Running command: "" <> buildModelFMU(ModelicaTest.MultiBody.Forces.Spring2,fileNamePrefix="ModelicaTest_3_2_2_cs_ModelicaTest_MultiBody_Forces_Spring2",fmuType="cs",version="2.0",platforms={"dynamic"})
Notification: Performance of loadModel(ModelicaTest): time 2.928/2.928, allocations: 235.2 MB / 242.3 MB, free: 9.574 MB / 202.7 MB
Notification: Performance of FrontEnd - loaded program: time 3.058e-05/3.076e-05, allocations: 0 / 299.6 MB, free: 208 kB / 250.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.4982/0.4982, allocations: 54.85 MB / 354.4 MB, free: 15.18 MB / 298.7 MB
Notification: Performance of FrontEnd - scodeFlatten: time 0.228/0.7263, allocations: 94.81 MB / 449.2 MB, free: 240 kB / 378.7 MB
Notification: Performance of FrontEnd - mkProgramGraph: time 0.0004276/0.7268, allocations: 75.97 kB / 449.3 MB, free: 164 kB / 378.7 MB
Notification: Performance of FrontEnd - DAE generated: time 0.9829/1.71, allocations: 94.49 MB / 0.531 GB, free: 33.4 MB / 394.7 MB
Notification: Performance of FrontEnd: time 2.485e-06/1.71, allocations: 0 / 0.531 GB, free: 33.4 MB / 394.7 MB
Notification: Performance of Transformations before backend: time 0.0003401/1.71, allocations: 91.98 kB / 0.5311 GB, free: 33.31 MB / 394.7 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 1679
 * Number of variables: 1679
Notification: Performance of Generate backend data structure: time 0.057/1.767, allocations: 5.828 MB / 0.5368 GB, free: 27.42 MB / 394.7 MB
Notification: Performance of prepare preOptimizeDAE: time 6.068e-05/1.767, allocations: 8.031 kB / 0.5368 GB, free: 27.41 MB / 394.7 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.004303/1.772, allocations: 0.673 MB / 0.5375 GB, free: 26.73 MB / 394.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.03501/1.807, allocations: 2.915 MB / 0.5403 GB, free: 23.8 MB / 394.7 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.03704/1.844, allocations: 7.19 MB / 0.5474 GB, free: 16.55 MB / 394.7 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0004735/1.844, allocations: 197.4 kB / 0.5475 GB, free: 16.35 MB / 394.7 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.003029/1.847, allocations: 291.8 kB / 0.5478 GB, free: 16.07 MB / 394.7 MB
Notification: Performance of preOpt removeEqualFunctionCalls (simulation): time 0.02396/1.871, allocations: 7.086 MB / 0.5547 GB, free: 8.973 MB / 394.7 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.03552/1.907, allocations: 10.64 MB / 0.5651 GB, free: 13.11 MB / 410.7 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0004611/1.907, allocations: 75.33 kB / 0.5652 GB, free: 13.04 MB / 410.7 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.002659/1.91, allocations: 36 kB / 0.5652 GB, free: 13 MB / 410.7 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.007332/1.917, allocations: 1.198 MB / 0.5664 GB, free: 11.8 MB / 410.7 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.1548/2.072, allocations: 56.15 MB / 0.6212 GB, free: 1.82 MB / 458.7 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.4725/2.545, allocations: 3.458 MB / 0.6246 GB, free: 105.9 MB / 458.7 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.01014/2.555, allocations: 2.217 MB / 0.6268 GB, free: 105.9 MB / 458.7 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.00281/2.558, allocations: 0.6756 MB / 0.6274 GB, free: 105.3 MB / 458.7 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 0.0001041/2.558, allocations: 54.69 kB / 0.6275 GB, free: 105.3 MB / 458.7 MB
Notification: Performance of pre-optimization done (n=205): time 1.141e-05/2.558, allocations: 0 / 0.6275 GB, free: 105.3 MB / 458.7 MB
Notification: Performance of matching and sorting (n=238): time 0.1493/2.707, allocations: 20.01 MB / 0.647 GB, free: 101.2 MB / 458.7 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.000146/2.708, allocations: 256.9 kB / 0.6473 GB, free: 100.9 MB / 458.7 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.0148/2.722, allocations: 3.457 MB / 0.6507 GB, free: 100.5 MB / 458.7 MB
Notification: Performance of collectPreVariables (initialization): time 0.001048/2.724, allocations: 28.52 kB / 0.6507 GB, free: 100.5 MB / 458.7 MB
Notification: Performance of collectInitialEqns (initialization): time 0.005391/2.729, allocations: 3.523 MB / 0.6541 GB, free: 98.64 MB / 458.7 MB
Notification: Performance of collectInitialBindings (initialization): time 0.002766/2.732, allocations: 0.9238 MB / 0.655 GB, free: 98.1 MB / 458.7 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.001514/2.733, allocations: 6.469 kB / 0.655 GB, free: 98.09 MB / 458.7 MB
Notification: Performance of setup shared object (initialization): time 0.0009986/2.734, allocations: 0.6228 MB / 0.6556 GB, free: 97.78 MB / 458.7 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.01106/2.746, allocations: 2.936 MB / 0.6585 GB, free: 97.76 MB / 458.7 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.01206/2.758, allocations: 7.277 MB / 0.6656 GB, free: 91.45 MB / 458.7 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01229/2.77, allocations: 4.527 MB / 0.67 GB, free: 90.12 MB / 458.7 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001961/2.77, allocations: 49.17 kB / 0.6701 GB, free: 90.11 MB / 458.7 MB
Notification: Performance of matching and sorting (n=985) (initialization): time 0.05189/2.822, allocations: 11.96 MB / 0.6818 GB, free: 86.96 MB / 458.7 MB
Notification: Performance of prepare postOptimizeDAE: time 0.000142/2.822, allocations: 72.88 kB / 0.6818 GB, free: 86.96 MB / 458.7 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.03043/2.853, allocations: 6.186 MB / 0.6879 GB, free: 84 MB / 458.7 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.02666/2.88, allocations: 3.28 MB / 0.6911 GB, free: 81.8 MB / 458.7 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.0167/2.896, allocations: 1.745 MB / 0.6928 GB, free: 80.3 MB / 458.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.03486/2.931, allocations: 15.11 MB / 0.7075 GB, free: 66.3 MB / 458.7 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.01804/2.949, allocations: 0.6419 MB / 0.7082 GB, free: 65.88 MB / 458.7 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.002631/2.952, allocations: 461.7 kB / 0.7086 GB, free: 65.44 MB / 458.7 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 705
 * Number of states: 0 ()
 * Number of discrete variables: 42 (fixedTranslation1.color[3],fixedTranslation1.color[2],fixedTranslation1.color[1],body2.sphereColor[3],body2.sphereColor[2],body2.sphereColor[1],spring2.massColor[3],spring2.massColor[2],spring2.massColor[1],spring2.color[3],spring2.color[2],spring2.color[1],body1.sphereColor[3],body1.sphereColor[2],body1.sphereColor[1],body.sphereColor[3],body.sphereColor[2],body.sphereColor[1],spring1.color[3],spring1.color[2],spring1.color[1],spring1.massColor[3],spring1.massColor[2],spring1.massColor[1],spring.color[3],spring.color[2],spring.color[1],spring.massColor[3],spring.massColor[2],spring.massColor[1],fixedTranslation.color[3],fixedTranslation.color[2],fixedTranslation.color[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 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (906):
 * Single equations (assignments): 886
 * Array equations: 9
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 8
 * Torn equation systems: 3
 * Mixed (continuous/discrete) equation systems: 0
Notification: Equation system details:
 * Constant Jacobian: 0
 * Linear Jacobian (size,density): 5 {(4,100.0%),(4,100.0%),(3,100.0%),(4,100.0%),(3,100.0%)}
 * Non-linear Jacobian: 3 {4,4,4}
 * Without analytic Jacobian: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 3 {(5,100.0%) 13,(2,100.0%) 1,(2,100.0%) 1}
 * Non-linear torn systems: 0
Notification: Performance of prepare postOptimizeDAE: time 0.003259/2.955, allocations: 0.4939 MB / 0.7091 GB, free: 64.95 MB / 458.7 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001885/2.957, allocations: 375.1 kB / 0.7094 GB, free: 64.57 MB / 458.7 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.03436/2.992, allocations: 6.695 MB / 0.716 GB, free: 59.58 MB / 458.7 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.02985/3.022, allocations: 6.076 MB / 0.7219 GB, free: 55.04 MB / 458.7 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 5.281e-05/3.022, allocations: 15.95 kB / 0.7219 GB, free: 55.02 MB / 458.7 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 9.118e-05/3.022, allocations: 11.34 kB / 0.7219 GB, free: 55.02 MB / 458.7 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.05628/3.078, allocations: 14.36 MB / 0.736 GB, free: 41.9 MB / 458.7 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.554e-05/3.078, allocations: 4 kB / 0.736 GB, free: 41.89 MB / 458.7 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.004971/3.083, allocations: 415.3 kB / 0.7364 GB, free: 41.49 MB / 458.7 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.0234/3.107, allocations: 3.274 MB / 0.7396 GB, free: 38.18 MB / 458.7 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0008726/3.108, allocations: 47.94 kB / 0.7396 GB, free: 38.13 MB / 458.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.03489/3.142, allocations: 16.01 MB / 0.7552 GB, free: 21.47 MB / 458.7 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.003775/3.146, allocations: 4.249 MB / 0.7594 GB, free: 16.86 MB / 458.7 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.03874/3.185, allocations: 10.41 MB / 0.7696 GB, free: 6.289 MB / 458.7 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.00165/3.187, allocations: 444 kB / 0.77 GB, free: 5.832 MB / 458.7 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.002029/3.189, allocations: 23.98 kB / 0.77 GB, free: 5.809 MB / 458.7 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.006985/3.196, allocations: 303.5 kB / 0.7703 GB, free: 5.512 MB / 458.7 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.001445/3.197, allocations: 181.6 kB / 0.7705 GB, free: 5.336 MB / 458.7 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0006076/3.198, allocations: 67.95 kB / 0.7705 GB, free: 5.27 MB / 458.7 MB
Notification: Performance of sorting global known variables: time 0.006609/3.205, allocations: 2.295 MB / 0.7728 GB, free: 2.965 MB / 458.7 MB
Notification: Performance of sort global known variables: time 1.052e-06/3.205, allocations: 0 / 0.7728 GB, free: 2.965 MB / 458.7 MB
Notification: Performance of remove unused functions: time 0.01208/3.217, allocations: 1.369 MB / 0.7741 GB, free: 1.602 MB / 458.7 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 11
 * Number of states: 36 ($STATESET139886546203018.x[3],$STATESET139886546203018.x[2],$STATESET139886546203018.x[1],$STATESET139886546203017.x[3],$STATESET139886546203017.x[2],$STATESET139886546203017.x[1],$STATESET139886546203016.x[3],$STATESET139886546203016.x[2],$STATESET139886546203016.x[1],body.frame_a.r_0[1],body.frame_a.r_0[2],body.frame_a.r_0[3],body.v_0[1],body.v_0[2],body.v_0[3],body.w_a[1],body.w_a[2],body.w_a[3],body1.frame_a.r_0[1],body1.frame_a.r_0[2],body1.frame_a.r_0[3],body1.v_0[1],body1.v_0[2],body1.v_0[3],body1.w_a[1],body1.w_a[2],body1.w_a[3],body2.frame_a.r_0[1],body2.frame_a.r_0[2],body2.frame_a.r_0[3],body2.v_0[1],body2.v_0[2],body2.v_0[3],body2.w_a[1],body2.w_a[2],body2.w_a[3])
 * Number of discrete variables: 0 ()
 * Number of discrete states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (177):
 * Single equations (assignments): 163
 * Array equations: 3
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 8
 * Torn equation systems: 3
 * Mixed (continuous/discrete) equation systems: 0
Notification: Equation system details:
 * Constant Jacobian: 0
 * Linear Jacobian (size,density): 5 {(3,100.0%),(4,100.0%),(3,100.0%),(4,100.0%),(4,100.0%)}
 * Non-linear Jacobian: 3 {4,4,4}
 * Without analytic Jacobian: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 3 {(5,100.0%) 8,(2,100.0%) 1,(2,100.0%) 1}
 * Non-linear torn systems: 0
Notification: Performance of Backend phase and start with SimCode phase: time 0.04583/3.263, allocations: 11.61 MB / 0.7855 GB, free: 5.855 MB / 474.7 MB
Notification: Performance of simCode: created initialization part: time 0.03299/3.296, allocations: 8.714 MB / 0.794 GB, free: 13.01 MB / 490.7 MB
Notification: Performance of simCode: created event and clocks part: time 1.033e-05/3.296, allocations: 4.25 kB / 0.794 GB, free: 13 MB / 490.7 MB
Notification: Performance of simCode: created simulation system equations: time 0.02063/3.316, allocations: 4.447 MB / 0.7983 GB, free: 8.387 MB / 490.7 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.005177/3.322, allocations: 408.2 kB / 0.7987 GB, free: 7.996 MB / 490.7 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.4835/3.805, allocations: 12.55 MB / 0.8109 GB, free: 125.2 MB / 490.7 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.01085/3.816, allocations: 3.723 MB / 0.8146 GB, free: 124.4 MB / 490.7 MB
Notification: Performance of simCode: alias equations: time 0.01486/3.831, allocations: 2.27 MB / 0.8168 GB, free: 124.2 MB / 490.7 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.008127/3.839, allocations: 2.2 MB / 0.8189 GB, free: 124.2 MB / 490.7 MB
Notification: Performance of SimCode: time 2.555e-06/3.839, allocations: 2.156 kB / 0.819 GB, free: 124.2 MB / 490.7 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.3166/4.156, allocations: 99.75 MB / 0.9164 GB, free: 57.74 MB / 490.7 MB
Notification: Performance of buildModelFMU: configured platform dynamic using cached values: time 0.0003126/4.156, allocations: 134.8 kB / 0.9165 GB, free: 57.55 MB / 490.7 MB
Notification: Performance of buildModelFMU: Generate platform dynamic: time 8.18/12.34, allocations: 0 / 0.9165 GB, free: 57.55 MB / 490.7 MB
""

Variables in the reference:time,body.Q[1],body.Q[2],body.Q[3],body.Q[4],body.frame_a.r_0[1],body.frame_a.r_0[2],body.frame_a.r_0[3],body.v_0[1],body.v_0[2],body.v_0[3],body.w_a[1],body.w_a[2],body.w_a[3],body1.Q[1],body1.Q[2],body1.Q[3],body1.Q[4],body1.frame_a.r_0[1],body1.frame_a.r_0[2],body1.frame_a.r_0[3],body1.v_0[1],body1.v_0[2],body1.v_0[3],body1.w_a[1],body1.w_a[2],body1.w_a[3],body2.Q[1],body2.Q[2],body2.Q[3],body2.Q[4],body2.frame_a.r_0[1],body2.frame_a.r_0[2],body2.frame_a.r_0[3],body2.v_0[1],body2.v_0[2],body2.v_0[3],body2.w_a[1],body2.w_a[2],body2.w_a[3]

Variables in the result:_D_STATESET139886546203016.A[1,1],_D_STATESET139886546203016.A[1,2],_D_STATESET139886546203016.A[1,3],_D_STATESET139886546203016.A[1,4],_D_STATESET139886546203016.A[2,1],_D_STATESET139886546203016.A[2,2],_D_STATESET139886546203016.A[2,3],_D_STATESET139886546203016.A[2,4],_D_STATESET139886546203016.A[3,1],_D_STATESET139886546203016.A[3,2],_D_STATESET139886546203016.A[3,3],_D_STATESET139886546203016.A[3,4],_D_STATESET139886546203016.x[1],_D_STATESET139886546203016.x[2],_D_STATESET139886546203016.x[3],_D_STATESET139886546203017.A[1,1],_D_STATESET139886546203017.A[1,2],_D_STATESET139886546203017.A[1,3],_D_STATESET139886546203017.A[1,4],_D_STATESET139886546203017.A[2,1],_D_STATESET139886546203017.A[2,2],_D_STATESET139886546203017.A[2,3],_D_STATESET139886546203017.A[2,4],_D_STATESET139886546203017.A[3,1],_D_STATESET139886546203017.A[3,2],_D_STATESET139886546203017.A[3,3],_D_STATESET139886546203017.A[3,4],_D_STATESET139886546203017.x[1],_D_STATESET139886546203017.x[2],_D_STATESET139886546203017.x[3],_D_STATESET139886546203018.A[1,1],_D_STATESET139886546203018.A[1,2],_D_STATESET139886546203018.A[1,3],_D_STATESET139886546203018.A[1,4],_D_STATESET139886546203018.A[2,1],_D_STATESET139886546203018.A[2,2],_D_STATESET139886546203018.A[2,3],_D_STATESET139886546203018.A[2,4],_D_STATESET139886546203018.A[3,1],_D_STATESET139886546203018.A[3,2],_D_STATESET139886546203018.A[3,3],_D_STATESET139886546203018.A[3,4],_D_STATESET139886546203018.x[1],_D_STATESET139886546203018.x[2],_D_STATESET139886546203018.x[3],_D_cse1,_D_cse2,_D_cse3,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],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