Running command: "" <> buildModelFMU(ModelicaTest.MultiBody.Joints.Universal,fileNamePrefix="ModelicaTest_3_2_2_cs_ModelicaTest_MultiBody_Joints_Universal",fmuType="cs",version="2.0",platforms={"dynamic"})
Notification: Performance of loadModel(ModelicaTest): time 3.283/3.283, allocations: 235.1 MB / 242.3 MB, free: 9.578 MB / 202.7 MB
Notification: Performance of FrontEnd - loaded program: time 3.887e-05/3.903e-05, allocations: 4 kB / 299.6 MB, free: 204 kB / 250.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.4482/0.4483, allocations: 54.85 MB / 354.4 MB, free: 15.2 MB / 298.7 MB
Notification: Performance of FrontEnd - scodeFlatten: time 0.3121/0.7605, allocations: 96.25 MB / 450.7 MB, free: 14.8 MB / 394.7 MB
Notification: Performance of FrontEnd - mkProgramGraph: time 0.0003647/0.7609, allocations: 71.97 kB / 450.7 MB, free: 14.73 MB / 394.7 MB
Notification: Performance of FrontEnd - DAE generated: time 0.9927/1.754, allocations: 92.86 MB / 0.5308 GB, free: 33.11 MB / 394.7 MB
Notification: Performance of FrontEnd: time 2.635e-06/1.754, allocations: 4 kB / 0.5309 GB, free: 33.1 MB / 394.7 MB
Notification: Performance of Transformations before backend: time 0.0002425/1.754, allocations: 83.98 kB / 0.5309 GB, free: 33.02 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: 1763
 * Number of variables: 1763
Notification: Performance of Generate backend data structure: time 0.01947/1.773, allocations: 4.232 MB / 0.5351 GB, free: 28.72 MB / 394.7 MB
Notification: Performance of prepare preOptimizeDAE: time 6.114e-05/1.774, allocations: 8.031 kB / 0.5351 GB, free: 28.71 MB / 394.7 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.004482/1.778, allocations: 0.7024 MB / 0.5358 GB, free: 28 MB / 394.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.03732/1.815, allocations: 3.613 MB / 0.5393 GB, free: 24.38 MB / 394.7 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.0224/1.838, allocations: 4.459 MB / 0.5436 GB, free: 19.87 MB / 394.7 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0004317/1.838, allocations: 193.3 kB / 0.5438 GB, free: 19.68 MB / 394.7 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.003318/1.842, allocations: 264 kB / 0.5441 GB, free: 19.42 MB / 394.7 MB
Notification: Performance of preOpt removeEqualFunctionCalls (simulation): time 0.02389/1.866, allocations: 8.168 MB / 0.5521 GB, free: 11.25 MB / 394.7 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.06696/1.933, allocations: 10.71 MB / 0.5625 GB, free: 4 kB / 394.7 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0003762/1.933, allocations: 31.7 kB / 0.5625 GB, free: 15.97 MB / 410.7 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.002122/1.935, allocations: 16 kB / 0.5626 GB, free: 15.95 MB / 410.7 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.005595/1.941, allocations: 1.337 MB / 0.5639 GB, free: 14.62 MB / 410.7 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.1188/2.06, allocations: 38.78 MB / 0.6017 GB, free: 7.07 MB / 442.7 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.01581/2.076, allocations: 5.09 MB / 0.6067 GB, free: 1.75 MB / 442.7 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.01055/2.086, allocations: 2.921 MB / 0.6096 GB, free: 14.82 MB / 458.7 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.004542/2.091, allocations: 1.892 MB / 0.6114 GB, free: 12.6 MB / 458.7 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 0.0001116/2.091, allocations: 56.55 kB / 0.6115 GB, free: 12.54 MB / 458.7 MB
Notification: Performance of pre-optimization done (n=264): time 1.624e-05/2.091, allocations: 0 / 0.6115 GB, free: 12.54 MB / 458.7 MB
Notification: Performance of matching and sorting (n=285): time 0.5883/2.679, allocations: 16.71 MB / 0.6278 GB, free: 109.4 MB / 458.7 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 9.299e-05/2.679, allocations: 78.94 kB / 0.6279 GB, free: 109.4 MB / 458.7 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.007884/2.687, allocations: 2.445 MB / 0.6302 GB, free: 109.1 MB / 458.7 MB
Notification: Performance of collectPreVariables (initialization): time 0.0008689/2.688, allocations: 29.23 kB / 0.6303 GB, free: 109 MB / 458.7 MB
Notification: Performance of collectInitialEqns (initialization): time 0.003442/2.692, allocations: 3.074 MB / 0.6333 GB, free: 107.4 MB / 458.7 MB
Notification: Performance of collectInitialBindings (initialization): time 0.002255/2.694, allocations: 1.004 MB / 0.6342 GB, free: 106.8 MB / 458.7 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.001299/2.695, allocations: 0 / 0.6342 GB, free: 106.8 MB / 458.7 MB
Notification: Performance of setup shared object (initialization): time 0.0007728/2.696, allocations: 0.5734 MB / 0.6348 GB, free: 106.5 MB / 458.7 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.009047/2.705, allocations: 2.721 MB / 0.6375 GB, free: 106.5 MB / 458.7 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.01205/2.717, allocations: 6.103 MB / 0.6434 GB, free: 102.1 MB / 458.7 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01312/2.731, allocations: 4.094 MB / 0.6474 GB, free: 102.1 MB / 458.7 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001692/2.731, allocations: 36.09 kB / 0.6475 GB, free: 102.1 MB / 458.7 MB
Notification: Performance of matching and sorting (n=831) (initialization): time 0.0393/2.77, allocations: 9.419 MB / 0.6567 GB, free: 101.5 MB / 458.7 MB
Notification: Performance of prepare postOptimizeDAE: time 0.0001587/2.77, allocations: 56.12 kB / 0.6567 GB, free: 101.5 MB / 458.7 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0002688/2.771, allocations: 118.3 kB / 0.6568 GB, free: 101.5 MB / 458.7 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.01003/2.781, allocations: 1.392 MB / 0.6582 GB, free: 101.3 MB / 458.7 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.01504/2.796, allocations: 1.471 MB / 0.6596 GB, free: 101.1 MB / 458.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.0225/2.818, allocations: 6.805 MB / 0.6663 GB, free: 97.77 MB / 458.7 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.01109/2.83, allocations: 306.9 kB / 0.6666 GB, free: 97.77 MB / 458.7 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.002178/2.832, allocations: 357.5 kB / 0.6669 GB, free: 97.72 MB / 458.7 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 544
 * Number of states: 0 ()
 * Number of discrete variables: 27 (axis1.color[3],axis1.color[2],axis1.color[1],frame_a1.color_x[3],frame_a1.color_x[2],frame_a1.color_x[1],frame_a.color_x[3],frame_a.color_x[2],frame_a.color_x[1],body.sphereColor[3],body.sphereColor[2],body.sphereColor[1],universal.cylinderColor[3],universal.cylinderColor[2],universal.cylinderColor[1],axis2.color[3],axis2.color[2],axis2.color[1],world.gravitySphereColor[3],world.gravitySphereColor[2],world.gravitySphereColor[1],world.gravityArrowColor[3],world.gravityArrowColor[2],world.gravityArrowColor[1],world.axisColor_x[3],world.axisColor_x[2],world.axisColor_x[1])
 * Number of discrete states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (761):
 * Single equations (assignments): 754
 * Array equations: 6
 * 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 {(3,100.0%) 20}
 * Non-linear torn systems: 0
Notification: Performance of prepare postOptimizeDAE: time 0.003402/2.835, allocations: 406.6 kB / 0.6673 GB, free: 97.38 MB / 458.7 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001525/2.837, allocations: 291.5 kB / 0.6676 GB, free: 97.22 MB / 458.7 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.0291/2.866, allocations: 6.422 MB / 0.6738 GB, free: 95.09 MB / 458.7 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.0001668/2.866, allocations: 51.73 kB / 0.6739 GB, free: 95.09 MB / 458.7 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 1.927e-05/2.866, allocations: 7.531 kB / 0.6739 GB, free: 95.09 MB / 458.7 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 8.349e-05/2.866, allocations: 11.25 kB / 0.6739 GB, free: 95.09 MB / 458.7 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.06842/2.935, allocations: 12.81 MB / 0.6864 GB, free: 90.01 MB / 458.7 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 7.482e-05/2.935, allocations: 10.62 kB / 0.6864 GB, free: 90 MB / 458.7 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.007943/2.943, allocations: 461 kB / 0.6869 GB, free: 89.64 MB / 458.7 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.01131/2.954, allocations: 1.208 MB / 0.688 GB, free: 88.86 MB / 458.7 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.001076/2.955, allocations: 23.81 kB / 0.6881 GB, free: 88.84 MB / 458.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.02392/2.979, allocations: 6.145 MB / 0.6941 GB, free: 83.47 MB / 458.7 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 2.24e-05/2.979, allocations: 8 kB / 0.6941 GB, free: 83.46 MB / 458.7 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.04358/3.023, allocations: 10.28 MB / 0.7041 GB, free: 74.13 MB / 458.7 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.005115/3.028, allocations: 0.8032 MB / 0.7049 GB, free: 73.37 MB / 458.7 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.002135/3.03, allocations: 11.8 kB / 0.7049 GB, free: 73.36 MB / 458.7 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.00666/3.037, allocations: 167.8 kB / 0.7051 GB, free: 73.27 MB / 458.7 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.001606/3.039, allocations: 163.8 kB / 0.7052 GB, free: 73.17 MB / 458.7 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.001019/3.04, allocations: 79.42 kB / 0.7053 GB, free: 73.09 MB / 458.7 MB
Notification: Performance of sorting global known variables: time 0.006832/3.047, allocations: 1.597 MB / 0.7069 GB, free: 71.71 MB / 458.7 MB
Notification: Performance of sort global known variables: time 2.695e-06/3.047, allocations: 0 / 0.7069 GB, free: 71.71 MB / 458.7 MB
Notification: Performance of remove unused functions: time 0.01451/3.061, allocations: 0.9937 MB / 0.7078 GB, free: 70.72 MB / 458.7 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 32
 * 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 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (220):
 * Single equations (assignments): 213
 * Array equations: 6
 * 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%) 18}
 * Non-linear torn systems: 0
Notification: Performance of Backend phase and start with SimCode phase: time 0.04151/3.103, allocations: 12.77 MB / 0.7203 GB, free: 59.06 MB / 458.7 MB
Notification: Performance of simCode: created initialization part: time 0.01692/3.12, allocations: 6.661 MB / 0.7268 GB, free: 53.05 MB / 458.7 MB
Notification: Performance of simCode: created event and clocks part: time 1.329e-05/3.12, allocations: 0 / 0.7268 GB, free: 53.05 MB / 458.7 MB
Notification: Performance of simCode: created simulation system equations: time 0.006564/3.126, allocations: 2.674 MB / 0.7294 GB, free: 50.62 MB / 458.7 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.002757/3.129, allocations: 235.8 kB / 0.7296 GB, free: 50.42 MB / 458.7 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.05161/3.181, allocations: 10.93 MB / 0.7403 GB, free: 40.82 MB / 458.7 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.01277/3.194, allocations: 3.68 MB / 0.7439 GB, free: 37.25 MB / 458.7 MB
Notification: Performance of simCode: alias equations: time 0.01698/3.211, allocations: 2.32 MB / 0.7462 GB, free: 34.93 MB / 458.7 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.007244/3.218, allocations: 2.077 MB / 0.7482 GB, free: 32.85 MB / 458.7 MB
Notification: Performance of SimCode: time 2.544e-06/3.218, allocations: 4 kB / 0.7482 GB, free: 32.85 MB / 458.7 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.6793/3.898, allocations: 76.53 MB / 0.8229 GB, free: 116.8 MB / 474.7 MB
Notification: Performance of buildModelFMU: configured platform dynamic using cached values: time 0.0003581/3.898, allocations: 134.3 kB / 0.8231 GB, free: 116.7 MB / 474.7 MB
Notification: Performance of buildModelFMU: Generate platform dynamic: time 6.302/10.2, allocations: 8 kB / 0.8231 GB, free: 116.7 MB / 474.7 MB
""

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

Variables in the result:_D_cse1,_D_cse2,_D_cse3,_D_cse4,axis1.animation,axis1.color[1],axis1.color[2],axis1.color[3],axis1.diameter,axis1.frame_a.R.T[1,1],axis1.frame_a.R.T[1,2],axis1.frame_a.R.T[1,3],axis1.frame_a.R.T[2,1],axis1.frame_a.R.T[2,2],axis1.frame_a.R.T[2,3],axis1.frame_a.R.T[3,1],axis1.frame_a.R.T[3,2],axis1.frame_a.R.T[3,3],axis1.frame_a.R.w[1],axis1.frame_a.R.w[2],axis1.frame_a.R.w[3],axis1.frame_a.f[1],axis1.frame_a.f[2],axis1.frame_a.f[3],axis1.frame_a.r_0[1],axis1.frame_a.r_0[2],axis1.frame_a.r_0[3],axis1.frame_a.t[1],axis1.frame_a.t[2],axis1.frame_a.t[3],axis1.headLength,axis1.headWidth,axis1.length,axis1.lineLength,axis1.n[1],axis1.n[2],axis1.n[3],axis1.r_tail[1],axis1.r_tail[2],axis1.r_tail[3],axis1.specularCoefficient,axis2.animation,axis2.color[1],axis2.color[2],axis2.color[3],axis2.diameter,axis2.frame_a.R.T[1,1],axis2.frame_a.R.T[1,2],axis2.frame_a.R.T[1,3],axis2.frame_a.R.T[2,1],axis2.frame_a.R.T[2,2],axis2.frame_a.R.T[2,3],axis2.frame_a.R.T[3,1],axis2.frame_a.R.T[3,2],axis2.frame_a.R.T[3,3],axis2.frame_a.R.w[1],axis2.frame_a.R.w[2],axis2.frame_a.R.w[3],axis2.frame_a.f[1],axis2.frame_a.f[2],axis2.frame_a.f[3],axis2.frame_a.r_0[1],axis2.frame_a.r_0[2],axis2.frame_a.r_0[3],axis2.frame_a.t[1],axis2.frame_a.t[2],axis2.frame_a.t[3],axis2.headLength,axis2.headWidth,axis2.length,axis2.lineLength,axis2.n[1],axis2.n[2],axis2.n[3],axis2.r_tail[1],axis2.r_tail[2],axis2.r_tail[3],axis2.specularCoefficient,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],der(body.w_a[1]),der(body.w_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