Running: ./testmodel.py --libraries=/var/lib/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr ModelicaTest_3.2.1_ModelicaTest.MultiBody.Joints.JointUPS2.conf.json
Using package ModelicaTest with version 3.2.1 (/var/lib/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.1+maint.om/package.mo)
Using package ModelicaServices with version 3.2.1 (/var/lib/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 3.2.1+maint.om/package.mo)
Using package Modelica with version 3.2.1 (/var/lib/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.1+maint.om/package.mo)
Using package Complex with version 3.2.1 (/var/lib/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 3.2.1+maint.om/package.mo)
Running command: "" <> buildModelFMU(ModelicaTest.MultiBody.Joints.JointUPS2,fileNamePrefix="ModelicaTest_3_2_1_ModelicaTest_MultiBody_Joints_JointUPS2",fmuType="me",version="2.0",platforms={"static"})
Notification: Performance of loadFile(/var/lib/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 3.2.1+maint.om/package.mo): time 0.009796/0.009802, allocations: 163.8 kB / 15.12 MB, free: 5.957 MB / 13.93 MB
Notification: Performance of loadFile(/var/lib/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.1+maint.om/package.mo): time 1.698/1.698, allocations: 170.8 MB / 186.6 MB, free: 1.121 MB / 154.7 MB
Notification: Performance of loadFile(/var/lib/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 3.2.1+maint.om/package.mo): time 0.001723/0.001722, allocations: 122.4 kB / 226.2 MB, free: 10.09 MB / 186.7 MB
Notification: Performance of loadFile(/var/lib/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.1+maint.om/package.mo): time 0.4793/0.4794, allocations: 38.06 MB / 303.7 MB, free: 42.36 MB / 250.7 MB
Notification: Performance of FrontEnd - loaded program: time 0.0005277/0.0005279, allocations: 23.98 kB / 363 MB, free: 5.492 MB / 266.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.1024/0.103, allocations: 48.71 MB / 411.7 MB, free: 4.703 MB / 314.7 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.JointUPS2): time 0.3184/0.4215, allocations: 37.7 MB / 449.4 MB, free: 29.5 MB / 330.7 MB
Notification: Performance of NFInst.instExpressions: time 0.02371/0.4453, allocations: 8.837 MB / 458.2 MB, free: 24.64 MB / 330.7 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.008155/0.4535, allocations: 175.9 kB / 458.4 MB, free: 24.61 MB / 330.7 MB
Notification: Performance of NFTyping.typeComponents: time 0.006151/0.4597, allocations: 1.788 MB / 460.2 MB, free: 24.02 MB / 330.7 MB
Notification: Performance of NFTyping.typeBindings: time 0.01999/0.4797, allocations: 6.44 MB / 466.6 MB, free: 21.27 MB / 330.7 MB
Notification: Performance of NFTyping.typeClassSections: time 0.004147/0.4839, allocations: 0.8505 MB / 467.5 MB, free: 20.96 MB / 330.7 MB
Notification: Performance of NFFlatten.flatten: time 0.0327/0.5167, allocations: 16.59 MB / 484.1 MB, free: 15.06 MB / 330.7 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.008784/0.5255, allocations: 4.119 MB / 488.2 MB, free: 12.65 MB / 330.7 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.003754/0.5293, allocations: 1.441 MB / 489.6 MB, free: 11.93 MB / 330.7 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.005106/0.5345, allocations: 2.347 MB / 492 MB, free: 10.75 MB / 330.7 MB
Notification: Performance of NFPackage.collectConstants: time 0.001306/0.5359, allocations: 170.5 kB / 492.2 MB, free: 10.75 MB / 330.7 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.003935/0.5398, allocations: 1.138 MB / 493.3 MB, free: 10.27 MB / 330.7 MB
Notification: Performance of NFScalarize.scalarize: time 0.003156/0.543, allocations: 1.957 MB / 495.3 MB, free: 8.949 MB / 330.7 MB
Notification: Performance of NFVerifyModel.verify: time 0.001799/0.5449, allocations: 0.9323 MB / 496.2 MB, free: 8.008 MB / 330.7 MB
Notification: Performance of NFConvertDAE.convert: time 0.008609/0.5535, allocations: 6.336 MB / 0.4907 GB, free: 1.656 MB / 330.7 MB
Notification: Performance of FrontEnd - DAE generated: time 6.402e-06/0.5536, allocations: 0 / 0.4907 GB, free: 1.656 MB / 330.7 MB
Notification: Performance of FrontEnd: time 3.637e-06/0.5536, allocations: 4 kB / 0.4908 GB, free: 1.652 MB / 330.7 MB
Notification: Performance of Transformations before backend: time 0.000245/0.5538, allocations: 0 / 0.4908 GB, free: 1.652 MB / 330.7 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 1690
 * Number of variables: 1690
Notification: Performance of Generate backend data structure: time 0.01974/0.5736, allocations: 5.036 MB / 0.4957 GB, free: 12.54 MB / 346.7 MB
Notification: Performance of prepare preOptimizeDAE: time 5.648e-05/0.5737, allocations: 16.03 kB / 0.4957 GB, free: 12.53 MB / 346.7 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.002761/0.5764, allocations: 0.7942 MB / 0.4965 GB, free: 11.72 MB / 346.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.1716/0.7481, allocations: 7.41 MB / 0.5037 GB, free: 4.297 MB / 346.7 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.01268/0.7609, allocations: 4.01 MB / 0.5076 GB, free: 236 kB / 346.7 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0003273/0.7612, allocations: 262.2 kB / 0.5079 GB, free: 15.97 MB / 362.7 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.001532/0.7628, allocations: 347.6 kB / 0.5082 GB, free: 15.64 MB / 362.7 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.03396/0.7968, allocations: 12.32 MB / 0.5202 GB, free: 2.508 MB / 362.7 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0002265/0.797, allocations: 55.53 kB / 0.5203 GB, free: 2.453 MB / 362.7 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.001089/0.7981, allocations: 163.8 kB / 0.5204 GB, free: 2.293 MB / 362.7 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.005982/0.8041, allocations: 2.256 MB / 0.5226 GB, free: 36 kB / 362.7 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.04083/0.845, allocations: 10.67 MB / 0.5331 GB, free: 5.344 MB / 378.7 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.09366/0.9388, allocations: 48.66 MB / 0.5806 GB, free: 3.281 MB / 426.7 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.2975/1.236, allocations: 5.842 MB / 0.5863 GB, free: 126.2 MB / 426.7 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.006673/1.243, allocations: 3.111 MB / 0.5893 GB, free: 126.2 MB / 426.7 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.02965/1.273, allocations: 13.02 MB / 0.602 GB, free: 119.9 MB / 426.7 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 4.649e-05/1.273, allocations: 50.78 kB / 0.6021 GB, free: 119.8 MB / 426.7 MB
Notification: Performance of pre-optimization done (n=193): time 5.791e-06/1.273, allocations: 0 / 0.6021 GB, free: 119.8 MB / 426.7 MB
Notification: Performance of matching and sorting (n=254): time 0.1976/1.47, allocations: 38.97 MB / 0.6401 GB, free: 105.7 MB / 426.7 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 8.299e-05/1.471, allocations: 205.9 kB / 0.6403 GB, free: 105.5 MB / 426.7 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.007749/1.478, allocations: 4.372 MB / 0.6446 GB, free: 101.1 MB / 426.7 MB
Notification: Performance of collectPreVariables (initialization): time 0.0006872/1.479, allocations: 61.7 kB / 0.6447 GB, free: 101 MB / 426.7 MB
Notification: Performance of collectInitialEqns (initialization): time 0.00249/1.482, allocations: 3.424 MB / 0.648 GB, free: 97.6 MB / 426.7 MB
Notification: Performance of collectInitialBindings (initialization): time 0.001397/1.483, allocations: 0.947 MB / 0.6489 GB, free: 96.66 MB / 426.7 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0007046/1.484, allocations: 136 kB / 0.6491 GB, free: 96.53 MB / 426.7 MB
Notification: Performance of setup shared object (initialization): time 0.0003535/1.484, allocations: 0.5873 MB / 0.6496 GB, free: 95.94 MB / 426.7 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.007061/1.491, allocations: 3.09 MB / 0.6527 GB, free: 92.84 MB / 426.7 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.009122/1.5, allocations: 6.994 MB / 0.6595 GB, free: 83.93 MB / 426.7 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.009334/1.51, allocations: 4.52 MB / 0.6639 GB, free: 79.41 MB / 426.7 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 9.384e-05/1.51, allocations: 40 kB / 0.6639 GB, free: 79.37 MB / 426.7 MB
Notification: Performance of matching and sorting (n=883) (initialization): time 0.03765/1.548, allocations: 12.58 MB / 0.6762 GB, free: 66.77 MB / 426.7 MB
Notification: Performance of prepare postOptimizeDAE: time 9.267e-05/1.548, allocations: 64.19 kB / 0.6763 GB, free: 66.71 MB / 426.7 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0001464/1.548, allocations: 140 kB / 0.6764 GB, free: 66.57 MB / 426.7 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.01627/1.564, allocations: 3.267 MB / 0.6796 GB, free: 63.3 MB / 426.7 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.009232/1.573, allocations: 1.528 MB / 0.6811 GB, free: 61.77 MB / 426.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.03515/1.609, allocations: 15.52 MB / 0.6963 GB, free: 46.12 MB / 426.7 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.007992/1.617, allocations: 427.4 kB / 0.6967 GB, free: 45.71 MB / 426.7 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001396/1.618, allocations: 411.3 kB / 0.6971 GB, free: 45.31 MB / 426.7 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 623
 * Number of states: 0 ()
 * Number of discrete variables: 33 (universal.cylinderColor[3],universal.cylinderColor[2],universal.cylinderColor[1],bodyBox.color[3],bodyBox.color[2],bodyBox.color[1],bodyBox.body.sphereColor[3],bodyBox.body.sphereColor[2],bodyBox.body.sphereColor[1],fixedTranslation.color[3],fixedTranslation.color[2],fixedTranslation.color[1],body.sphereColor[3],body.sphereColor[2],body.sphereColor[1],world.gravityArrowColor[3],world.gravityArrowColor[2],world.gravityArrowColor[1],world.axisColor_x[3],world.axisColor_x[2],world.axisColor_x[1],world.gravitySphereColor[3],world.gravitySphereColor[2],world.gravitySphereColor[1],jointUPS.cylinderColor[3],jointUPS.cylinderColor[2],jointUPS.cylinderColor[1],jointUPS.sphereColor[3],jointUPS.sphereColor[2],jointUPS.sphereColor[1],jointUPS.axisColor[3],jointUPS.axisColor[2],jointUPS.axisColor[1])
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (805):
 * Single equations (assignments): 801
 * 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 {(8,54.7%) 47}
 * Non-linear torn systems: 0
Notification: Performance of prepare postOptimizeDAE: time 0.005742/1.624, allocations: 2.349 MB / 0.6994 GB, free: 42.95 MB / 426.7 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001113/1.625, allocations: 402.8 kB / 0.6997 GB, free: 42.55 MB / 426.7 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.0249/1.65, allocations: 7.515 MB / 0.7071 GB, free: 35.01 MB / 426.7 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 5.729e-05/1.65, allocations: 28 kB / 0.7071 GB, free: 34.98 MB / 426.7 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 2.048e-05/1.65, allocations: 8 kB / 0.7071 GB, free: 34.98 MB / 426.7 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 5.351e-05/1.65, allocations: 15.95 kB / 0.7071 GB, free: 34.96 MB / 426.7 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.04528/1.695, allocations: 15.16 MB / 0.7219 GB, free: 19.76 MB / 426.7 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.789e-05/1.695, allocations: 0 / 0.7219 GB, free: 19.76 MB / 426.7 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.003686/1.699, allocations: 383.4 kB / 0.7223 GB, free: 19.39 MB / 426.7 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.0157/1.715, allocations: 2.931 MB / 0.7252 GB, free: 16.45 MB / 426.7 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0006512/1.716, allocations: 40.69 kB / 0.7252 GB, free: 16.41 MB / 426.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.3265/2.042, allocations: 13.74 MB / 0.7386 GB, free: 111.6 MB / 426.7 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 6.763e-06/2.042, allocations: 6.016 kB / 0.7386 GB, free: 111.6 MB / 426.7 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.03457/2.077, allocations: 11.46 MB / 0.7498 GB, free: 110.9 MB / 426.7 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.003567/2.08, allocations: 0.9196 MB / 0.7507 GB, free: 110.6 MB / 426.7 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001372/2.082, allocations: 42.8 kB / 0.7508 GB, free: 110.6 MB / 426.7 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.004428/2.086, allocations: 194.8 kB / 0.7509 GB, free: 110.5 MB / 426.7 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0009657/2.087, allocations: 148.3 kB / 0.7511 GB, free: 110.5 MB / 426.7 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0003446/2.088, allocations: 60.94 kB / 0.7511 GB, free: 110.5 MB / 426.7 MB
Notification: Performance of sorting global known variables: time 0.006749/2.094, allocations: 2.734 MB / 0.7538 GB, free: 109.6 MB / 426.7 MB
Notification: Performance of sort global known variables: time 2.094e-06/2.094, allocations: 0 / 0.7538 GB, free: 109.6 MB / 426.7 MB
Notification: Performance of remove unused functions: time 0.007907/2.102, allocations: 1.314 MB / 0.7551 GB, free: 109.4 MB / 426.7 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 4
 * Number of states: 4 (universal.phi_a,universal.phi_b,universal.w_a,universal.w_b)
 * 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 (189):
 * Single equations (assignments): 185
 * 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 {(6,61.1%) 40}
 * Non-linear torn systems: 0
Notification: Performance of Backend phase and start with SimCode phase: time 0.03351/2.136, allocations: 12.11 MB / 0.7669 GB, free: 104.8 MB / 426.7 MB
Notification: Performance of simCode: created initialization part: time 0.01971/2.156, allocations: 7.775 MB / 0.7745 GB, free: 102 MB / 426.7 MB
Notification: Performance of simCode: created event and clocks part: time 7.073e-06/2.156, allocations: 1.25 kB / 0.7745 GB, free: 102 MB / 426.7 MB
Notification: Performance of simCode: created simulation system equations: time 0.009153/2.165, allocations: 3.112 MB / 0.7776 GB, free: 100.7 MB / 426.7 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.00485/2.17, allocations: 0.496 MB / 0.778 GB, free: 100.5 MB / 426.7 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.1082/2.278, allocations: 45.77 MB / 0.8227 GB, free: 64.66 MB / 426.7 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.006761/2.285, allocations: 3.766 MB / 0.8264 GB, free: 61.18 MB / 426.7 MB
Notification: Performance of simCode: alias equations: time 0.009431/2.294, allocations: 2.172 MB / 0.8285 GB, free: 59 MB / 426.7 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.00492/2.299, allocations: 2.214 MB / 0.8307 GB, free: 56.79 MB / 426.7 MB
Notification: Performance of SimCode: time 1.984e-06/2.299, allocations: 0 / 0.8307 GB, free: 56.79 MB / 426.7 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.5338/2.833, allocations: 101.6 MB / 0.9299 GB, free: 111.6 MB / 442.7 MB
Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0002533/2.833, allocations: 195.5 kB / 0.9301 GB, free: 111.4 MB / 442.7 MB
Notification: Performance of buildModelFMU: Generate platform static: time 5.771/8.605, allocations: 7.938 kB / 0.9301 GB, free: 111.4 MB / 442.7 MB
""

Variables in the reference:time,universal.phi_a,universal.phi_b,universal.w_a,universal.w_b

Variables in the result:body.I[1,1],body.I[1,2],body.I[1,3],body.I[2,1],body.I[2,2],body.I[2,3],body.I[3,1],body.I[3,2],body.I[3,3],body.I_11,body.I_21,body.I_22,body.I_31,body.I_32,body.I_33,body.Q[1],body.Q[2],body.Q[3],body.Q[4],body.Q_start[1],body.Q_start[2],body.Q_start[3],body.Q_start[4],body.R_start.T[1,1],body.R_start.T[1,2],body.R_start.T[1,3],body.R_start.T[2,1],body.R_start.T[2,2],body.R_start.T[2,3],body.R_start.T[3,1],body.R_start.T[3,2],body.R_start.T[3,3],body.R_start.w[1],body.R_start.w[2],body.R_start.w[3],body.a_0[1],body.a_0[2],body.a_0[3],body.angles_fixed,body.angles_start[1],body.angles_start[2],body.angles_start[3],body.animation,body.cylinder.R.T[1,1],body.cylinder.R.T[1,2],body.cylinder.R.T[1,3],body.cylinder.R.T[2,1],body.cylinder.R.T[2,2],body.cylinder.R.T[2,3],body.cylinder.R.T[3,1],body.cylinder.R.T[3,2],body.cylinder.R.T[3,3],body.cylinder.R.w[1],body.cylinder.R.w[2],body.cylinder.R.w[3],body.cylinder.color[1],body.cylinder.color[2],body.cylinder.color[3],body.cylinder.extra,body.cylinder.height,body.cylinder.length,body.cylinder.lengthDirection[1],body.cylinder.lengthDirection[2],body.cylinder.lengthDirection[3],body.cylinder.r[1],body.cylinder.r[2],body.cylinder.r[3],body.cylinder.r_shape[1],body.cylinder.r_shape[2],body.cylinder.r_shape[3],body.cylinder.specularCoefficient,body.cylinder.width,body.cylinder.widthDirection[1],body.cylinder.widthDirection[2],body.cylinder.widthDirection[3],body.cylinderColor[1],body.cylinderColor[2],body.cylinderColor[3],body.cylinderDiameter,body.enforceStates,body.frame_a.R.T[1,1],body.frame_a.R.T[1,2],body.frame_a.R.T[1,3],body.frame_a.R.T[2,1],body.frame_a.R.T[2,2],body.frame_a.R.T[2,3],body.frame_a.R.T[3,1],body.frame_a.R.T[3,2],body.frame_a.R.T[3,3],body.frame_a.R.w[1],body.frame_a.R.w[2],body.frame_a.R.w[3],body.frame_a.f[1],body.frame_a.f[2],body.frame_a.f[3],body.frame_a.r_0[1],body.frame_a.r_0[2],body.frame_a.r_0[3],body.frame_a.t[1],body.frame_a.t[2],body.frame_a.t[3],body.g_0[1],body.g_0[2],body.g_0[3],body.m,body.phi[1],body.phi[2],body.phi[3],body.phi_d[1],body.phi_d[2],body.phi_d[3],body.phi_dd[1],body.phi_dd[2],body.phi_dd[3],body.phi_start[1],body.phi_start[2],body.phi_start[3],body.r_0[1],body.r_0[2],body.r_0[3],body.r_CM[1],body.r_CM[2],body.r_CM[3],body.sequence_angleStates[1],body.sequence_angleStates[2],body.sequence_angleStates[3],body.sequence_start[1],body.sequence_start[2],body.sequence_start[3],body.specularCoefficient,body.sphere.R.T[1,1],body.sphere.R.T[1,2],body.sphere.R.T[1,3],body.sphere.R.T[2,1],body.sphere.R.T[2,2],body.sphere.R.T[2,3],body.sphere.R.T[3,1],body.sphere.R.T[3,2],body.sphere.R.T[3,3],body.sphere.R.w[1],body.sphere.R.w[2],body.sphere.R.w[3],body.sphere.color[1],body.sphere.color[2],body.sphere.color[3],body.sphere.extra,body.sphere.height,body.sphere.length,body.sphere.lengthDirection[1],body.sphere.lengthDirection[2],body.sphere.lengthDirection[3],body.sphere.r[1],body.sphere.r[2],body.sphere.r[3],body.sphere.r_shape[1],body.sphere.r_shape[2],body.sphere.r_shape[3],body.sphere.specularCoefficient,body.sphere.width,body.sphere.widthDirection[1],body.sphere.widthDirection[2],body.sphere.widthDirection[3],body.sphereColor[1],body.sphereColor[2],body.sphereColor[3],body.sphereDiameter,body.useQuaternions,body.v_0[1],body.v_0[2],body.v_0[3],body.w_0_fixed,body.w_0_start[1],body.w_0_start[2],body.w_0_start[3],body.w_a[1],body.w_a[2],body.w_a[3],body.z_0_fixed,body.z_0_start[1],body.z_0_start[2],body.z_0_start[3],body.z_a[1],body.z_a[2],body.z_a[3],body.z_a_start[1],body.z_a_start[2],body.z_a_start[3],bodyBox.I[1,1],bodyBox.I[1,2],bodyBox.I[1,3],bodyBox.I[2,1],bodyBox.I[2,2],bodyBox.I[2,3],bodyBox.I[3,1],bodyBox.I[3,2],bodyBox.I[3,3],bodyBox.R.T[1,1],bodyBox.R.T[1,2],bodyBox.R.T[1,3],bodyBox.R.T[2,1],bodyBox.R.T[2,2],bodyBox.R.T[2,3],bodyBox.R.T[3,1],bodyBox.R.T[3,2],bodyBox.R.T[3,3],bodyBox.R.w[1],bodyBox.R.w[2],bodyBox.R.w[3],bodyBox.a_0[1],bodyBox.a_0[2],bodyBox.a_0[3],bodyBox.angles_fixed,bodyBox.angles_start[1],bodyBox.angles_start[2],bodyBox.angles_start[3],bodyBox.animation,bodyBox.body.I[1,1],bodyBox.body.I[1,2],bodyBox.body.I[1,3],bodyBox.body.I[2,1],bodyBox.body.I[2,2],bodyBox.body.I[2,3],bodyBox.body.I[3,1],bodyBox.body.I[3,2],bodyBox.body.I[3,3],bodyBox.body.I_11,bodyBox.body.I_21,bodyBox.body.I_22,bodyBox.body.I_31,bodyBox.body.I_32,bodyBox.body.I_33,bodyBox.body.Q[1],bodyBox.body.Q[2],bodyBox.body.Q[3],bodyBox.body.Q[4],bodyBox.body.Q_start[1],bodyBox.body.Q_start[2],bodyBox.body.Q_start[3],bodyBox.body.Q_start[4],bodyBox.body.R_start.T[1,1],bodyBox.body.R_start.T[1,2],bodyBox.body.R_start.T[1,3],bodyBox.body.R_start.T[2,1],bodyBox.body.R_start.T[2,2],bodyBox.body.R_start.T[2,3],bodyBox.body.R_start.T[3,1],bodyBox.body.R_start.T[3,2],bodyBox.body.R_start.T[3,3],bodyBox.body.R_start.w[1],bodyBox.body.R_start.w[2],bodyBox.body.R_start.w[3],bodyBox.body.a_0[1],bodyBox.body.a_0[2],bodyBox.body.a_0[3],bodyBox.body.angles_fixed,bodyBox.body.angles_start[1],bodyBox.body.angles_start[2],bodyBox.body.angles_start[3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