Running: ./testmodel.py --libraries=/var/lib/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr ModelicaTest_3.2.1_ModelicaTest.MultiBody.Joints.JointUSP2.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.JointUSP2,fileNamePrefix="ModelicaTest_3_2_1_ModelicaTest_MultiBody_Joints_JointUSP2",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 0.009852/0.009853, allocations: 163.4 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 1.793/1.793, 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 0.001828/0.001827, allocations: 102.8 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 0.4439/0.4439, allocations: 38.05 MB / 303.7 MB, free: 42.43 MB / 250.7 MB
Notification: Performance of FrontEnd - loaded program: time 0.0004994/0.0004996, allocations: 8 kB / 363 MB, free: 5.473 MB / 266.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.105/0.1056, allocations: 48.71 MB / 411.7 MB, free: 4.68 MB / 314.7 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.JointUSP2): time 0.3311/0.4368, allocations: 41.91 MB / 453.6 MB, free: 27.68 MB / 330.7 MB
Notification: Performance of NFInst.instExpressions: time 0.02573/0.4626, allocations: 9.8 MB / 463.4 MB, free: 21 MB / 330.7 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.009174/0.4718, allocations: 201.1 kB / 463.6 MB, free: 20.97 MB / 330.7 MB
Notification: Performance of NFTyping.typeComponents: time 0.006953/0.4788, allocations: 1.998 MB / 465.6 MB, free: 20.3 MB / 330.7 MB
Notification: Performance of NFTyping.typeBindings: time 0.02282/0.5017, allocations: 7.107 MB / 472.7 MB, free: 17.26 MB / 330.7 MB
Notification: Performance of NFTyping.typeClassSections: time 0.005037/0.5067, allocations: 0.9828 MB / 473.7 MB, free: 16.9 MB / 330.7 MB
Notification: Performance of NFFlatten.flatten: time 0.03398/0.5408, allocations: 17.25 MB / 490.9 MB, free: 9.914 MB / 330.7 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.01237/0.5532, allocations: 6.29 MB / 497.2 MB, free: 6.309 MB / 330.7 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.004118/0.5574, allocations: 1.653 MB / 498.9 MB, free: 5.285 MB / 330.7 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.005334/0.5628, allocations: 2.683 MB / 0.4898 GB, free: 2.594 MB / 330.7 MB
Notification: Performance of NFPackage.collectConstants: time 0.001318/0.5641, allocations: 200 kB / 0.49 GB, free: 2.398 MB / 330.7 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.004215/0.5684, allocations: 1.26 MB / 0.4912 GB, free: 1.137 MB / 330.7 MB
Notification: Performance of NFScalarize.scalarize: time 0.003993/0.5724, allocations: 2.283 MB / 0.4935 GB, free: 14.85 MB / 346.7 MB
Notification: Performance of NFVerifyModel.verify: time 0.002517/0.575, allocations: 1.088 MB / 0.4945 GB, free: 13.75 MB / 346.7 MB
Notification: Performance of NFConvertDAE.convert: time 0.01387/0.5889, allocations: 7.918 MB / 0.5023 GB, free: 5.812 MB / 346.7 MB
Notification: Performance of FrontEnd - DAE generated: time 1.01e-05/0.589, allocations: 4 kB / 0.5023 GB, free: 5.809 MB / 346.7 MB
Notification: Performance of FrontEnd: time 2.936e-06/0.589, allocations: 0 / 0.5023 GB, free: 5.809 MB / 346.7 MB
Notification: Performance of Transformations before backend: time 0.0003386/0.5893, allocations: 4 kB / 0.5023 GB, free: 5.805 MB / 346.7 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 1928
 * Number of variables: 1928
Notification: Performance of Generate backend data structure: time 0.0238/0.6131, allocations: 5.609 MB / 0.5078 GB, free: 124 kB / 346.7 MB
Notification: Performance of prepare preOptimizeDAE: time 5.149e-05/0.6132, allocations: 12.03 kB / 0.5078 GB, free: 112 kB / 346.7 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.003476/0.6167, allocations: 0.9135 MB / 0.5087 GB, free: 15.18 MB / 362.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.1746/0.7913, allocations: 7.604 MB / 0.5161 GB, free: 7.562 MB / 362.7 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.01515/0.8065, allocations: 4.529 MB / 0.5205 GB, free: 2.973 MB / 362.7 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0005364/0.8071, allocations: 345.9 kB / 0.5208 GB, free: 2.625 MB / 362.7 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.002075/0.8092, allocations: 428.2 kB / 0.5212 GB, free: 2.207 MB / 362.7 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.04006/0.8493, allocations: 13.79 MB / 0.5347 GB, free: 3.566 MB / 378.7 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0002372/0.8496, allocations: 55.52 kB / 0.5348 GB, free: 3.512 MB / 378.7 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.001345/0.8509, allocations: 199.8 kB / 0.535 GB, free: 3.316 MB / 378.7 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.006019/0.857, allocations: 2.355 MB / 0.5373 GB, free: 0.9609 MB / 378.7 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.03806/0.8951, allocations: 11.59 MB / 0.5486 GB, free: 5.352 MB / 394.7 MB
Warning: The model contains alias variables with redundant start and/or conflicting nominal values. It is recommended to resolve the conflicts, because otherwise the system could be hard to solve. To print the conflicting alias sets and the chosen candidates please use -d=aliasConflicts.
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.4247/1.32, allocations: 51.23 MB / 0.5986 GB, free: 93.38 MB / 426.7 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.02048/1.34, allocations: 4.773 MB / 0.6033 GB, free: 92.59 MB / 426.7 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.00598/1.346, allocations: 2.791 MB / 0.606 GB, free: 92.54 MB / 426.7 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.02852/1.375, allocations: 12.41 MB / 0.6181 GB, free: 86.6 MB / 426.7 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 4.787e-05/1.375, allocations: 53.48 kB / 0.6182 GB, free: 86.55 MB / 426.7 MB
Notification: Performance of pre-optimization done (n=193): time 5.24e-06/1.375, allocations: 0 / 0.6182 GB, free: 86.55 MB / 426.7 MB
Notification: Performance of matching and sorting (n=246): time 0.2717/1.647, allocations: 42.44 MB / 0.6596 GB, free: 67.99 MB / 426.7 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 8.903e-05/1.647, allocations: 234.8 kB / 0.6598 GB, free: 67.71 MB / 426.7 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.008866/1.656, allocations: 4.779 MB / 0.6645 GB, free: 62.93 MB / 426.7 MB
Notification: Performance of collectPreVariables (initialization): time 0.0006653/1.657, allocations: 61.7 kB / 0.6646 GB, free: 62.86 MB / 426.7 MB
Notification: Performance of collectInitialEqns (initialization): time 0.002842/1.659, allocations: 3.882 MB / 0.6683 GB, free: 58.98 MB / 426.7 MB
Notification: Performance of collectInitialBindings (initialization): time 0.001322/1.661, allocations: 0.9275 MB / 0.6692 GB, free: 58.06 MB / 426.7 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0007216/1.661, allocations: 144 kB / 0.6694 GB, free: 57.92 MB / 426.7 MB
Notification: Performance of setup shared object (initialization): time 0.0003699/1.662, allocations: 0.6039 MB / 0.67 GB, free: 57.31 MB / 426.7 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.007124/1.669, allocations: 3.239 MB / 0.6731 GB, free: 54.07 MB / 426.7 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.009424/1.678, allocations: 7.497 MB / 0.6805 GB, free: 44.54 MB / 426.7 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.009883/1.688, allocations: 4.777 MB / 0.6851 GB, free: 39.86 MB / 426.7 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 9.562e-05/1.689, allocations: 44 kB / 0.6852 GB, free: 39.81 MB / 426.7 MB
Notification: Performance of matching and sorting (n=935) (initialization): time 0.04427/1.733, allocations: 13.78 MB / 0.6986 GB, free: 26.02 MB / 426.7 MB
Notification: Performance of prepare postOptimizeDAE: time 0.0001074/1.733, allocations: 80.19 kB / 0.6987 GB, free: 25.94 MB / 426.7 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0001873/1.733, allocations: 148 kB / 0.6988 GB, free: 25.8 MB / 426.7 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.02054/1.754, allocations: 3.799 MB / 0.7025 GB, free: 21.99 MB / 426.7 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.009083/1.763, allocations: 1.591 MB / 0.7041 GB, free: 20.39 MB / 426.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.04027/1.803, allocations: 18 MB / 0.7217 GB, free: 2.262 MB / 426.7 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.008206/1.811, allocations: 451.4 kB / 0.7221 GB, free: 1.82 MB / 426.7 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001342/1.813, allocations: 424 kB / 0.7225 GB, free: 1.406 MB / 426.7 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 681
 * Number of states: 0 ()
 * Number of discrete variables: 34 (jointUSP.prismatic.positiveBranch,bodyBox.color[3],bodyBox.color[2],bodyBox.color[1],bodyBox.body.sphereColor[3],bodyBox.body.sphereColor[2],bodyBox.body.sphereColor[1],revolute.cylinderColor[3],revolute.cylinderColor[2],revolute.cylinderColor[1],fixedTranslation.color[3],fixedTranslation.color[2],fixedTranslation.color[1],body.sphereColor[3],body.sphereColor[2],body.sphereColor[1],jointUSP.rod1Color[3],jointUSP.rod1Color[2],jointUSP.rod1Color[1],jointUSP.cylinderColor[3],jointUSP.cylinderColor[2],jointUSP.cylinderColor[1],jointUSP.sphereColor[3],jointUSP.sphereColor[2],jointUSP.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])
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (854):
 * Single equations (assignments): 850
 * 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 {(2,100.0%) 56}
 * Non-linear torn systems: 0
Notification: Performance of prepare postOptimizeDAE: time 0.006721/1.82, allocations: 2.665 MB / 0.7251 GB, free: 14.73 MB / 442.7 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001311/1.821, allocations: 442.4 kB / 0.7255 GB, free: 14.29 MB / 442.7 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.03304/1.854, allocations: 8.173 MB / 0.7335 GB, free: 6.098 MB / 442.7 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 6.936e-05/1.854, allocations: 24 kB / 0.7335 GB, free: 6.074 MB / 442.7 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 2.379e-05/1.854, allocations: 16 kB / 0.7336 GB, free: 6.059 MB / 442.7 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 6.196e-05/1.854, allocations: 19.95 kB / 0.7336 GB, free: 6.039 MB / 442.7 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.06248/1.917, allocations: 17.6 MB / 0.7508 GB, free: 4.391 MB / 458.7 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 5.211e-05/1.917, allocations: 14.14 kB / 0.7508 GB, free: 4.379 MB / 458.7 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.003886/1.921, allocations: 407.3 kB / 0.7512 GB, free: 3.98 MB / 458.7 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.02251/1.943, allocations: 3.827 MB / 0.7549 GB, free: 152 kB / 458.7 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0006326/1.944, allocations: 40 kB / 0.7549 GB, free: 112 kB / 458.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.3192/2.263, allocations: 16.37 MB / 0.7709 GB, free: 138.9 MB / 458.7 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 5.58e-06/2.263, allocations: 3.281 kB / 0.7709 GB, free: 138.9 MB / 458.7 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.03712/2.3, allocations: 12.64 MB / 0.7833 GB, free: 134.6 MB / 458.7 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.003273/2.304, allocations: 0.9431 MB / 0.7842 GB, free: 134.3 MB / 458.7 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0009506/2.305, allocations: 51.48 kB / 0.7842 GB, free: 134.2 MB / 458.7 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.003919/2.309, allocations: 209.2 kB / 0.7844 GB, free: 134.2 MB / 458.7 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0007668/2.309, allocations: 150.6 kB / 0.7846 GB, free: 134.2 MB / 458.7 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0003034/2.31, allocations: 65.88 kB / 0.7846 GB, free: 134.2 MB / 458.7 MB
Notification: Performance of sorting global known variables: time 0.006958/2.317, allocations: 2.986 MB / 0.7876 GB, free: 133.2 MB / 458.7 MB
Notification: Performance of sort global known variables: time 6.82e-07/2.317, allocations: 5.562 kB / 0.7876 GB, free: 133.2 MB / 458.7 MB
Notification: Performance of remove unused functions: time 0.009302/2.326, allocations: 1.442 MB / 0.789 GB, free: 133 MB / 458.7 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 14
 * Number of states: 2 (revolute.phi,revolute.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 (173):
 * Single equations (assignments): 169
 * 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 {(2,100.0%) 50}
 * Non-linear torn systems: 0
Notification: Performance of Backend phase and start with SimCode phase: time 0.04135/2.367, allocations: 13.33 MB / 0.802 GB, free: 128.1 MB / 458.7 MB
Notification: Performance of simCode: created initialization part: time 0.01641/2.384, allocations: 7.875 MB / 0.8097 GB, free: 125.1 MB / 458.7 MB
Notification: Performance of simCode: created event and clocks part: time 7.995e-06/2.384, allocations: 2.297 kB / 0.8097 GB, free: 125.1 MB / 458.7 MB
Notification: Performance of simCode: created simulation system equations: time 0.006077/2.39, allocations: 2.978 MB / 0.8126 GB, free: 123.8 MB / 458.7 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.004524/2.395, allocations: 0.5292 MB / 0.8131 GB, free: 123.6 MB / 458.7 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.1203/2.515, allocations: 50.37 MB / 0.8623 GB, free: 70.96 MB / 458.7 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.007549/2.522, allocations: 4.222 MB / 0.8664 GB, free: 66.71 MB / 458.7 MB
Notification: Performance of simCode: alias equations: time 0.009377/2.532, allocations: 2.171 MB / 0.8685 GB, free: 64.54 MB / 458.7 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.005199/2.537, allocations: 2.503 MB / 0.871 GB, free: 62.04 MB / 458.7 MB
Notification: Performance of SimCode: time 1.152e-06/2.537, allocations: 0 / 0.871 GB, free: 62.04 MB / 458.7 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.5197/3.057, allocations: 110.8 MB / 0.9792 GB, free: 115.1 MB / 458.7 MB
Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0002118/3.057, allocations: 199.5 kB / 0.9793 GB, free: 114.9 MB / 458.7 MB
Notification: Performance of buildModelFMU: Generate platform static: time 6.065/9.122, allocations: 8 kB / 0.9794 GB, free: 114.9 MB / 458.7 MB
""

Variables in the reference:time,revolute.phi,revolute.w

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],bodyBox.body.animation,bodyBox.body.cylinderColor[1],bodyBox.body.cylinderColor[2],bodyBox.body.cylinderColor[3],bodyBox.body.cylinderDiameter,bodyBox.body.enforceStates,bodyBox.body.frame_a.R.T[1,1],bodyBox.body.frame_a.R.T[1,2],bodyBox.body.frame_a.R.T[1,3],bodyBox.body.frame_a.R.T[2,1],bodyBox.body.frame_a.R.T[2,2],bodyBox.body.frame_a.R.T[2,3],bodyBox.body.frame_a.R.T[3,1],bodyBox.body.frame_a.R.T[3,2],bodyBox.body.frame_a.R.T[3,3],bodyBox.body.frame_a.R.w[1],bodyBox.body.frame_a.R.w[2],bodyBox.body.frame_a.R.w[3],bodyBox.body.frame_a.f[1],bodyBox.body.frame_a.f[2],bodyBox.body.frame_a.f[3],bodyBox.body.frame_a.r_0[1],bodyBox.body.frame_a.r_0[2],bodyBox.body.frame_a.r_0[3],bodyBox.body.frame_a.t[1],bodyBox.body.frame_a.t[2],bodyBox.body.frame_a.t[3],bodyBox.body.g_0[1],bodyBox.body.g_0[2],bodyBox.body.g_0[3],bodyBox.body.m,bodyBox.body.phi[1],bodyBox.body.phi[2],bodyBox.body.phi[3],bodyBox.body.phi_d[1],bodyBox.body.phi_d[2],bodyBox.body.phi_d[3],bodyBox.body.phi_dd[1],bodyBox.body.phi_dd[2],bodyBox.body.phi_dd[3],bodyBox.body.phi_start[1],bodyBox.body.phi_start[2],bodyBox.body.phi_start[3],bodyBox.body.r_0[1],bodyBox.body.r_0[2],bodyBox.body.r_0[3],bodyBox.body.r_CM[1],bodyBox.body.r_CM[2],bodyBox.body.r_CM[3],bodyBox.body.sequence_angleStates[1],bodyBox.body.sequence_angleStates[2],bodyBox.body.sequence_angleStates[3],bodyBox.body.sequence_start[1],bodyBox.body.sequence_start[2],bodyBox.body.sequence_start[3],bodyBox.body.specularCoefficient,bodyBox.body.sphereColor[1],bodyBox.body.sphereColor[2],bodyBox.body.sphereColor[3],bodyBox.body.sphereDiameter,bodyBox.body.useQuaternions,bodyBox.body.v_0[1],bodyBox.body.v_0[2],bodyBox.body.v_0[3],bodyBox.body.w_0_fixed,bodyBox.body.w_0_start[1],bodyBox.body.w_0_start[2],bodyBox.body.w_0_start[3],bodyBox.body.w_a[1],bodyBox.body.w_a[2],bodyBox.body.w_a[3],bodyBox.body.z_0_fixed,bodyBox.body.z_0_start[1],bodyBox.body.z_0_start[2],bodyBox.body.z_0_start[3],bodyBox.body.z_a[1],bodyBox.body.z_a[2],bodyBox.body.z_a[3],bodyBox.body.z_a_start[1],bodyBox.body.z_a_start[2],bodyBox.body.z_a_start[3],bodyBox.color[1],bodyBox.color[2],bodyBox.color[3],bodyBox.density,bodyBox.enforceStates,bodyBox.frameTranslation.animation,bodyBox.frameTranslation.color[1],bodyBox.frameTranslation.color[2],bodyBox.frameTranslation.color[3],bodyBox.frameTranslation.extra,bodyBox.frameTranslation.frame_a.R.T[1,1],bodyBox.frameTranslation.frame_a.R.T[1,2],bodyBox.frameTranslation.frame_a.R.T[1,3],bodyBox.frameTranslation.frame_a.R.T[2,1],bodyBox.frameTranslation.frame_a.R.T[2,2],bodyBox.frameTranslation.frame_a.R.T[2,3],bodyBox.frameTranslation.frame_a.R.T[3,1],bodyBox.frameTranslation.frame_a.R.T[3,2],bodyBox.frameTranslation.frame_a.R.T[3,3],bodyBox.frameTranslation.frame_a.R.w[1],bodyBox.frameTranslation.frame_a.R.w[2],bodyBox.frameTranslation.frame_a.R.w[3],bodyBox.frameTranslation.frame_a.f[1],bodyBox.frameTranslation.frame_a.f[2],bodyBox.frameTranslation.frame_a.f[3],bodyBox.frameTranslation.frame_a.r_0[1],bodyBox.frameTranslation.frame_a.r_0[2],bodyBox.frameTranslation.frame_a.r_0[3],bodyBox.frameTranslation.frame_a.t[1],bodyBox.frameTranslation.frame_a.t[2],bodyBox.frameTranslation.frame_a.t[3],bodyBox.frameTranslation.frame_b.R.T[1,1],bodyBox.frameTranslation.frame_b.R.T[1,2],bodyBox.frameTranslation.frame_b.R.T[1,3],bodyBox.frameTranslation.frame_b.R.T[2,1],bodyBox.frameTranslation.frame_b.R.T[2,2],bodyBox.frameTranslation.frame_b.R.T[2,3],bodyBox.frameTranslation.frame_b.R.T[3,1],bodyBox.frameTranslation.frame_b.R.T[3,2],bodyBox.frameTranslation.frame_b.R.T[3,3],bodyBox.frameTranslation.frame_b.R.w[1],bodyBox.frameTranslation.frame_b.R.w[2],bodyBox.frameTranslation.frame_b.R.w[3],bodyBox.frameTranslation.frame_b.f[1],bodyBox.frameTranslation.frame_b.f[2],bodyBox.frameTranslation.frame_b.f[3],bodyBox.frameTranslation.frame_b.r_0[1],bodyBox.frameTranslation.frame_b.r_0[2],bodyBox.frameTranslation.frame_b.r_0[3],bodyBox.frameTranslation.frame_b.t[1],bodyBox.frameTranslation.frame_b.t[2],bodyBox.frameTranslation.frame_b.t[3],bodyBox.frameTranslation.height,bodyBox.frameTranslation.length,bodyBox.frameTranslation.lengthDirection[1],bodyBox.frameTranslation.lengthDirection[2],bodyBox.frameTranslation.lengthDirection[3],bodyBox.frameTranslation.r[1],bodyBox.frameTranslation.r[2],bodyBox.frameTranslation.r[3],bodyBox.frameTranslation.r_shape[1],bodyBox.frameTranslation.r_shape[2],bodyBox.frameTranslation.r_shape[3],bodyBox.frameTranslation.shape.R.T[1,1],bodyBox.frameTranslation.shape.R.T[1,2],bodyBox.frameTranslation.shape.R.T[1,3],bodyBox.frameTranslation.shape.R.T[2,1],bodyBox.frameTranslation.shape.R.T[2,2],bodyBox.frameTranslation.shape.R.T[2,3],bodyBox.frameTranslation.shape.R.T[3,1],bodyBox.frameTranslation.shape.R.T[3,2],bodyBox.frameTranslation.shape.R.T[3,3],bodyBox.frameTranslation.shape.R.w[1],bodyBox.frameTranslation.shape.R.w[2],bodyBox.frameTranslation.shape.R.w[3],bodyBox.frameTranslation.shape.color[1],bodyBox.frameTranslation.shape.color[2],bodyBox.frameTranslation.shap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