Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr Modelica_trunk_cpp_Modelica.Clocked.Examples.CascadeControlledDrive.AbsoluteClocks.conf.json 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/ModelicaServices trunk/package.mo", uses=false) Using package ModelicaServices with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 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) Running command: "" <> buildModelFMU(Modelica.Clocked.Examples.CascadeControlledDrive.AbsoluteClocks,fileNamePrefix="Modelica_trunk_cpp_Modelica_Clocked_Examples_CascadeControlledDrive_AbsoluteClocks",fmuType="me",version="2.0",platforms={"static"}) "" <> buildModelFMU(Modelica.Clocked.Examples.CascadeControlledDrive.AbsoluteClocks,fileNamePrefix="Modelica_trunk_cpp_Modelica_Clocked_Examples_CascadeControlledDrive_AbsoluteClocks",fmuType="me",version="2.0",platforms={"static"}) Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo): time 0.001021/0.001021, allocations: 194 kB / 17.38 MB, free: 4.406 MB / 13.93 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo): time 1.407/1.407, allocations: 226.5 MB / 244.7 MB, free: 6.445 MB / 202.7 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo): time 0.0009502/0.0009503, allocations: 96.53 kB / 296.7 MB, free: 6.648 MB / 234.7 MB Notification: Performance of FrontEnd - loaded program: time 0.0003444/0.0003445, allocations: 8 kB / 356.8 MB, free: 10.56 MB / 298.7 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.2917/0.2921, allocations: 51.29 MB / 408.1 MB, free: 27.64 MB / 298.7 MB Notification: Performance of NFInst.instantiate(Modelica.Clocked.Examples.CascadeControlledDrive.AbsoluteClocks): time 0.00236/0.2945, allocations: 2 MB / 410.1 MB, free: 25.63 MB / 298.7 MB Notification: Performance of NFInst.instExpressions: time 0.001418/0.296, allocations: 0.8128 MB / 410.9 MB, free: 24.82 MB / 298.7 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.0001768/0.2962, allocations: 7.938 kB / 410.9 MB, free: 24.81 MB / 298.7 MB Notification: Performance of NFTyping.typeComponents: time 0.0002864/0.2965, allocations: 39.64 kB / 411 MB, free: 24.77 MB / 298.7 MB Notification: Performance of NFTyping.typeBindings: time 0.0002034/0.2967, allocations: 55.69 kB / 411 MB, free: 24.72 MB / 298.7 MB Notification: Performance of NFTyping.typeClassSections: time 0.0005408/0.2972, allocations: 157.7 kB / 411.2 MB, free: 24.57 MB / 298.7 MB Notification: Performance of NFFlatten.flatten: time 0.0003238/0.2976, allocations: 359.3 kB / 411.5 MB, free: 24.21 MB / 298.7 MB Notification: Performance of NFFlatten.resolveConnections: time 0.0002018/0.2978, allocations: 84.92 kB / 411.6 MB, free: 24.14 MB / 298.7 MB Notification: Performance of NFEvalConstants.evaluate: time 0.000227/0.298, allocations: 143.5 kB / 411.8 MB, free: 24 MB / 298.7 MB Notification: Performance of NFSimplifyModel.simplify: time 0.0001891/0.2982, allocations: 155.3 kB / 411.9 MB, free: 23.84 MB / 298.7 MB Notification: Performance of NFPackage.collectConstants: time 4.115e-05/0.2983, allocations: 18.22 kB / 411.9 MB, free: 23.83 MB / 298.7 MB Notification: Performance of NFFlatten.collectFunctions: time 3.957e-05/0.2983, allocations: 16 kB / 411.9 MB, free: 23.81 MB / 298.7 MB Notification: Performance of NFScalarize.scalarize: time 9.146e-05/0.2984, allocations: 91.7 kB / 412 MB, free: 23.72 MB / 298.7 MB Notification: Performance of NFVerifyModel.verify: time 0.000135/0.2985, allocations: 160.9 kB / 412.2 MB, free: 23.56 MB / 298.7 MB Notification: Performance of NFConvertDAE.convert: time 0.0002141/0.2988, allocations: 248.7 kB / 412.4 MB, free: 23.32 MB / 298.7 MB Notification: Performance of FrontEnd - DAE generated: time 7.724e-06/0.2988, allocations: 7.094 kB / 412.4 MB, free: 23.31 MB / 298.7 MB Notification: Performance of FrontEnd: time 2.936e-06/0.2988, allocations: 0 / 412.4 MB, free: 23.31 MB / 298.7 MB Notification: Performance of Transformations before backend: time 7.294e-06/0.2988, allocations: 0 / 412.4 MB, free: 23.31 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: 74 * Number of variables: 74 Notification: Performance of Generate backend data structure: time 0.001109/0.2999, allocations: 0.6315 MB / 413.1 MB, free: 22.63 MB / 298.7 MB Notification: Performance of prepare preOptimizeDAE: time 5.125e-05/0.3, allocations: 8.031 kB / 413.1 MB, free: 22.62 MB / 298.7 MB Notification: Performance of preOpt introduceOutputAliases (simulation): time 7.689e-05/0.3001, allocations: 70.72 kB / 413.2 MB, free: 22.55 MB / 298.7 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 7.038e-05/0.3001, allocations: 44.47 kB / 413.2 MB, free: 22.5 MB / 298.7 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.0003235/0.3005, allocations: 303.1 kB / 413.5 MB, free: 22.16 MB / 298.7 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0001752/0.3006, allocations: 142.3 kB / 413.6 MB, free: 22 MB / 298.7 MB Notification: Performance of preOpt expandDerOperator (simulation): time 5.093e-05/0.3007, allocations: 36.38 kB / 413.7 MB, free: 21.97 MB / 298.7 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.001055/0.3018, allocations: 0.5698 MB / 414.2 MB, free: 21.38 MB / 298.7 MB Notification: Performance of preOpt findStateOrder (simulation): time 2.22e-05/0.3018, allocations: 7.906 kB / 414.2 MB, free: 21.37 MB / 298.7 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 3.42e-05/0.3018, allocations: 8 kB / 414.3 MB, free: 21.36 MB / 298.7 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 8.546e-06/0.3019, allocations: 12 kB / 414.3 MB, free: 21.35 MB / 298.7 MB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.001229/0.3031, allocations: 0.5347 MB / 414.8 MB, free: 20.81 MB / 298.7 MB Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.001351/0.3045, allocations: 1.041 MB / 415.8 MB, free: 19.7 MB / 298.7 MB Notification: Performance of preOpt comSubExp (simulation): time 0.001429/0.3059, allocations: 0.5213 MB / 416.4 MB, free: 19.14 MB / 298.7 MB Notification: Performance of preOpt resolveLoops (simulation): time 0.0005482/0.3065, allocations: 271.3 kB / 416.6 MB, free: 18.86 MB / 298.7 MB Notification: Performance of preOpt evalFunc (simulation): time 5.853e-05/0.3065, allocations: 8 kB / 416.6 MB, free: 18.86 MB / 298.7 MB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 2.65e-05/0.3066, allocations: 46.55 kB / 416.7 MB, free: 18.8 MB / 298.7 MB Notification: Performance of pre-optimization done (n=44): time 2.585e-06/0.3066, allocations: 0 / 416.7 MB, free: 18.8 MB / 298.7 MB Notification: Performance of matching and sorting (n=72): time 0.03714/0.3437, allocations: 6.794 MB / 423.5 MB, free: 12 MB / 298.7 MB Notification: Performance of inlineWhenForInitialization (initialization): time 8.615e-05/0.3439, allocations: 145 kB / 423.6 MB, free: 11.82 MB / 298.7 MB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.0002643/0.3441, allocations: 254.6 kB / 423.9 MB, free: 11.56 MB / 298.7 MB Notification: Performance of collectPreVariables (initialization): time 7.117e-05/0.3442, allocations: 41.7 kB / 423.9 MB, free: 11.52 MB / 298.7 MB Notification: Performance of collectInitialEqns (initialization): time 7.295e-05/0.3443, allocations: 153.4 kB / 424.1 MB, free: 11.36 MB / 298.7 MB Notification: Performance of collectInitialBindings (initialization): time 0.0001545/0.3445, allocations: 189.3 kB / 424.2 MB, free: 11.18 MB / 298.7 MB Notification: Performance of simplifyInitialFunctions (initialization): time 6.828e-05/0.3445, allocations: 16 kB / 424.3 MB, free: 11.16 MB / 298.7 MB Notification: Performance of setup shared object (initialization): time 0.0001027/0.3446, allocations: 346.8 kB / 424.6 MB, free: 10.81 MB / 298.7 MB Notification: Performance of preBalanceInitialSystem (initialization): time 0.001408/0.3461, allocations: 0.65 MB / 425.2 MB, free: 10.16 MB / 298.7 MB Notification: Performance of partitionIndependentBlocks (initialization): time 0.001468/0.3475, allocations: 0.8276 MB / 426.1 MB, free: 9.258 MB / 298.7 MB Notification: Performance of analyzeInitialSystem (initialization): time 0.002719/0.3503, allocations: 1.322 MB / 427.4 MB, free: 7.859 MB / 298.7 MB Notification: Performance of solveInitialSystemEqSystem (initialization): time 3.497e-06/0.3503, allocations: 0 / 427.4 MB, free: 7.859 MB / 298.7 MB Notification: Performance of matching and sorting (n=83) (initialization): time 0.003142/0.3534, allocations: 1.476 MB / 428.9 MB, free: 6.375 MB / 298.7 MB Notification: Performance of prepare postOptimizeDAE: time 2.782e-05/0.3535, allocations: 8 kB / 428.9 MB, free: 6.367 MB / 298.7 MB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 1.276e-05/0.3535, allocations: 4 kB / 428.9 MB, free: 6.363 MB / 298.7 MB Notification: Performance of postOpt tearingSystem (initialization): time 2.719e-05/0.3535, allocations: 8 kB / 428.9 MB, free: 6.355 MB / 298.7 MB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.001248/0.3548, allocations: 235.7 kB / 429.1 MB, free: 6.125 MB / 298.7 MB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 2.6e-05/0.3548, allocations: 8 kB / 429.1 MB, free: 6.117 MB / 298.7 MB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.000919/0.3557, allocations: 123.7 kB / 429.2 MB, free: 5.996 MB / 298.7 MB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 8.132e-05/0.3558, allocations: 28 kB / 429.3 MB, free: 5.969 MB / 298.7 MB Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 25 * Number of states: 0 () * Number of discrete variables: 2 (kinematicPTP.moving[1],kinematicPTP.noWphase) * Number of discrete states: 0 () * Number of clocked states: 1 (PI.x) * Top-level inputs: 0 Notification: Strong component statistics for initialization (83): * Single equations (assignments): 83 * Array equations: 0 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (linear and non-linear blocks): 0 * Torn equation systems: 0 * Mixed (continuous/discrete) equation systems: 0 Notification: Performance of prepare postOptimizeDAE: time 0.0003184/0.3562, allocations: 193.6 kB / 429.5 MB, free: 5.77 MB / 298.7 MB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.0002658/0.3564, allocations: 161.1 kB / 429.6 MB, free: 5.605 MB / 298.7 MB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.0001693/0.3566, allocations: 71.61 kB / 429.7 MB, free: 5.535 MB / 298.7 MB Notification: Performance of postOpt inlineArrayEqn (simulation): time 8.736e-06/0.3566, allocations: 8 kB / 429.7 MB, free: 5.527 MB / 298.7 MB Notification: Performance of postOpt constantLinearSystem (simulation): time 9.317e-06/0.3566, allocations: 0 / 429.7 MB, free: 5.527 MB / 298.7 MB Notification: Performance of postOpt simplifysemiLinear (simulation): time 9.047e-06/0.3567, allocations: 7.984 kB / 429.7 MB, free: 5.52 MB / 298.7 MB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.004239/0.3609, allocations: 2.3 MB / 432 MB, free: 3.035 MB / 298.7 MB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 1.09e-05/0.3609, allocations: 12 kB / 432 MB, free: 3.023 MB / 298.7 MB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.0006804/0.3616, allocations: 204.5 kB / 432.2 MB, free: 2.824 MB / 298.7 MB Notification: Performance of postOpt tearingSystem (simulation): time 1.288e-05/0.3616, allocations: 16 kB / 432.2 MB, free: 2.809 MB / 298.7 MB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 4.792e-05/0.3617, allocations: 28 kB / 432.3 MB, free: 2.781 MB / 298.7 MB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 1.157e-05/0.3617, allocations: 27.8 kB / 432.3 MB, free: 2.754 MB / 298.7 MB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 7.233e-06/0.3617, allocations: 15.94 kB / 432.3 MB, free: 2.738 MB / 298.7 MB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.002754/0.3645, allocations: 1.67 MB / 434 MB, free: 0.9141 MB / 298.7 MB Notification: Performance of postOpt removeConstants (simulation): time 0.0001741/0.3647, allocations: 180.5 kB / 434.1 MB, free: 0.7188 MB / 298.7 MB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 6.395e-05/0.3647, allocations: 31.98 kB / 434.2 MB, free: 0.6875 MB / 298.7 MB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.000531/0.3653, allocations: 99.92 kB / 434.3 MB, free: 0.5898 MB / 298.7 MB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0001954/0.3655, allocations: 99.86 kB / 434.4 MB, free: 0.4922 MB / 298.7 MB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 4.037e-05/0.3655, allocations: 35.98 kB / 434.4 MB, free: 468 kB / 298.7 MB Notification: Performance of sorting global known variables: time 0.0001306/0.3657, allocations: 182 kB / 434.6 MB, free: 288 kB / 298.7 MB Notification: Performance of sort global known variables: time 1.31e-07/0.3657, allocations: 0 / 434.6 MB, free: 288 kB / 298.7 MB Notification: Performance of remove unused functions: time 0.0005937/0.3663, allocations: 127.9 kB / 434.7 MB, free: 160 kB / 298.7 MB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 45 * Number of states: 2 (load.w,speed.flange.phi) * Number of discrete variables: 2 (kinematicPTP.moving[1],kinematicPTP.noWphase) * Number of discrete states: 0 () * Number of clocked states: 1 (PI.x) * Top-level inputs: 0 Notification: Strong component statistics for simulation (72): * Single equations (assignments): 72 * Array equations: 0 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (linear and non-linear blocks): 0 * Torn equation systems: 0 * Mixed (continuous/discrete) equation systems: 0 Notification: Performance of Backend phase and start with SimCode phase: time 0.003358/0.3696, allocations: 2.242 MB / 437 MB, free: 13.75 MB / 314.7 MB Notification: Performance of simCode: created initialization part: time 0.002737/0.3724, allocations: 1.186 MB / 438.1 MB, free: 12.57 MB / 314.7 MB Notification: Performance of simCode: created event and clocks part: time 8.446e-06/0.3724, allocations: 0 / 438.1 MB, free: 12.57 MB / 314.7 MB Notification: Performance of simCode: created simulation system equations: time 0.0009723/0.3734, allocations: 375.2 kB / 438.5 MB, free: 12.2 MB / 314.7 MB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.001108/0.3745, allocations: 163 kB / 438.7 MB, free: 12.05 MB / 314.7 MB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.008327/0.3828, allocations: 4.401 MB / 443.1 MB, free: 7.379 MB / 314.7 MB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0003885/0.3833, allocations: 0.8288 MB / 443.9 MB, free: 6.523 MB / 314.7 MB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.0004166/0.3837, allocations: 127.4 kB / 444 MB, free: 6.398 MB / 314.7 MB Notification: Performance of SimCode: time 1.092e-06/0.3837, allocations: 0 / 444 MB, free: 6.398 MB / 314.7 MB Notification: Performance of buildModelFMU: Generate C++ for platform static: time 3.112/3.495, allocations: 6.506 MB / 450.5 MB, free: 15.89 MB / 330.7 MB (rm -f Modelica_trunk_cpp_Modelica.Clocked.Examples.CascadeControlledDrive.AbsoluteClocks.pipe ; mkfifo Modelica_trunk_cpp_Modelica.Clocked.Examples.CascadeControlledDrive.AbsoluteClocks.pipe ; head -c 1048576 < Modelica_trunk_cpp_Modelica.Clocked.Examples.CascadeControlledDrive.AbsoluteClocks.pipe >> ../files/Modelica_trunk_cpp_Modelica.Clocked.Examples.CascadeControlledDrive.AbsoluteClocks.sim & /home/hudson/saved_omc/OMSimulator/install/linux/bin/OMSimulator -r=Modelica_trunk_cpp_Modelica.Clocked.Examples.CascadeControlledDrive.AbsoluteClocks_res.mat --tempDir=temp_Modelica_trunk_cpp_Modelica_Clocked_Examples_CascadeControlledDrive_AbsoluteClocks_fmu --startTime=0 --stopTime=4 --timeout=50 --tolerance=1e-06 Modelica_trunk_cpp_Modelica_Clocked_Examples_CascadeControlledDrive_AbsoluteClocks.fmu > Modelica_trunk_cpp_Modelica.Clocked.Examples.CascadeControlledDrive.AbsoluteClocks.pipe 2>&1) diffSimulationResults("Modelica_trunk_cpp_Modelica.Clocked.Examples.CascadeControlledDrive.AbsoluteClocks_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/Modelica/Clocked/Examples/CascadeControlledDrive/AbsoluteClocks/AbsoluteClocks.csv","../files/Modelica_trunk_cpp_Modelica.Clocked.Examples.CascadeControlledDrive.AbsoluteClocks.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001) "" Variables in the reference:time,load.phi,load.w,PI.x,PI.y Variables in the result:PI.T,PI.Ts,PI.k,PI.u,PI.x,PI.y,angle.flange.phi,angle.flange.tau,angle.phi,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_max)),der(der(kinematicPTP.sd_max2)),der(der(kinematicPTP.sdd_max)),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_max),der(kinematicPTP.sd_max2),der(kinematicPTP.sdd_max),der(load.w),der(speed.flange.phi),fastClock.factor,fastClock.resolution,fastClock.resolutionFactor,fastClock.useSolver,feedback1.u1,feedback1.u2,feedback1.y,feedback2.u1,feedback2.u2,feedback2.y,gain.k,gain.u,gain.y,hold1.u,hold1.y,hold1.y_start,kinematicPTP.Ta1,kinematicPTP.Ta1s,kinematicPTP.Ta2,kinematicPTP.Ta2s,kinematicPTP.Te,kinematicPTP.Tes,kinematicPTP.Tv,kinematicPTP.Tvs,kinematicPTP.aux1[1],kinematicPTP.aux2[1],kinematicPTP.endTime,kinematicPTP.motion_ref,kinematicPTP.moving[1],kinematicPTP.noWphase,kinematicPTP.nout,kinematicPTP.p_deltaq[1],kinematicPTP.p_q_begin[1],kinematicPTP.p_q_end[1],kinematicPTP.p_qd_max[1],kinematicPTP.p_qdd_max[1],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.s,kinematicPTP.s1,kinematicPTP.s2,kinematicPTP.s3,kinematicPTP.sd,kinematicPTP.sd_max,kinematicPTP.sd_max2,kinematicPTP.sd_max_inv,kinematicPTP.sdd,kinematicPTP.sdd_max,kinematicPTP.sdd_max_inv,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,previous(PI.x),sample1.u,sample1.y,sample2.u,sample2.y,sample3.u,sample3.y,slowClock.factor,slowClock.resolution,slowClock.resolutionFactor,slowClock.useSolver,speed.flange.phi,speed.flange.tau,speed.w,super.factor,super.inferFactor,super.u,super.y,time,torque.flange.phi,torque.flange.tau,torque.phi_support,torque.tau,torque.useSupport