Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr Modelica_trunk_cpp_Modelica.Mechanics.Rotational.Examples.OneWayClutch.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.Mechanics.Rotational.Examples.OneWayClutch,fileNamePrefix="Modelica_trunk_cpp_Modelica_Mechanics_Rotational_Examples_OneWayClutch",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(Modelica.Mechanics.Rotational.Examples.OneWayClutch,fileNamePrefix="Modelica_trunk_cpp_Modelica_Mechanics_Rotational_Examples_OneWayClutch",fmuType="me",version="2.0",platforms={"static"})
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo): time 0.001032/0.001032, allocations: 195.8 kB / 17.38 MB, free: 4.43 MB / 13.93 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo): time 1.205/1.205, allocations: 226.5 MB / 244.7 MB, free: 6.527 MB / 202.7 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo): time 0.0007674/0.0007674, allocations: 103.3 kB / 296.7 MB, free: 6.699 MB / 234.7 MB
Notification: Performance of FrontEnd - loaded program: time 0.0002189/0.0002189, allocations: 7.984 kB / 356.8 MB, free: 10.61 MB / 298.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.1772/0.1775, allocations: 51.29 MB / 408.1 MB, free: 27.68 MB / 298.7 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.Rotational.Examples.OneWayClutch): time 0.001802/0.1793, allocations: 1.912 MB / 410 MB, free: 25.76 MB / 298.7 MB
Notification: Performance of NFInst.instExpressions: time 0.0008828/0.1802, allocations: 0.7965 MB / 410.8 MB, free: 24.96 MB / 298.7 MB
Notification: Performance of NFInst.updateImplicitVariability: time 9.638e-05/0.1803, allocations: 4 kB / 410.8 MB, free: 24.96 MB / 298.7 MB
Notification: Performance of NFTyping.typeComponents: time 0.0001957/0.1805, allocations: 43.75 kB / 410.9 MB, free: 24.91 MB / 298.7 MB
Notification: Performance of NFTyping.typeBindings: time 0.0001757/0.1807, allocations: 89.98 kB / 411 MB, free: 24.83 MB / 298.7 MB
Notification: Performance of NFTyping.typeClassSections: time 0.0001362/0.1809, allocations: 59.92 kB / 411 MB, free: 24.77 MB / 298.7 MB
Notification: Performance of NFFlatten.flatten: time 0.0001866/0.1811, allocations: 252 kB / 411.3 MB, free: 24.52 MB / 298.7 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.0001118/0.1812, allocations: 49.05 kB / 411.3 MB, free: 24.47 MB / 298.7 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.0001613/0.1814, allocations: 118.1 kB / 411.4 MB, free: 24.36 MB / 298.7 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.0001223/0.1815, allocations: 119.6 kB / 411.6 MB, free: 24.24 MB / 298.7 MB
Notification: Performance of NFPackage.collectConstants: time 2.735e-05/0.1815, allocations: 12 kB / 411.6 MB, free: 24.23 MB / 298.7 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.0001035/0.1816, allocations: 63.92 kB / 411.6 MB, free: 24.16 MB / 298.7 MB
Notification: Performance of NFScalarize.scalarize: time 4.908e-05/0.1817, allocations: 39.83 kB / 411.7 MB, free: 24.12 MB / 298.7 MB
Notification: Performance of NFVerifyModel.verify: time 8.208e-05/0.1818, allocations: 129.2 kB / 411.8 MB, free: 23.99 MB / 298.7 MB
Notification: Performance of NFConvertDAE.convert: time 0.0001792/0.182, allocations: 229.9 kB / 412 MB, free: 23.77 MB / 298.7 MB
Notification: Performance of FrontEnd - DAE generated: time 3.677e-06/0.182, allocations: 0 / 412 MB, free: 23.77 MB / 298.7 MB
Notification: Performance of FrontEnd: time 1.102e-06/0.182, allocations: 0 / 412 MB, free: 23.77 MB / 298.7 MB
Notification: Performance of Transformations before backend: time 4.298e-06/0.182, allocations: 1.656 kB / 412 MB, free: 23.77 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: 43
 * Number of variables: 43
Notification: Performance of Generate backend data structure: time 0.000717/0.1827, allocations: 0.5529 MB / 412.6 MB, free: 23.16 MB / 298.7 MB
Notification: Performance of prepare preOptimizeDAE: time 3.097e-05/0.1828, allocations: 12.03 kB / 412.6 MB, free: 23.15 MB / 298.7 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 4.127e-05/0.1828, allocations: 54.67 kB / 412.6 MB, free: 23.09 MB / 298.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.0001339/0.1829, allocations: 36.64 kB / 412.7 MB, free: 23.05 MB / 298.7 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.0001937/0.1831, allocations: 247.8 kB / 412.9 MB, free: 22.77 MB / 298.7 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 2.016e-05/0.1832, allocations: 16.38 kB / 412.9 MB, free: 22.76 MB / 298.7 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 3.189e-05/0.1832, allocations: 16.38 kB / 412.9 MB, free: 22.74 MB / 298.7 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.0003875/0.1836, allocations: 243.3 kB / 413.2 MB, free: 22.49 MB / 298.7 MB
Notification: Performance of preOpt findStateOrder (simulation): time 1.316e-05/0.1836, allocations: 0 / 413.2 MB, free: 22.49 MB / 298.7 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 1.931e-05/0.1836, allocations: 4 kB / 413.2 MB, free: 22.49 MB / 298.7 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 5.37e-06/0.1837, allocations: 4 kB / 413.2 MB, free: 22.48 MB / 298.7 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.0004102/0.1841, allocations: 207.6 kB / 413.4 MB, free: 22.28 MB / 298.7 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.0007107/0.1848, allocations: 0.6602 MB / 414.1 MB, free: 21.57 MB / 298.7 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.0004574/0.1853, allocations: 222.3 kB / 414.3 MB, free: 21.34 MB / 298.7 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.0002011/0.1855, allocations: 110.4 kB / 414.4 MB, free: 21.23 MB / 298.7 MB
Notification: Performance of preOpt evalFunc (simulation): time 1.966e-05/0.1855, allocations: 0 / 414.4 MB, free: 21.23 MB / 298.7 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 0.0003114/0.1858, allocations: 179.1 kB / 414.6 MB, free: 21.04 MB / 298.7 MB
Notification: Performance of pre-optimization done (n=25): time 1.893e-06/0.1858, allocations: 0 / 414.6 MB, free: 21.04 MB / 298.7 MB
Notification: Performance of matching and sorting (n=27): time 0.001984/0.1878, allocations: 1.222 MB / 415.8 MB, free: 19.71 MB / 298.7 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 2.316e-05/0.1879, allocations: 55.41 kB / 415.8 MB, free: 19.64 MB / 298.7 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.0001405/0.188, allocations: 199.1 kB / 416 MB, free: 19.44 MB / 298.7 MB
Notification: Performance of collectPreVariables (initialization): time 1.915e-05/0.188, allocations: 33.7 kB / 416.1 MB, free: 19.4 MB / 298.7 MB
Notification: Performance of collectInitialEqns (initialization): time 4.768e-05/0.1881, allocations: 132.4 kB / 416.2 MB, free: 19.27 MB / 298.7 MB
Notification: Performance of collectInitialBindings (initialization): time 4.582e-05/0.1881, allocations: 90.73 kB / 416.3 MB, free: 19.18 MB / 298.7 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 1.557e-05/0.1882, allocations: 8 kB / 416.3 MB, free: 19.17 MB / 298.7 MB
Notification: Performance of setup shared object (initialization): time 4.202e-05/0.1882, allocations: 338.8 kB / 416.6 MB, free: 18.83 MB / 298.7 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.0002225/0.1884, allocations: 99.95 kB / 416.7 MB, free: 18.73 MB / 298.7 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.0002229/0.1887, allocations: 144 kB / 416.9 MB, free: 18.58 MB / 298.7 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.0003991/0.1891, allocations: 259.5 kB / 417.1 MB, free: 18.31 MB / 298.7 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 1.232e-06/0.1891, allocations: 0 / 417.1 MB, free: 18.31 MB / 298.7 MB
Notification: Performance of matching and sorting (n=38) (initialization): time 0.0006443/0.1897, allocations: 394.5 kB / 417.5 MB, free: 17.91 MB / 298.7 MB
Notification: Performance of prepare postOptimizeDAE: time 2.402e-05/0.1898, allocations: 37.64 kB / 417.5 MB, free: 17.87 MB / 298.7 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 4.85e-06/0.1898, allocations: 0 / 417.5 MB, free: 17.87 MB / 298.7 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.0001642/0.1899, allocations: 56.83 kB / 417.6 MB, free: 17.81 MB / 298.7 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.0001836/0.1901, allocations: 51.91 kB / 417.6 MB, free: 17.76 MB / 298.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.001172/0.1913, allocations: 1.661 MB / 419.3 MB, free: 15.97 MB / 298.7 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.0002484/0.1916, allocations: 43.97 kB / 419.3 MB, free: 15.93 MB / 298.7 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 2.091e-05/0.1916, allocations: 12 kB / 419.3 MB, free: 15.92 MB / 298.7 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 4
 * Number of states: 0 ()
 * Number of discrete variables: 11 ($whenCondition1,$PRE.oneWayClutch.startForward,oneWayClutch.startForward,oneWayClutch.locked,$PRE.oneWayClutch.stuck,oneWayClutch.stuck,oneWayClutch.free,$PRE.signalEngagement.T_start,signalEngagement.T_start,$PRE.signalEngagement.count,signalEngagement.count)
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (31):
 * Single equations (assignments): 29
 * Array equations: 0
 * Algorithm blocks: 1
 * 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: 0
 * Non-linear torn systems: 1 {1 6}
Notification: Performance of prepare postOptimizeDAE: time 9.732e-05/0.1917, allocations: 137.8 kB / 419.5 MB, free: 15.77 MB / 298.7 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 2.663e-05/0.1917, allocations: 19.8 kB / 419.5 MB, free: 15.75 MB / 298.7 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 4.599e-05/0.1918, allocations: 30.56 kB / 419.5 MB, free: 15.72 MB / 298.7 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 2.585e-06/0.1918, allocations: 4 kB / 419.5 MB, free: 15.72 MB / 298.7 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 2.245e-06/0.1918, allocations: 0 / 419.5 MB, free: 15.72 MB / 298.7 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 4.529e-06/0.1918, allocations: 7.922 kB / 419.5 MB, free: 15.71 MB / 298.7 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.0008456/0.1927, allocations: 0.6982 MB / 420.2 MB, free: 14.95 MB / 298.7 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 2.004e-06/0.1927, allocations: 4 kB / 420.2 MB, free: 14.95 MB / 298.7 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.0002007/0.1929, allocations: 47.95 kB / 420.3 MB, free: 14.9 MB / 298.7 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.0001137/0.193, allocations: 48.84 kB / 420.3 MB, free: 14.85 MB / 298.7 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 1.891e-05/0.193, allocations: 3.984 kB / 420.3 MB, free: 14.85 MB / 298.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.0009618/0.194, allocations: 1.546 MB / 421.9 MB, free: 13.17 MB / 298.7 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 8.31e-07/0.194, allocations: 0 / 421.9 MB, free: 13.17 MB / 298.7 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.0007935/0.1948, allocations: 0.5176 MB / 422.4 MB, free: 12.63 MB / 298.7 MB
Notification: Performance of postOpt removeConstants (simulation): time 6.938e-05/0.1949, allocations: 120.9 kB / 422.5 MB, free: 12.5 MB / 298.7 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 3.178e-05/0.1949, allocations: 8 kB / 422.5 MB, free: 12.49 MB / 298.7 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.0002325/0.1952, allocations: 43.97 kB / 422.6 MB, free: 12.45 MB / 298.7 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.000149/0.1953, allocations: 75.94 kB / 422.7 MB, free: 12.37 MB / 298.7 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 1.776e-05/0.1954, allocations: 15.98 kB / 422.7 MB, free: 12.36 MB / 298.7 MB
Notification: Performance of sorting global known variables: time 9.575e-05/0.1955, allocations: 148.2 kB / 422.8 MB, free: 12.21 MB / 298.7 MB
Notification: Performance of sort global known variables: time 1.2e-07/0.1955, allocations: 3.938 kB / 422.8 MB, free: 12.21 MB / 298.7 MB
Notification: Performance of remove unused functions: time 0.0003746/0.1958, allocations: 76 kB / 422.9 MB, free: 12.13 MB / 298.7 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 1
 * Number of states: 4 (inertiaOut.phi,inertiaOut.w,oneWayClutch.phi_rel,oneWayClutch.w_rel)
 * Number of discrete variables: 7 ($whenCondition1,oneWayClutch.startForward,oneWayClutch.locked,oneWayClutch.stuck,oneWayClutch.free,signalEngagement.T_start,signalEngagement.count)
 * Number of discrete states: 3 (signalEngagement.count,oneWayClutch.stuck,oneWayClutch.startForward)
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (21):
 * Single equations (assignments): 18
 * Array equations: 0
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 2
 * 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: 0
 * Non-linear torn systems: 1 {1 6}
Notification: Performance of Backend phase and start with SimCode phase: time 0.001555/0.1974, allocations: 1.321 MB / 424.2 MB, free: 10.91 MB / 298.7 MB
Notification: Performance of simCode: created initialization part: time 0.0006931/0.1981, allocations: 465.8 kB / 424.7 MB, free: 10.43 MB / 298.7 MB
Notification: Performance of simCode: created event and clocks part: time 2.334e-06/0.1981, allocations: 0 / 424.7 MB, free: 10.43 MB / 298.7 MB
Notification: Performance of simCode: created simulation system equations: time 0.0003393/0.1985, allocations: 262.5 kB / 424.9 MB, free: 10.16 MB / 298.7 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.0003739/0.1989, allocations: 51.91 kB / 425 MB, free: 10.11 MB / 298.7 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.002314/0.2012, allocations: 1.782 MB / 426.8 MB, free: 8.254 MB / 298.7 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0001426/0.2013, allocations: 0.7479 MB / 427.5 MB, free: 7.48 MB / 298.7 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.0001105/0.2015, allocations: 67.41 kB / 427.6 MB, free: 7.414 MB / 298.7 MB
Notification: Performance of SimCode: time 5.21e-07/0.2015, allocations: 4 kB / 427.6 MB, free: 7.41 MB / 298.7 MB
Notification: Performance of buildModelFMU: Generate C++ for platform static: time 3.211/3.412, allocations: 4.758 MB / 432.3 MB, free: 2.645 MB / 298.7 MB
(rm -f Modelica_trunk_cpp_Modelica.Mechanics.Rotational.Examples.OneWayClutch.pipe ; mkfifo Modelica_trunk_cpp_Modelica.Mechanics.Rotational.Examples.OneWayClutch.pipe ; head -c 1048576 < Modelica_trunk_cpp_Modelica.Mechanics.Rotational.Examples.OneWayClutch.pipe >> ../files/Modelica_trunk_cpp_Modelica.Mechanics.Rotational.Examples.OneWayClutch.sim & /home/hudson/saved_omc/OMSimulator/install/linux/bin/OMSimulator -r=Modelica_trunk_cpp_Modelica.Mechanics.Rotational.Examples.OneWayClutch_res.mat --tempDir=temp_Modelica_trunk_cpp_Modelica_Mechanics_Rotational_Examples_OneWayClutch_fmu --startTime=0 --stopTime=2 --timeout=50 --tolerance=1e-06 Modelica_trunk_cpp_Modelica_Mechanics_Rotational_Examples_OneWayClutch.fmu > Modelica_trunk_cpp_Modelica.Mechanics.Rotational.Examples.OneWayClutch.pipe 2>&1)
diffSimulationResults("Modelica_trunk_cpp_Modelica.Mechanics.Rotational.Examples.OneWayClutch_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/Modelica/Mechanics/Rotational/Examples/OneWayClutch/OneWayClutch.csv","../files/Modelica_trunk_cpp_Modelica.Mechanics.Rotational.Examples.OneWayClutch.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
""

Variables in the reference:time,inertiaIn.phi,inertiaIn.w,oneWayClutch.phi_rel,oneWayClutch.w_rel

Variables in the result:der(inertiaIn.phi),der(inertiaIn.w),der(inertiaOut.phi),der(inertiaOut.w),der(oneWayClutch.phi_rel),der(oneWayClutch.w_rel),inertiaIn.J,inertiaIn.a,inertiaIn.flange_a.phi,inertiaIn.flange_a.tau,inertiaIn.flange_b.phi,inertiaIn.flange_b.tau,inertiaIn.phi,inertiaIn.stateSelect,inertiaIn.w,inertiaOut.J,inertiaOut.a,inertiaOut.flange_a.phi,inertiaOut.flange_a.tau,inertiaOut.flange_b.phi,inertiaOut.flange_b.tau,inertiaOut.phi,inertiaOut.stateSelect,inertiaOut.w,oneWayClutch.a_rel,oneWayClutch.cgeo,oneWayClutch.f_normalized,oneWayClutch.flange_a.phi,oneWayClutch.flange_a.tau,oneWayClutch.flange_b.phi,oneWayClutch.flange_b.tau,oneWayClutch.fn,oneWayClutch.fn_max,oneWayClutch.free,oneWayClutch.locked,oneWayClutch.lossPower,oneWayClutch.mu,oneWayClutch.mu0,oneWayClutch.mu_pos[1,1],oneWayClutch.mu_pos[1,2],oneWayClutch.peak,oneWayClutch.peak2,oneWayClutch.phi_nominal,oneWayClutch.phi_rel,oneWayClutch.sa,oneWayClutch.smoothness,oneWayClutch.startForward,oneWayClutch.stateSelect,oneWayClutch.stuck,oneWayClutch.tau,oneWayClutch.tau0,oneWayClutch.tau0_max,oneWayClutch.tau0_max_low,oneWayClutch.u,oneWayClutch.useHeatPort,oneWayClutch.w_rel,oneWayClutch.w_small,signalEngagement.T_start,signalEngagement.T_width,signalEngagement.amplitude,signalEngagement.count,signalEngagement.nperiod,signalEngagement.offset,signalEngagement.period,signalEngagement.startTime,signalEngagement.width,signalEngagement.y,signalTorque.amplitude,signalTorque.f,signalTorque.offset,signalTorque.phase,signalTorque.startTime,signalTorque.y,time,torque.flange.phi,torque.flange.tau,torque.phi_support,torque.tau,torque.useSupport