Running command: "" <> buildModelFMU(ModelicaTest.Rotational.TestFriction,fileNamePrefix="ModelicaTest_3_2_2_cs_ModelicaTest_Rotational_TestFriction",fmuType="cs",version="2.0",platforms={"dynamic"})
Notification: Performance of loadModel(ModelicaTest): time 3.191/3.191, allocations: 235.2 MB / 242.3 MB, free: 9.582 MB / 202.7 MB
Notification: Performance of FrontEnd - loaded program: time 2.834e-05/2.843e-05, allocations: 4 kB / 299.5 MB, free: 224 kB / 250.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.4304/0.4304, allocations: 54.86 MB / 354.4 MB, free: 15.2 MB / 298.7 MB
Notification: Performance of FrontEnd - scodeFlatten: time 0.2568/0.6873, allocations: 85.74 MB / 440.2 MB, free: 9.328 MB / 378.7 MB
Notification: Performance of FrontEnd - mkProgramGraph: time 0.0003716/0.6877, allocations: 63.97 kB / 440.2 MB, free: 9.266 MB / 378.7 MB
Notification: Performance of FrontEnd - DAE generated: time 0.1013/0.7891, allocations: 11.64 MB / 451.9 MB, free: 13.58 MB / 394.7 MB
Notification: Performance of FrontEnd: time 2.655e-06/0.7891, allocations: 0 / 451.9 MB, free: 13.58 MB / 394.7 MB
Notification: Performance of Transformations before backend: time 6.279e-05/0.7892, allocations: 12 kB / 451.9 MB, free: 13.57 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: 151
 * Number of variables: 151
Notification: Performance of Generate backend data structure: time 0.004863/0.7941, allocations: 0.9396 MB / 452.8 MB, free: 12.59 MB / 394.7 MB
Notification: Performance of prepare preOptimizeDAE: time 6.851e-05/0.7942, allocations: 12.03 kB / 452.8 MB, free: 12.57 MB / 394.7 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.000279/0.7945, allocations: 78.45 kB / 452.9 MB, free: 12.49 MB / 394.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.0003285/0.7948, allocations: 79.06 kB / 453 MB, free: 12.41 MB / 394.7 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.001221/0.7961, allocations: 406.9 kB / 453.4 MB, free: 11.97 MB / 394.7 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 8.15e-05/0.7962, allocations: 29.31 kB / 453.4 MB, free: 11.94 MB / 394.7 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.0002881/0.7965, allocations: 47.86 kB / 453.4 MB, free: 11.89 MB / 394.7 MB
Notification: Performance of preOpt removeEqualFunctionCalls (simulation): time 0.002604/0.7991, allocations: 0.5726 MB / 454 MB, free: 11.32 MB / 394.7 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.002586/0.8017, allocations: 0.6598 MB / 454.7 MB, free: 10.63 MB / 394.7 MB
Notification: Performance of preOpt findStateOrder (simulation): time 6.599e-05/0.8018, allocations: 7.844 kB / 454.7 MB, free: 10.62 MB / 394.7 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0001539/0.802, allocations: 4 kB / 454.7 MB, free: 10.62 MB / 394.7 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 3.853e-05/0.802, allocations: 19.98 kB / 454.7 MB, free: 10.6 MB / 394.7 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.00999/0.812, allocations: 2.476 MB / 457.2 MB, free: 8.012 MB / 394.7 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.002219/0.8143, allocations: 0.5316 MB / 457.7 MB, free: 7.445 MB / 394.7 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.001146/0.8155, allocations: 324 kB / 458 MB, free: 7.117 MB / 394.7 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.000183/0.8157, allocations: 23.92 kB / 458.1 MB, free: 7.094 MB / 394.7 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 5.232e-05/0.8158, allocations: 42.73 kB / 458.1 MB, free: 7.043 MB / 394.7 MB
Notification: Performance of pre-optimization done (n=78): time 5.831e-06/0.8158, allocations: 0 / 458.1 MB, free: 7.043 MB / 394.7 MB
Notification: Performance of matching and sorting (n=82): time 0.01043/0.8262, allocations: 2.317 MB / 460.4 MB, free: 4.527 MB / 394.7 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.0001116/0.8264, allocations: 136.5 kB / 460.5 MB, free: 4.363 MB / 394.7 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.0007395/0.8272, allocations: 305.1 kB / 460.8 MB, free: 4.059 MB / 394.7 MB
Notification: Performance of collectPreVariables (initialization): time 0.0002301/0.8274, allocations: 41.69 kB / 460.9 MB, free: 4.012 MB / 394.7 MB
Notification: Performance of collectInitialEqns (initialization): time 0.0004216/0.8279, allocations: 264.6 kB / 461.1 MB, free: 3.746 MB / 394.7 MB
Notification: Performance of collectInitialBindings (initialization): time 0.0005685/0.8284, allocations: 276.2 kB / 461.4 MB, free: 3.473 MB / 394.7 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0001245/0.8286, allocations: 0 / 461.4 MB, free: 3.473 MB / 394.7 MB
Notification: Performance of setup shared object (initialization): time 0.0002969/0.8289, allocations: 366.8 kB / 461.8 MB, free: 3.105 MB / 394.7 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.001323/0.8302, allocations: 294.6 kB / 462.1 MB, free: 2.82 MB / 394.7 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.001527/0.8318, allocations: 447.2 kB / 462.5 MB, free: 2.328 MB / 394.7 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.001628/0.8335, allocations: 272.2 kB / 462.8 MB, free: 2.066 MB / 394.7 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 1.182e-05/0.8335, allocations: 4 kB / 462.8 MB, free: 2.062 MB / 394.7 MB
Notification: Performance of matching and sorting (n=116) (initialization): time 0.005951/0.8395, allocations: 1.046 MB / 463.8 MB, free: 1.004 MB / 394.7 MB
Notification: Performance of prepare postOptimizeDAE: time 3.877e-05/0.8395, allocations: 8 kB / 463.8 MB, free: 0.9961 MB / 394.7 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 4.862e-05/0.8396, allocations: 7.984 kB / 463.8 MB, free: 0.9883 MB / 394.7 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.002739/0.8424, allocations: 0.5931 MB / 464.4 MB, free: 392 kB / 394.7 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.001573/0.844, allocations: 143.8 kB / 464.6 MB, free: 248 kB / 394.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.4162/1.26, allocations: 2.645 MB / 467.2 MB, free: 94.21 MB / 394.7 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.004311/1.265, allocations: 184 kB / 467.4 MB, free: 94.21 MB / 394.7 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.0005502/1.265, allocations: 45.72 kB / 467.4 MB, free: 94.21 MB / 394.7 MB
Warning: Iteration variables with default zero start attribute in torn nonlinear equation system:
         oneWayClutch.sa:VARIABLE(unit = "1" protected = true )  "Path parameter of tau = f(a_rel) Friction characteristic" type: Real
Warning: Iteration variables with default zero start attribute in torn nonlinear equation system:
         clutch.sa:VARIABLE(unit = "1" )  "Path parameter of friction characteristic tau = f(a_relfric)" type: Real
Warning: Iteration variables with default zero start attribute in torn nonlinear equation system:
         brake.sa:VARIABLE(unit = "1" )  "Path parameter of friction characteristic tau = f(a_relfric)" type: Real
Warning: Iteration variables with default zero start attribute in torn nonlinear equation system:
         bearingFriction.sa:VARIABLE(unit = "1" )  "Path parameter of friction characteristic tau = f(a_relfric)" type: Real
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 19
 * Number of states: 0 ()
 * Number of discrete variables: 30 ($PRE.bearingFriction.startForward,bearingFriction.startForward,$PRE.bearingFriction.startBackward,bearingFriction.startBackward,bearingFriction.locked,$PRE.bearingFriction.mode,bearingFriction.mode,brake.free,$PRE.brake.startForward,brake.startForward,$PRE.brake.startBackward,brake.startBackward,brake.locked,$PRE.brake.mode,brake.mode,clutch.free,$PRE.clutch.startForward,clutch.startForward,$PRE.clutch.startBackward,clutch.startBackward,clutch.locked,$PRE.clutch.mode,clutch.mode,$PRE.oneWayClutch.startForward,oneWayClutch.startForward,oneWayClutch.locked,$PRE.oneWayClutch.stuck,oneWayClutch.stuck,oneWayClutch.free,bearingFriction.free)
 * Number of discrete states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (91):
 * Single equations (assignments): 83
 * Array equations: 0
 * Algorithm blocks: 0
 * Record equations: 4
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 0
 * Torn equation systems: 4
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 0
 * Non-linear torn systems: 4 {1 6,1 6,1 7,1 6}
Notification: Performance of prepare postOptimizeDAE: time 0.0008102/1.266, allocations: 134.3 kB / 467.6 MB, free: 94.1 MB / 394.7 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.0006703/1.267, allocations: 69.16 kB / 467.6 MB, free: 94.1 MB / 394.7 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.007637/1.274, allocations: 0.9759 MB / 468.6 MB, free: 94 MB / 394.7 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 2.667e-05/1.275, allocations: 12.23 kB / 468.6 MB, free: 94 MB / 394.7 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 1.657e-05/1.275, allocations: 2.297 kB / 468.6 MB, free: 94 MB / 394.7 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 2.503e-05/1.275, allocations: 4.969 kB / 468.6 MB, free: 94 MB / 394.7 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.008328/1.283, allocations: 1.899 MB / 470.5 MB, free: 93.44 MB / 394.7 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 1.904e-05/1.283, allocations: 2.344 kB / 470.5 MB, free: 93.44 MB / 394.7 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.001811/1.285, allocations: 125.9 kB / 470.6 MB, free: 93.44 MB / 394.7 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.002486/1.287, allocations: 0.5469 MB / 471.2 MB, free: 93.41 MB / 394.7 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0002348/1.288, allocations: 23.67 kB / 471.2 MB, free: 93.41 MB / 394.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.003925/1.292, allocations: 2.594 MB / 473.8 MB, free: 91.34 MB / 394.7 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 1.064e-05/1.292, allocations: 1.875 kB / 473.8 MB, free: 91.34 MB / 394.7 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.00547/1.297, allocations: 1.584 MB / 475.4 MB, free: 90.83 MB / 394.7 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.0006707/1.298, allocations: 214.4 kB / 475.6 MB, free: 90.73 MB / 394.7 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0002843/1.298, allocations: 17.55 kB / 475.6 MB, free: 90.73 MB / 394.7 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.00256/1.301, allocations: 161.5 kB / 475.8 MB, free: 90.73 MB / 394.7 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0008364/1.302, allocations: 174.9 kB / 476 MB, free: 90.72 MB / 394.7 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0001966/1.302, allocations: 37.2 kB / 476 MB, free: 90.71 MB / 394.7 MB
Notification: Performance of sorting global known variables: time 0.0004835/1.302, allocations: 258.8 kB / 476.2 MB, free: 90.58 MB / 394.7 MB
Notification: Performance of sort global known variables: time 7.42e-07/1.302, allocations: 0 / 476.2 MB, free: 90.58 MB / 394.7 MB
Notification: Performance of remove unused functions: time 0.001701/1.304, allocations: 169.8 kB / 476.4 MB, free: 90.58 MB / 394.7 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 6
 * Number of states: 12 (inertia4.phi,inertia4.w,oneWayClutch.phi_rel,oneWayClutch.w_rel,inertia2.phi,inertia2.w,clutch.phi_rel,clutch.w_rel,inertia1.w,brake.phi,inertia.w,bearingFriction.phi)
 * Number of discrete variables: 18 (oneWayClutch.startForward,oneWayClutch.locked,oneWayClutch.stuck,oneWayClutch.free,clutch.free,clutch.startForward,clutch.startBackward,clutch.locked,clutch.mode,brake.free,brake.startForward,brake.startBackward,brake.locked,brake.mode,bearingFriction.startForward,bearingFriction.startBackward,bearingFriction.locked,bearingFriction.mode)
 * Number of discrete states: 11 (bearingFriction.mode,bearingFriction.startForward,bearingFriction.startBackward,brake.mode,brake.startForward,brake.startBackward,clutch.mode,clutch.startForward,clutch.startBackward,oneWayClutch.stuck,oneWayClutch.startForward)
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (55):
 * Single equations (assignments): 51
 * Array equations: 0
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 0
 * Torn equation systems: 4
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 0
 * Non-linear torn systems: 4 {1 6,1 7,1 5,1 5}
Notification: Performance of Backend phase and start with SimCode phase: time 0.006017/1.31, allocations: 2.519 MB / 478.9 MB, free: 88.8 MB / 394.7 MB
Notification: Performance of simCode: created initialization part: time 0.003261/1.313, allocations: 0.8716 MB / 479.8 MB, free: 88.4 MB / 394.7 MB
Notification: Performance of simCode: created event and clocks part: time 8.085e-06/1.314, allocations: 0 / 479.8 MB, free: 88.4 MB / 394.7 MB
Notification: Performance of simCode: created simulation system equations: time 0.002125/1.316, allocations: 452.2 kB / 480.2 MB, free: 88.25 MB / 394.7 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.00164/1.317, allocations: 83.48 kB / 480.3 MB, free: 88.23 MB / 394.7 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.01091/1.328, allocations: 2.082 MB / 482.4 MB, free: 87.29 MB / 394.7 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.000533/1.329, allocations: 0.9261 MB / 483.3 MB, free: 86.57 MB / 394.7 MB
Notification: Performance of simCode: alias equations: time 0.0005822/1.329, allocations: 58.16 kB / 483.4 MB, free: 86.56 MB / 394.7 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.0005356/1.33, allocations: 206.9 kB / 483.6 MB, free: 86.41 MB / 394.7 MB
Notification: Performance of SimCode: time 1.463e-06/1.33, allocations: 4 kB / 483.6 MB, free: 86.4 MB / 394.7 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.1393/1.469, allocations: 17.99 MB / 0.4898 GB, free: 72.38 MB / 394.7 MB
Notification: Performance of buildModelFMU: configured platform dynamic using cached values: time 0.0002721/1.47, allocations: 137.7 kB / 0.49 GB, free: 72.18 MB / 394.7 MB
Notification: Performance of buildModelFMU: Generate platform dynamic: time 4.379/5.849, allocations: 0 / 0.49 GB, free: 72.18 MB / 394.7 MB
""

Variables in the reference:time,clutch.phi_rel,clutch.w_rel,inertia.phi,inertia.w,inertia1.phi,inertia1.w,inertia2.phi,inertia2.w,inertia5.phi,inertia5.w,oneWayClutch.phi_rel,oneWayClutch.w_rel,bearingFriction.mode,bearingFriction.startBackward,bearingFriction.startForward,brake.mode,brake.startBackward,brake.startForward,clutch.mode,clutch.startBackward,clutch.startForward,oneWayClutch.startForward,oneWayClutch.stuck

Variables in the result:bearingFriction.a,bearingFriction.a_relfric,bearingFriction.flange_a.phi,bearingFriction.flange_a.tau,bearingFriction.flange_b.phi,bearingFriction.flange_b.tau,bearingFriction.free,bearingFriction.locked,bearingFriction.lossPower,bearingFriction.mode,bearingFriction.peak,bearingFriction.phi,bearingFriction.phi_support,bearingFriction.sa,bearingFriction.startBackward,bearingFriction.startForward,bearingFriction.tau,bearingFriction.tau0,bearingFriction.tau0_max,bearingFriction.tau_pos[1,1],bearingFriction.tau_pos[1,2],bearingFriction.useHeatPort,bearingFriction.useSupport,bearingFriction.w,bearingFriction.w_relfric,bearingFriction.w_small,brake.a,brake.a_relfric,brake.cgeo,brake.f_normalized,brake.flange_a.phi,brake.flange_a.tau,brake.flange_b.phi,brake.flange_b.tau,brake.fn,brake.fn_max,brake.free,brake.locked,brake.lossPower,brake.mode,brake.mue0,brake.mue_pos[1,1],brake.mue_pos[1,2],brake.peak,brake.phi,brake.phi_support,brake.sa,brake.startBackward,brake.startForward,brake.tau,brake.tau0,brake.tau0_max,brake.useHeatPort,brake.useSupport,brake.w,brake.w_relfric,brake.w_small,clutch.a_rel,clutch.a_relfric,clutch.cgeo,clutch.f_normalized,clutch.flange_a.phi,clutch.flange_a.tau,clutch.flange_b.phi,clutch.flange_b.tau,clutch.fn,clutch.fn_max,clutch.free,clutch.locked,clutch.lossPower,clutch.mode,clutch.mue0,clutch.mue_pos[1,1],clutch.mue_pos[1,2],clutch.peak,clutch.phi_nominal,clutch.phi_rel,clutch.sa,clutch.startBackward,clutch.startForward,clutch.stateSelect,clutch.tau,clutch.tau0,clutch.tau0_max,clutch.useHeatPort,clutch.w_rel,clutch.w_relfric,clutch.w_small,der(bearingFriction.phi),der(brake.phi),der(clutch.phi_rel),der(clutch.w_rel),der(inertia.w),der(inertia1.w),der(inertia2.phi),der(inertia2.w),der(inertia3.phi),der(inertia3.w),der(inertia4.phi),der(inertia4.w),der(inertia5.phi),der(inertia5.w),der(oneWayClutch.phi_rel),der(oneWayClutch.w_rel),inertia.J,inertia.a,inertia.flange_a.phi,inertia.flange_a.tau,inertia.flange_b.phi,inertia.flange_b.tau,inertia.phi,inertia.stateSelect,inertia.w,inertia1.J,inertia1.a,inertia1.flange_a.phi,inertia1.flange_a.tau,inertia1.flange_b.phi,inertia1.flange_b.tau,inertia1.phi,inertia1.stateSelect,inertia1.w,inertia2.J,inertia2.a,inertia2.flange_a.phi,inertia2.flange_a.tau,inertia2.flange_b.phi,inertia2.flange_b.tau,inertia2.phi,inertia2.stateSelect,inertia2.w,inertia3.J,inertia3.a,inertia3.flange_a.phi,inertia3.flange_a.tau,inertia3.flange_b.phi,inertia3.flange_b.tau,inertia3.phi,inertia3.stateSelect,inertia3.w,inertia4.J,inertia4.a,inertia4.flange_a.phi,inertia4.flange_a.tau,inertia4.flange_b.phi,inertia4.flange_b.tau,inertia4.phi,inertia4.stateSelect,inertia4.w,inertia5.J,inertia5.a,inertia5.flange_a.phi,inertia5.flange_a.tau,inertia5.flange_b.phi,inertia5.flange_b.tau,inertia5.phi,inertia5.stateSelect,inertia5.w,oneWayClutch.a_rel,oneWayClutch.cgeo,oneWayClutch.f_normalized,oneWayClutch.flange_a.phi,oneWayClutch.flange_a.tau,oneWayClutch.flange_b.phi,oneWayClutch.flange_b.tau,oneWayClutch.fn,oneWayClutch.fn_max,oneWayClutch.free,oneWayClutch.locked,oneWayClutch.lossPower,oneWayClutch.mue0,oneWayClutch.mue_pos[1,1],oneWayClutch.mue_pos[1,2],oneWayClutch.peak,oneWayClutch.peak2,oneWayClutch.phi_nominal,oneWayClutch.phi_rel,oneWayClutch.sa,oneWayClutch.startForward,oneWayClutch.stateSelect,oneWayClutch.stuck,oneWayClutch.tau,oneWayClutch.tau0,oneWayClutch.tau0_max,oneWayClutch.tau0_max_low,oneWayClutch.u,oneWayClutch.useHeatPort,oneWayClutch.w_rel,oneWayClutch.w_small,sine.amplitude,sine.freqHz,sine.offset,sine.phase,sine.startTime,sine.y,sine1.amplitude,sine1.freqHz,sine1.offset,sine1.phase,sine1.startTime,sine1.y,sine2.amplitude,sine2.freqHz,sine2.offset,sine2.phase,sine2.startTime,sine2.y,sine3.amplitude,sine3.freqHz,sine3.offset,sine3.phase,sine3.startTime,sine3.y,step.height,step.offset,step.startTime,step.y,step1.height,step1.offset,step1.startTime,step1.y,step2.height,step2.offset,step2.startTime,step2.y,time,torque.flange.phi,torque.flange.tau,torque.phi_support,torque.tau,torque.useSupport,torque1.flange.phi,torque1.flange.tau,torque1.phi_support,torque1.tau,torque1.useSupport,torque2.flange.phi,torque2.flange.tau,torque2.phi_support,torque2.tau,torque2.useSupport,torque3.flange.phi,torque3.flange.tau,torque3.phi_support,torque3.tau,torque3.useSupport