / 298.7 MB
Notification: Performance of NFInst.instantiate(Modelica_Synchronous.Examples.CascadeControlledDrive.Continuous): time 0.001631/0.07178, allocations: 1.859 MB / 443 MB, free: 14.43 MB / 298.7 MB
Notification: Performance of NFInst.instExpressions: time 0.0007845/0.07258, allocations: 0.6831 MB / 443.7 MB, free: 13.74 MB / 298.7 MB
Notification: Performance of NFInst.updateImplicitVariability: time 9.685e-05/0.07268, allocations: 7.938 kB / 443.7 MB, free: 13.73 MB / 298.7 MB
Notification: Performance of NFTyping.typeComponents: time 0.0002257/0.07292, allocations: 39.75 kB / 443.7 MB, free: 13.69 MB / 298.7 MB
Notification: Performance of NFTyping.typeBindings: time 0.000101/0.07303, allocations: 39.75 kB / 443.8 MB, free: 13.65 MB / 298.7 MB
Notification: Performance of NFTyping.typeClassSections: time 0.0002427/0.07328, allocations: 103.8 kB / 443.9 MB, free: 13.55 MB / 298.7 MB
Notification: Performance of NFFlatten.flatten: time 0.0002061/0.07349, allocations: 327.2 kB / 444.2 MB, free: 13.23 MB / 298.7 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.0001227/0.07362, allocations: 70.45 kB / 444.2 MB, free: 13.16 MB / 298.7 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.0001493/0.07378, allocations: 127.5 kB / 444.4 MB, free: 13.04 MB / 298.7 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.0001365/0.07393, allocations: 139.4 kB / 444.5 MB, free: 12.9 MB / 298.7 MB
Notification: Performance of NFPackage.collectConstants: time 3.687e-05/0.07397, allocations: 20 kB / 444.5 MB, free: 12.88 MB / 298.7 MB
Notification: Performance of NFFlatten.collectFunctions: time 3.13e-05/0.07401, allocations: 12 kB / 444.5 MB, free: 12.87 MB / 298.7 MB
Notification: Performance of NFScalarize.scalarize: time 6.211e-05/0.07408, allocations: 71.73 kB / 444.6 MB, free: 12.8 MB / 298.7 MB
Notification: Performance of NFVerifyModel.verify: time 7.335e-05/0.07416, allocations: 111.4 kB / 444.7 MB, free: 12.69 MB / 298.7 MB
Notification: Performance of NFConvertDAE.convert: time 0.0001651/0.07433, allocations: 263 kB / 445 MB, free: 12.43 MB / 298.7 MB
Notification: Performance of FrontEnd - DAE generated: time 3.447e-06/0.07434, allocations: 0 / 445 MB, free: 12.43 MB / 298.7 MB
Notification: Performance of FrontEnd: time 1.503e-06/0.07435, allocations: 0 / 445 MB, free: 12.43 MB / 298.7 MB
Notification: Performance of Transformations before backend: time 4.298e-06/0.07436, allocations: 0 / 445 MB, free: 12.43 MB / 298.7 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 56
 * Number of variables: 56
Notification: Performance of Generate backend data structure: time 0.0007937/0.07515, allocations: 0.5456 MB / 445.5 MB, free: 11.84 MB / 298.7 MB
Notification: Performance of prepare preOptimizeDAE: time 3.182e-05/0.07519, allocations: 12.03 kB / 445.5 MB, free: 11.83 MB / 298.7 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 4.614e-05/0.07524, allocations: 66.72 kB / 445.6 MB, free: 11.75 MB / 298.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 4.851e-05/0.0753, allocations: 32.66 kB / 445.6 MB, free: 11.72 MB / 298.7 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.0001984/0.0755, allocations: 248.4 kB / 445.9 MB, free: 11.44 MB / 298.7 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0001441/0.07565, allocations: 146 kB / 446 MB, free: 11.28 MB / 298.7 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 4.044e-05/0.0757, allocations: 20 kB / 446 MB, free: 11.26 MB / 298.7 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.0006408/0.07635, allocations: 383.5 kB / 446.4 MB, free: 10.87 MB / 298.7 MB
Notification: Performance of preOpt findStateOrder (simulation): time 1.37e-05/0.07637, allocations: 4 kB / 446.4 MB, free: 10.87 MB / 298.7 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 2.384e-05/0.0764, allocations: 8 kB / 446.4 MB, free: 10.86 MB / 298.7 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 6.602e-06/0.07641, allocations: 8 kB / 446.4 MB, free: 10.85 MB / 298.7 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.001075/0.07749, allocations: 0.5135 MB / 446.9 MB, free: 10.34 MB / 298.7 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.001275/0.07878, allocations: 1.027 MB / 448 MB, free: 9.242 MB / 298.7 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.0009883/0.07978, allocations: 359 kB / 448.3 MB, free: 8.883 MB / 298.7 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.0004114/0.0802, allocations: 189.2 kB / 448.5 MB, free: 8.695 MB / 298.7 MB
Notification: Performance of preOpt evalFunc (simulation): time 3.638e-05/0.08025, allocations: 4.234 kB / 448.5 MB, free: 8.691 MB / 298.7 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 1.459e-05/0.08027, allocations: 38.78 kB / 448.5 MB, free: 8.645 MB / 298.7 MB
Notification: Performance of pre-optimization done (n=28): time 1.383e-06/0.08027, allocations: 0 / 448.5 MB, free: 8.645 MB / 298.7 MB
Notification: Performance of matching and sorting (n=52): time 0.0227/0.103, allocations: 6.673 MB / 455.2 MB, free: 1.879 MB / 298.7 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 2.777e-05/0.103, allocations: 63.84 kB / 455.3 MB, free: 1.805 MB / 298.7 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.0001572/0.1032, allocations: 190.3 kB / 455.5 MB, free: 1.609 MB / 298.7 MB
Notification: Performance of collectPreVariables (initialization): time 3.753e-05/0.1032, allocations: 33.7 kB / 455.5 MB, free: 1.57 MB / 298.7 MB
Notification: Performance of collectInitialEqns (initialization): time 4.981e-05/0.1033, allocations: 152.6 kB / 455.6 MB, free: 1.414 MB / 298.7 MB
Notification: Performance of collectInitialBindings (initialization): time 8.662e-05/0.1034, allocations: 177.5 kB / 455.8 MB, free: 1.238 MB / 298.7 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 6.692e-05/0.1035, allocations: 53.62 kB / 455.9 MB, free: 1.18 MB / 298.7 MB
Notification: Performance of setup shared object (initialization): time 4.578e-05/0.1035, allocations: 338.8 kB / 456.2 MB, free: 0.8398 MB / 298.7 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.00105/0.1046, allocations: 0.493 MB / 456.7 MB, free: 356 kB / 298.7 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.001145/0.1057, allocations: 0.549 MB / 457.2 MB, free: 15.78 MB / 314.7 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.002187/0.1079, allocations: 0.8814 MB / 458.1 MB, free: 14.89 MB / 314.7 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 1.453e-06/0.1079, allocations: 3.938 kB / 458.1 MB, free: 14.88 MB / 314.7 MB
Notification: Performance of matching and sorting (n=65) (initialization): time 0.002507/0.1104, allocations: 1.061 MB / 459.2 MB, free: 13.82 MB / 314.7 MB
Notification: Performance of prepare postOptimizeDAE: time 1.622e-05/0.1105, allocations: 11.92 kB / 459.2 MB, free: 13.8 MB / 314.7 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 7.083e-06/0.1105, allocations: 8.031 kB / 459.2 MB, free: 13.8 MB / 314.7 MB
Notification: Performance of postOpt tearingSystem (initialization): time 1.14e-05/0.1105, allocations: 0 / 459.2 MB, free: 13.8 MB / 314.7 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.000859/0.1114, allocations: 187.8 kB / 459.4 MB, free: 13.61 MB / 314.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 8.095e-06/0.1114, allocations: 3.938 kB / 459.4 MB, free: 13.61 MB / 314.7 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.0006017/0.112, allocations: 103.9 kB / 459.5 MB, free: 13.51 MB / 314.7 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 4.788e-05/0.112, allocations: 19.98 kB / 459.5 MB, free: 13.49 MB / 314.7 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 5
 * Number of states: 0 ()
 * Number of discrete variables: 2 (kinematicPTP.noWphase,kinematicPTP.moving[1])
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (65):
 * Single equations (assignments): 65
 * Array equations: 0
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (not torn): 0
 * Torn equation systems: 0
 * Mixed (continuous/discrete) equation systems: 0
Notification: Performance of prepare postOptimizeDAE: time 0.0001855/0.1122, allocations: 158 kB / 459.7 MB, free: 13.32 MB / 314.7 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 7.198e-05/0.1123, allocations: 27.66 kB / 459.7 MB, free: 13.3 MB / 314.7 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 8.892e-05/0.1124, allocations: 51.3 kB / 459.8 MB, free: 13.25 MB / 314.7 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 4.298e-06/0.1124, allocations: 4 kB / 459.8 MB, free: 13.24 MB / 314.7 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 3.897e-06/0.1124, allocations: 0 / 459.8 MB, free: 13.24 MB / 314.7 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 5.581e-06/0.1124, allocations: 7.984 kB / 459.8 MB, free: 13.23 MB / 314.7 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.003704/0.1161, allocations: 2.006 MB / 461.8 MB, free: 11.06 MB / 314.7 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 7.133e-06/0.1162, allocations: 12.22 kB / 461.8 MB, free: 11.05 MB / 314.7 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.0005844/0.1168, allocations: 163.8 kB / 461.9 MB, free: 10.89 MB / 314.7 MB
Notification: Performance of postOpt tearingSystem (simulation): time 8.607e-06/0.1168, allocations: 19.94 kB / 462 MB, free: 10.87 MB / 314.7 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 3.786e-05/0.1168, allocations: 20 kB / 462 MB, free: 10.85 MB / 314.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 1.061e-05/0.1168, allocations: 15.94 kB / 462 MB, free: 10.84 MB / 314.7 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 6.873e-06/0.1169, allocations: 11.94 kB / 462 MB, free: 10.82 MB / 314.7 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.002565/0.1194, allocations: 1.338 MB / 463.3 MB, free: 9.359 MB / 314.7 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.0001449/0.1196, allocations: 148.7 kB / 463.5 MB, free: 9.195 MB / 314.7 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 5.504e-05/0.1196, allocations: 20 kB / 463.5 MB, free: 9.176 MB / 314.7 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.0004774/0.1201, allocations: 95.91 kB / 463.6 MB, free: 9.082 MB / 314.7 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0001543/0.1203, allocations: 79.73 kB / 463.7 MB, free: 9.004 MB / 314.7 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 3.458e-05/0.1203, allocations: 24 kB / 463.7 MB, free: 8.98 MB / 314.7 MB
Notification: Performance of sorting global known variables: time 0.0001417/0.1205, allocations: 160.2 kB / 463.9 MB, free: 8.824 MB / 314.7 MB
Notification: Performance of sort global known variables: time 1.71e-07/0.1205, allocations: 4 kB / 463.9 MB, free: 8.82 MB / 314.7 MB
Notification: Performance of remove unused functions: time 0.0003905/0.1209, allocations: 92 kB / 464 MB, free: 8.73 MB / 314.7 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 36
 * Number of states: 3 (load.w,speed.flange.phi,PI.x)
 * Number of discrete variables: 2 (kinematicPTP.moving[1],kinematicPTP.noWphase)
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (52):
 * Single equations (assignments): 52
 * Array equations: 0
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (not torn): 0
 * Torn equation systems: 0
 * Mixed (continuous/discrete) equation systems: 0
Notification: Performance of Backend phase and start with SimCode phase: time 0.002898/0.1238, allocations: 1.883 MB / 465.8 MB, free: 6.719 MB / 314.7 MB
Notification: Performance of simCode: created initialization part: time 0.002165/0.126, allocations: 0.9351 MB / 466.8 MB, free: 5.781 MB / 314.7 MB
Notification: Performance of simCode: created event and clocks part: time 3.537e-06/0.126, allocations: 0 / 466.8 MB, free: 5.781 MB / 314.7 MB
Notification: Performance of simCode: created simulation system equations: time 0.0008666/0.1268, allocations: 361.8 kB / 467.1 MB, free: 5.43 MB / 314.7 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.0006495/0.1275, allocations: 63.97 kB / 467.2 MB, free: 5.367 MB / 314.7 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.009622/0.1371, allocations: 5.528 MB / 472.7 MB, free: 15.52 MB / 330.7 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.000395/0.1376, allocations: 0.7878 MB / 473.5 MB, free: 14.71 MB / 330.7 MB
Notification: Performance of simCode: alias equations: time 0.0004684/0.138, allocations: 79.25 kB / 473.6 MB, free: 14.63 MB / 330.7 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.0002527/0.1383, allocations: 91.42 kB / 473.7 MB, free: 14.55 MB / 330.7 MB
Notification: Performance of SimCode: time 4e-07/0.1383, allocations: 0 / 473.7 MB, free: 14.55 MB / 330.7 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.2834/0.4217, allocations: 7.601 MB / 481.3 MB, free: 6.93 MB / 330.7 MB
Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0002236/0.422, allocations: 229.9 kB / 481.5 MB, free: 6.668 MB / 330.7 MB
Notification: Performance of buildModelFMU: Generate platform static: time 2.219/2.641, allocations: 0 / 481.5 MB, free: 6.668 MB / 330.7 MB
(rm -f Modelica_Synchronous_Modelica_Synchronous.Examples.CascadeControlledDrive.Continuous.pipe ; mkfifo Modelica_Synchronous_Modelica_Synchronous.Examples.CascadeControlledDrive.Continuous.pipe ; head -c 1048576 < Modelica_Synchronous_Modelica_Synchronous.Examples.CascadeControlledDrive.Continuous.pipe >> ../files/Modelica_Synchronous_Modelica_Synchronous.Examples.CascadeControlledDrive.Continuous.sim & /home/hudson/saved_omc/OMSimulator/install/linux/bin/OMSimulator -r=Modelica_Synchronous_Modelica_Synchronous.Examples.CascadeControlledDrive.Continuous_res.mat --tempDir=temp_Modelica_Synchronous_Modelica_Synchronous_Examples_CascadeControlledDrive_Continuous_fmu --startTime=0 --stopTime=4 --timeout=50 --tolerance=1e-06 Modelica_Synchronous_Modelica_Synchronous_Examples_CascadeControlledDrive_Continuous.fmu > Modelica_Synchronous_Modelica_Synchronous.Examples.CascadeControlledDrive.Continuous.pipe 2>&1)
diffSimulationResults("Modelica_Synchronous_Modelica_Synchronous.Examples.CascadeControlledDrive.Continuous_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelica/testsuite/ReferenceFiles/Modelica_Synchronous/Modelica_Synchronous.Examples.CascadeControlledDrive.Continuous.mat","../files/Modelica_Synchronous_Modelica_Synchronous.Examples.CascadeControlledDrive.Continuous.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
""

Variables in the reference:PI.y,Time,angle.phi,gain.y,speed.w

Variables in the result:PI.T,PI.initType,PI.k,PI.u,PI.x,PI.x_start,PI.y,PI.y_start,angle.flange.phi,angle.flange.tau,angle.phi,der(PI.x),der(der(kinematicPTP.Ta1)),der(der(kinematicPTP.Ta1s)),der(der(kinematicPTP.Ta2)),der(der(kinematicPTP.Ta2s)),der(der(kinematicPTP.Te)),der(der(kinematicPTP.Tv)),der(der(kinematicPTP.Tvs)),der(der(kinematicPTP.s1)),der(der(kinematicPTP.s2)),der(der(kinematicPTP.s3)),der(der(kinematicPTP.sd_max2)),der(kinematicPTP.Ta1),der(kinematicPTP.Ta1s),der(kinematicPTP.Ta2),der(kinematicPTP.Ta2s),der(kinematicPTP.Te),der(kinematicPTP.Tv),der(kinematicPTP.Tvs),der(kinematicPTP.s),der(kinematicPTP.s1),der(kinematicPTP.s2),der(kinematicPTP.s3),der(kinematicPTP.sd),der(kinematicPTP.sd_max2),der(load.w),der(speed.flange.phi),feedback1.u1,feedback1.u2,feedback1.y,feedback2.u1,feedback2.u2,feedback2.y,gain.k,gain.u,gain.y,kinematicPTP.endTime,kinematicPTP.moving[1],kinematicPTP.nout,kinematicPTP.q[1],kinematicPTP.q_begin[1],kinematicPTP.q_end[1],kinematicPTP.qd[1],kinematicPTP.qd_max[1],kinematicPTP.qdd[1],kinematicPTP.qdd_max[1],kinematicPTP.startTime,load.J,load.a,load.flange_a.phi,load.flange_a.tau,load.flange_b.phi,load.flange_b.tau,load.phi,load.stateSelect,load.w,speed.flange.phi,speed.flange.tau,speed.w,time,torque.flange.phi,torque.flange.tau,torque.tau,torque.useSupport