Running command: "" <> buildModelFMU(Modelica.Mechanics.MultiBody.Examples.Constraints.PrismaticConstraint,fileNamePrefix="Modelica_3_2_2_cs_Modelica_Mechanics_MultiBody_Examples_Constraints_PrismaticConstraint",fmuType="cs",version="2.0",platforms={"dynamic"}) Notification: Performance of loadModel(Modelica): time 2.692/2.692, allocations: 195 MB / 202.9 MB, free: 6.723 MB / 170.7 MB Notification: Performance of FrontEnd - loaded program: time 2.339e-05/2.358e-05, allocations: 2.75 kB / 249.8 MB, free: 5.277 MB / 202.7 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.127/0.1271, allocations: 44.51 MB / 294.3 MB, free: 10.66 MB / 250.7 MB Notification: Performance of FrontEnd - scodeFlatten: time 0.5486/0.6758, allocations: 105.5 MB / 399.8 MB, free: 15.49 MB / 314.7 MB Notification: Performance of FrontEnd - mkProgramGraph: time 0.0003616/0.6762, allocations: 93.66 kB / 399.9 MB, free: 15.48 MB / 314.7 MB Notification: Performance of FrontEnd - DAE generated: time 1.128/1.804, allocations: 133.2 MB / 0.5206 GB, free: 67.49 MB / 394.7 MB Notification: Performance of FrontEnd: time 2.355e-06/1.804, allocations: 0 / 0.5206 GB, free: 67.49 MB / 394.7 MB Notification: Performance of Transformations before backend: time 0.0005812/1.805, allocations: 155.1 kB / 0.5207 GB, free: 67.48 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: 2549 * Number of variables: 2549 Notification: Performance of Generate backend data structure: time 0.04314/1.848, allocations: 7.248 MB / 0.5278 GB, free: 64.78 MB / 394.7 MB Notification: Performance of prepare preOptimizeDAE: time 6.287e-05/1.848, allocations: 9.938 kB / 0.5278 GB, free: 64.78 MB / 394.7 MB Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.006791/1.855, allocations: 0.9854 MB / 0.5288 GB, free: 64.68 MB / 394.7 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.03088/1.886, allocations: 2.875 MB / 0.5316 GB, free: 64.19 MB / 394.7 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.03635/1.922, allocations: 7.643 MB / 0.539 GB, free: 63.29 MB / 394.7 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0006741/1.923, allocations: 323.8 kB / 0.5393 GB, free: 63.27 MB / 394.7 MB Notification: Performance of preOpt expandDerOperator (simulation): time 0.004538/1.927, allocations: 451 kB / 0.5398 GB, free: 63.27 MB / 394.7 MB Notification: Performance of preOpt removeEqualFunctionCalls (simulation): time 0.03605/1.963, allocations: 10.65 MB / 0.5502 GB, free: 63.23 MB / 394.7 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.05212/2.016, allocations: 15.3 MB / 0.5651 GB, free: 56.71 MB / 394.7 MB Notification: Performance of preOpt findStateOrder (simulation): time 0.0005835/2.016, allocations: 86.34 kB / 0.5652 GB, free: 56.7 MB / 394.7 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.003772/2.02, allocations: 37.66 kB / 0.5652 GB, free: 56.7 MB / 394.7 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.005121/2.025, allocations: 1.609 MB / 0.5668 GB, free: 56.43 MB / 394.7 MB Warning: The model contains alias variables with conflicting start and/or 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 0.1662/2.191, allocations: 74.11 MB / 0.6392 GB, free: 6.336 MB / 410.7 MB Notification: Performance of preOpt comSubExp (simulation): time 0.01306/2.204, allocations: 4.103 MB / 0.6432 GB, free: 2.441 MB / 410.7 MB Notification: Performance of preOpt resolveLoops (simulation): time 0.008831/2.213, allocations: 2.584 MB / 0.6457 GB, free: 32 kB / 410.7 MB Notification: Performance of preOpt evalFunc (simulation): time 0.3986/2.612, allocations: 0.8997 MB / 0.6466 GB, free: 76.91 MB / 410.7 MB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 0.000105/2.612, allocations: 61.88 kB / 0.6466 GB, free: 76.87 MB / 410.7 MB Notification: Performance of pre-optimization done (n=257): time 9.257e-06/2.612, allocations: 1.5 kB / 0.6466 GB, free: 76.87 MB / 410.7 MB Notification: Performance of matching and sorting (n=303): time 0.1566/2.769, allocations: 29.77 MB / 0.6757 GB, free: 72.28 MB / 410.7 MB Notification: Performance of inlineWhenForInitialization (initialization): time 8.971e-05/2.769, allocations: 162.4 kB / 0.6759 GB, free: 72.12 MB / 410.7 MB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.01403/2.783, allocations: 4.497 MB / 0.6803 GB, free: 71.69 MB / 410.7 MB Notification: Performance of collectPreVariables (initialization): time 0.001054/2.784, allocations: 25.7 kB / 0.6803 GB, free: 71.66 MB / 410.7 MB Notification: Performance of collectInitialEqns (initialization): time 0.005713/2.79, allocations: 5.046 MB / 0.6852 GB, free: 68.98 MB / 410.7 MB Notification: Performance of collectInitialBindings (initialization): time 0.002373/2.792, allocations: 1.123 MB / 0.6863 GB, free: 68.32 MB / 410.7 MB Notification: Performance of simplifyInitialFunctions (initialization): time 0.001404/2.794, allocations: 0 / 0.6863 GB, free: 68.32 MB / 410.7 MB Notification: Performance of setup shared object (initialization): time 0.0009557/2.795, allocations: 0.6922 MB / 0.687 GB, free: 67.99 MB / 410.7 MB Notification: Performance of preBalanceInitialSystem (initialization): time 0.01047/2.805, allocations: 3.179 MB / 0.6901 GB, free: 67.97 MB / 410.7 MB Notification: Performance of partitionIndependentBlocks (initialization): time 0.01488/2.82, allocations: 8.554 MB / 0.6985 GB, free: 60.73 MB / 410.7 MB Notification: Performance of analyzeInitialSystem (initialization): time 0.01526/2.835, allocations: 5.15 MB / 0.7035 GB, free: 59.07 MB / 410.7 MB Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0002546/2.836, allocations: 53.66 kB / 0.7035 GB, free: 59.07 MB / 410.7 MB Warning: The linear system: 1 : bodyOfConstraint.v_0[1] = 0.2148655148851041 * freeMotionScalarInit.v_rel_a_1 + (-0.5318108111446446) * freeMotionScalarInit.v_rel_a_2 + 0.8191520442889918 * freeMotionScalarInit.v_rel_a_3 2 : 0.0 = 0.8191520442889918 * bodyOfConstraint.v_0[1] + (-0.09960050292505122) * bodyOfConstraint.v_0[2] + 0.5648625214636235 * bodyOfConstraint.v_0[3] 3 : bodyOfConstraint.v_0[2] = 0.9663834860128886 * freeMotionScalarInit.v_rel_a_1 + 0.2370288965055821 * freeMotionScalarInit.v_rel_a_2 + (-0.09960050292505122) * freeMotionScalarInit.v_rel_a_3 4 : bodyOfConstraint.v_0[3] = (-0.1411940808771254) * freeMotionScalarInit.v_rel_a_1 + 0.8130157214783864 * freeMotionScalarInit.v_rel_a_2 + 0.5648625214636235 * freeMotionScalarInit.v_rel_a_3 [ 0.0 , -0.2148655148851041 , 0.0 , 1.0 ; -0.5648625214636235 , 0.0 , 0.09960050292505122 , -0.8191520442889918 ; 0.0 , -0.9663834860128886 , 1.0 , 0.0 ; 1.0 , 0.1411940808771254 , 0.0 , 0.0 ] * [ bodyOfConstraint.v_0[3] ; freeMotionScalarInit.v_rel_a_1 ; bodyOfConstraint.v_0[2] ; bodyOfConstraint.v_0[1] ] = [ (-0.5318108111446446) * freeMotionScalarInit.v_rel_a_2 + 0.8191520442889918 * freeMotionScalarInit.v_rel_a_3 ; -0.0 ; 0.2370288965055821 * freeMotionScalarInit.v_rel_a_2 + (-0.09960050292505122) * freeMotionScalarInit.v_rel_a_3 ; 0.8130157214783864 * freeMotionScalarInit.v_rel_a_2 + 0.5648625214636235 * freeMotionScalarInit.v_rel_a_3 ] might be structurally or numerically singular for variable bodyOfConstraint.v_0[1] since U(4,4) = 0.0. It might be hard to solve. Compilation continues anyway. Notification: Performance of matching and sorting (n=1191) (initialization): time 0.05276/2.889, allocations: 12.84 MB / 0.7161 GB, free: 54.95 MB / 410.7 MB Notification: Performance of prepare postOptimizeDAE: time 0.00017/2.889, allocations: 87.28 kB / 0.7162 GB, free: 54.95 MB / 410.7 MB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0003355/2.889, allocations: 191 kB / 0.7163 GB, free: 54.95 MB / 410.7 MB Notification: Performance of postOpt tearingSystem (initialization): time 0.01603/2.905, allocations: 2.237 MB / 0.7185 GB, free: 54.48 MB / 410.7 MB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.01847/2.924, allocations: 2.154 MB / 0.7206 GB, free: 54.23 MB / 410.7 MB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.04025/2.964, allocations: 19.17 MB / 0.7393 GB, free: 41.37 MB / 410.7 MB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.01282/2.977, allocations: 346.4 kB / 0.7397 GB, free: 41.34 MB / 410.7 MB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.002696/2.98, allocations: 0.5364 MB / 0.7402 GB, free: 41.27 MB / 410.7 MB Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 879 * Number of states: 0 () * Number of discrete variables: 60 (freeMotionScalarInit.arrowColor[3],freeMotionScalarInit.arrowColor[2],freeMotionScalarInit.arrowColor[1],fixedTranslation.color[3],fixedTranslation.color[2],fixedTranslation.color[1],fixedRotation.color[3],fixedRotation.color[2],fixedRotation.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],springOfConstraint.color[3],springOfConstraint.color[2],springOfConstraint.color[1],springOfConstraint.massColor[3],springOfConstraint.massColor[2],springOfConstraint.massColor[1],springOfJoint.color[3],springOfJoint.color[2],springOfJoint.color[1],springOfJoint.massColor[3],springOfJoint.massColor[2],springOfJoint.massColor[1],bodyOfConstraint.color[3],bodyOfConstraint.color[2],bodyOfConstraint.color[1],bodyOfConstraint.body.sphereColor[3],bodyOfConstraint.body.sphereColor[2],bodyOfConstraint.body.sphereColor[1],bodyOfConstraint.frameTranslation.color[3],bodyOfConstraint.frameTranslation.color[2],bodyOfConstraint.frameTranslation.color[1],bodyOfJoint.color[3],bodyOfJoint.color[2],bodyOfJoint.color[1],bodyOfJoint.body.sphereColor[3],bodyOfJoint.body.sphereColor[2],bodyOfJoint.body.sphereColor[1],bodyOfJoint.frameTranslation.color[3],bodyOfJoint.frameTranslation.color[2],bodyOfJoint.frameTranslation.color[1],sensorConstraintRelative.arrowColor[3],sensorConstraintRelative.arrowColor[2],sensorConstraintRelative.arrowColor[1],constraint.sphereColor[3],constraint.sphereColor[2],constraint.sphereColor[1],jointPrismatic_y.boxColor[3],jointPrismatic_y.boxColor[2],jointPrismatic_y.boxColor[1],jointPrismatic_x.boxColor[3],jointPrismatic_x.boxColor[2],jointPrismatic_x.boxColor[1]) * Number of discrete states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for initialization (1108): * Single equations (assignments): 1097 * Array equations: 4 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (linear and non-linear blocks): 0 * Torn equation systems: 7 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems: 6 {(4,75.0%) 5,(1,100.0%) 3,(1,100.0%) 3,(2,100.0%) 6,(4,100.0%) 9,(4,100.0%) 9} * Non-linear torn systems: 1 {4 9} Notification: Performance of prepare postOptimizeDAE: time 0.003985/2.984, allocations: 0.5847 MB / 0.7408 GB, free: 40.79 MB / 410.7 MB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001805/2.985, allocations: 0.4945 MB / 0.7413 GB, free: 40.52 MB / 410.7 MB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.02854/3.014, allocations: 6.827 MB / 0.7479 GB, free: 35.38 MB / 410.7 MB Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.0001315/3.014, allocations: 48 kB / 0.748 GB, free: 35.33 MB / 410.7 MB Notification: Performance of postOpt constantLinearSystem (simulation): time 4.251e-05/3.014, allocations: 8 kB / 0.748 GB, free: 35.32 MB / 410.7 MB Notification: Performance of postOpt simplifysemiLinear (simulation): time 9.646e-05/3.014, allocations: 19.14 kB / 0.748 GB, free: 35.32 MB / 410.7 MB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.05256/3.067, allocations: 13.87 MB / 0.7615 GB, free: 24.01 MB / 410.7 MB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 4.419e-05/3.067, allocations: 3.328 kB / 0.7615 GB, free: 24.01 MB / 410.7 MB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.007665/3.075, allocations: 0.5258 MB / 0.7621 GB, free: 23.61 MB / 410.7 MB Notification: Performance of postOpt tearingSystem (simulation): time 0.01511/3.09, allocations: 2.04 MB / 0.764 GB, free: 22.16 MB / 410.7 MB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.000928/3.091, allocations: 14.95 kB / 0.7641 GB, free: 22.15 MB / 410.7 MB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.04187/3.133, allocations: 21.41 MB / 0.785 GB, free: 1.812 MB / 410.7 MB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 8.546e-06/3.133, allocations: 4.062 kB / 0.785 GB, free: 1.809 MB / 410.7 MB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.497/3.63, allocations: 11.04 MB / 0.7958 GB, free: 76.41 MB / 426.7 MB Notification: Performance of postOpt removeConstants (simulation): time 0.008701/3.639, allocations: 0.9684 MB / 0.7967 GB, free: 76.32 MB / 426.7 MB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.003771/3.642, allocations: 9.203 kB / 0.7967 GB, free: 76.32 MB / 426.7 MB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.01283/3.655, allocations: 147 kB / 0.7968 GB, free: 76.32 MB / 426.7 MB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.002605/3.658, allocations: 183.9 kB / 0.797 GB, free: 76.32 MB / 426.7 MB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.001452/3.66, allocations: 82.17 kB / 0.7971 GB, free: 76.32 MB / 426.7 MB Notification: Performance of sorting global known variables: time 0.01924/3.679, allocations: 2.995 MB / 0.8 GB, free: 76.14 MB / 426.7 MB Notification: Performance of sort global known variables: time 1.834e-06/3.679, allocations: 0 / 0.8 GB, free: 76.14 MB / 426.7 MB Notification: Performance of remove unused functions: time 0.02353/3.702, allocations: 1.54 MB / 0.8015 GB, free: 76.14 MB / 426.7 MB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 4 * Number of states: 8 (bodyOfJoint.v_0[2],bodyOfJoint.v_0[3],bodyOfJoint.body.frame_a.r_0[2],bodyOfJoint.body.frame_a.r_0[3],bodyOfConstraint.v_0[2],bodyOfConstraint.v_0[3],bodyOfConstraint.body.frame_a.r_0[2],bodyOfConstraint.body.frame_a.r_0[3]) * Number of discrete variables: 0 () * Number of discrete states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for simulation (220): * Single equations (assignments): 207 * Array equations: 4 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (linear and non-linear blocks): 0 * Torn equation systems: 9 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems: 8 {(2,100.0%) 6,(1,100.0%) 3,(4,75.0%) 5,(2,100.0%) 1,(4,100.0%) 9,(4,100.0%) 9,(1,100.0%) 3,(2,100.0%) 1} * Non-linear torn systems: 1 {4 9} Notification: Performance of Backend phase and start with SimCode phase: time 0.05224/3.755, allocations: 11.68 MB / 0.8129 GB, free: 74.45 MB / 426.7 MB Notification: Performance of simCode: created initialization part: time 0.03197/3.787, allocations: 8.729 MB / 0.8215 GB, free: 73.64 MB / 426.7 MB Notification: Performance of simCode: created event and clocks part: time 1.107e-05/3.787, allocations: 2.906 kB / 0.8215 GB, free: 73.64 MB / 426.7 MB Notification: Performance of simCode: created simulation system equations: time 0.01582/3.803, allocations: 4.018 MB / 0.8254 GB, free: 72.67 MB / 426.7 MB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.008854/3.812, allocations: 0.5952 MB / 0.826 GB, free: 72.65 MB / 426.7 MB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.07602/3.888, allocations: 15.28 MB / 0.8409 GB, free: 70.02 MB / 426.7 MB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0172/3.905, allocations: 5.286 MB / 0.8461 GB, free: 69.15 MB / 426.7 MB Notification: Performance of simCode: alias equations: time 0.02014/3.925, allocations: 2.798 MB / 0.8488 GB, free: 69.09 MB / 426.7 MB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.01042/3.936, allocations: 3.268 MB / 0.852 GB, free: 67.52 MB / 426.7 MB Notification: Performance of SimCode: time 1.954e-06/3.936, allocations: 0 / 0.852 GB, free: 67.52 MB / 426.7 MB Notification: Performance of buildModelFMU: Generate the FMI files: time 0.8059/4.742, allocations: 126.6 MB / 0.9756 GB, free: 78.14 MB / 442.7 MB Notification: Performance of buildModelFMU: configured platform dynamic using cached values: time 0.0003975/4.742, allocations: 164.1 kB / 0.9758 GB, free: 77.95 MB / 442.7 MB Notification: Performance of buildModelFMU: Generate platform dynamic: time 9.691/14.43, allocations: 8.562 kB / 0.9758 GB, free: 77.95 MB / 442.7 MB "" Variables in the reference:time,bodyOfConstraint.v_0[1],bodyOfConstraint.v_0[2],bodyOfConstraint.v_0[3],constraint.frame_b.r_0[1],constraint.frame_b.r_0[2],constraint.frame_b.r_0[3],jointPrismatic_x.s,jointPrismatic_x.v,jointPrismatic_y.s,jointPrismatic_y.v Variables in the result:_D_cse1,_D_cse2,_D_cse3,_D_cse4,animation,bodyOfConstraint.I_11,bodyOfConstraint.I_21,bodyOfConstraint.I_22,bodyOfConstraint.I_31,bodyOfConstraint.I_32,bodyOfConstraint.I_33,bodyOfConstraint.a_0[1],bodyOfConstraint.a_0[2],bodyOfConstraint.a_0[3],bodyOfConstraint.angles_fixed,bodyOfConstraint.angles_start[1],bodyOfConstraint.angles_start[2],bodyOfConstraint.angles_start[3],bodyOfConstraint.animateSphere,bodyOfConstraint.animation,bodyOfConstraint.body.I[1,1],bodyOfConstraint.body.I[1,2],bodyOfConstraint.body.I[1,3],bodyOfConstraint.body.I[2,1],bodyOfConstraint.body.I[2,2],bodyOfConstraint.body.I[2,3],bodyOfConstraint.body.I[3,1],bodyOfConstraint.body.I[3,2],bodyOfConstraint.body.I[3,3],bodyOfConstraint.body.I_11,bodyOfConstraint.body.I_21,bodyOfConstraint.body.I_22,bodyOfConstraint.body.I_31,bodyOfConstraint.body.I_32,bodyOfConstraint.body.I_33,bodyOfConstraint.body.Q[1],bodyOfConstraint.body.Q[2],bodyOfConstraint.body.Q[3],bodyOfConstraint.body.Q[4],bodyOfConstraint.body.Q_start[1],bodyOfConstraint.body.Q_start[2],bodyOfConstraint.body.Q_start[3],bodyOfConstraint.body.Q_start[4],bodyOfConstraint.body.R_start.T[1,1],bodyOfConstraint.body.R_start.T[1,2],bodyOfConstraint.body.R_start.T[1,3],bodyOfConstraint.body.R_start.T[2,1],bodyOfConstraint.body.R_start.T[2,2],bodyOfConstraint.body.R_start.T[2,3],bodyOfConstraint.body.R_start.T[3,1],bodyOfConstraint.body.R_start.T[3,2],bodyOfConstraint.body.R_start.T[3,3],bodyOfConstraint.body.R_start.w[1],bodyOfConstraint.body.R_start.w[2],bodyOfConstraint.body.R_start.w[3],bodyOfConstraint.body.a_0[1],bodyOfConstraint.body.a_0[2],bodyOfConstraint.body.a_0[3],bodyOfConstraint.body.angles_fixed,bodyOfConstraint.body.angles_start[1],bodyOfConstraint.body.angles_start[2],bodyOfConstraint.body.angles_start[3],bodyOfConstraint.body.animation,bodyOfConstraint.body.cylinderColor[1],bodyOfConstraint.body.cylinderColor[2],bodyOfConstraint.body.cylinderColor[3],bodyOfConstraint.body.cylinderDiameter,bodyOfConstraint.body.enforceStates,bodyOfConstraint.body.frame_a.R.T[1,1],bodyOfConstraint.body.frame_a.R.T[1,2],bodyOfConstraint.body.frame_a.R.T[1,3],bodyOfConstraint.body.frame_a.R.T[2,1],bodyOfConstraint.body.frame_a.R.T[2,2],bodyOfConstraint.body.frame_a.R.T[2,3],bodyOfConstraint.body.frame_a.R.T[3,1],bodyOfConstraint.body.frame_a.R.T[3,2],bodyOfConstraint.body.frame_a.R.T[3,3],bodyOfConstraint.body.frame_a.R.w[1],bodyOfConstraint.body.frame_a.R.w[2],bodyOfConstraint.body.frame_a.R.w[3],bodyOfConstraint.body.frame_a.f[1],bodyOfConstraint.body.frame_a.f[2],bodyOfConstraint.body.frame_a.f[3],bodyOfConstraint.body.frame_a.r_0[1],bodyOfConstraint.body.frame_a.r_0[2],bodyOfConstraint.body.frame_a.r_0[3],bodyOfConstraint.body.frame_a.t[1],bodyOfConstraint.body.frame_a.t[2],bodyOfConstraint.body.frame_a.t[3],bodyOfConstraint.body.g_0[1],bodyOfConstraint.body.g_0[2],bodyOfConstraint.body.g_0[3],bodyOfConstraint.body.m,bodyOfConstraint.body.phi[1],bodyOfConstraint.body.phi[2],bodyOfConstraint.body.phi[3],bodyOfConstraint.body.phi_d[1],bodyOfConstraint.body.phi_d[2],bodyOfConstraint.body.phi_d[3],bodyOfConstraint.body.phi_dd[1],bodyOfConstraint.body.phi_dd[2],bodyOfConstraint.body.phi_dd[3],bodyOfConstraint.body.phi_start[1],bodyOfConstraint.body.phi_start[2],bodyOfConstraint.body.phi_start[3],bodyOfConstraint.body.r_0[1],bodyOfConstraint.body.r_0[2],bodyOfConstraint.body.r_0[3],bodyOfConstraint.body.r_CM[1],bodyOfConstraint.body.r_CM[2],bodyOfConstraint.body.r_CM[3],bodyOfConstraint.body.sequence_angleStates[1],bodyOfConstraint.body.sequence_angleStates[2],bodyOfConstraint.body.sequence_angleStates[3],bodyOfConstraint.body.sequence_start[1],bodyOfConstraint.body.sequence_start[2],bodyOfConstraint.body.sequence_start[3],bodyOfConstraint.body.specularCoefficient,bodyOfConstraint.body.sphereColor[1],bodyOfConstraint.body.sphereColor[2],bodyOfConstraint.body.sphereColor[3],bodyOfConstraint.body.sphereDiameter,bodyOfConstraint.body.useQuaternions,bodyOfConstraint.body.v_0[1],bodyOfConstraint.body.v_0[2],bodyOfConstraint.body.v_0[3],bodyOfConstraint.body.w_0_fixed,bodyOfConstraint.body.w_0_start[1],bodyOfConstraint.body.w_0_start[2],bodyOfConstraint.body.w_0_start[3],bodyOfConstraint.body.w_a[1],bodyOfConstraint.body.w_a[2],bodyOfConstraint.body.w_a[3],bodyOfConstraint.body.z_0_fixed,bodyOfConstraint.body.z_0_start[1],bodyOfConstraint.body.z_0_start[2],bodyOfConstraint.body.z_0_start[3],bodyOfConstraint.body.z_a[1],bodyOfConstraint.body.z_a[2],bodyOfConstraint.body.z_a[3],bodyOfConstraint.body.z_a_start[1],bodyOfConstraint.body.z_a_start[2],bodyOfConstraint.body.z_a_start[3],bodyOfConstraint.color[1],bodyOfConstraint.color[2],bodyOfConstraint.color[3],bodyOfConstraint.enforceStates,bodyOfConstraint.extra,bodyOfConstraint.frameTranslation.animation,bodyOfConstraint.frameTranslation.color[1],bodyOfConstraint.frameTranslation.color[2],bodyOfConstraint.frameTranslation.color[3],bodyOfConstraint.frameTranslation.extra,bodyOfConstraint.frameTranslation.frame_a.R.T[1,1],bodyOfConstraint.frameTranslation.frame_a.R.T[1,2],bodyOfConstraint.frameTranslation.frame_a.R.T[1,3],bodyOfConstraint.frameTranslation.frame_a.R.T[2,1],bodyOfConstraint.frameTranslation.frame_a.R.T[2,2],bodyOfConstraint.frameTranslation.frame_a.R.T[2,3],bodyOfConstraint.frameTranslation.frame_a.R.T[3,1],bodyOfConstraint.frameTranslation.frame_a.R.T[3,2],bodyOfConstraint.frameTranslation.frame_a.R.T[3,3],bodyOfConstraint.frameTranslation.frame_a.R.w[1],bodyOfConstraint.frameTranslation.frame_a.R.w[2],bodyOfConstraint.frameTranslation.frame_a.R.w[3],bodyOfConstraint.frameTranslation.frame_a.f[1],bodyOfConstraint.frameTranslation.frame_a.f[2],bodyOfConstraint.frameTranslation.frame_a.f[3],bodyOfConstraint.frameTranslation.frame_a.r_0[1],bodyOfConstraint.frameTranslation.frame_a.r_0[2],bodyOfConstraint.frameTranslation.frame_a.r_0[3],bodyOfConstraint.frameTranslation.frame_a.t[1],bodyOfConstraint.frameTranslation.frame_a.t[2],bodyOfConstraint.frameTranslation.frame_a.t[3],bodyOfConstraint.frameTranslation.frame_b.R.T[1,1],bodyOfConstraint.frameTranslation.frame_b.R.T[1,2],bodyOfConstraint.frameTranslation.frame_b.R.T[1,3],bodyOfConstraint.frameTranslation.frame_b.R.T[2,1],bodyOfConstraint.frameTranslation.frame_b.R.T[2,2],bodyOfConstraint.frameTranslation.frame_b.R.T[2,3],bodyOfConstraint.frameTranslation.frame_b.R.T[3,1],bodyOfConstraint.frameTranslation.frame_b.R.T[3,2],bodyOfConstraint.frameTranslation.frame_b.R.T[3,3],bodyOfConstraint.frameTranslation.frame_b.R.w[1],bodyOfConstraint.frameTranslation.frame_b.R.w[2],bodyOfConstraint.frameTranslation.frame_b.R.w[3],bodyOfConstraint.frameTranslation.frame_b.f[1],bodyOfConstraint.frameTranslation.frame_b.f[2],bodyOfConstraint.frameTranslation.frame_b.f[3],bodyOfConstraint.frameTranslation.frame_b.r_0[1],bodyOfConstraint.frameTranslation.frame_b.r_0[2],bodyOfConstraint.frameTranslation.frame_b.r_0[3],bodyOfConstraint.frameTranslation.frame_b.t[1],bodyOfConstraint.frameTranslation.frame_b.t[2],bodyOfConstraint.frameTranslation.frame_b.t[3],bodyOfConstraint.frameTranslation.height,bodyOfConstraint.frameTranslation.length,bodyOfConstraint.frameTranslation.lengthDirection[1],bodyOfConstraint.frameTranslation.lengthDirection[2],bodyOfConstraint.frameTranslation.lengthDirection[3],bodyOfConstraint.frameTranslation.r[1],bodyOfConstraint.frameTranslation.r[2],bodyOfConstraint.frameTranslation.r[3],bodyOfConstraint.frameTranslation.r_shape[1],bodyOfConstraint.frameTranslation.r_shape[2],bodyOfConstraint.frameTranslation.r_shape[3],bodyOfConstraint.frameTranslation.specularCoefficient,bodyOfConstraint.frameTranslation.width,bodyOfConstraint.frameTranslation.widthDirection[1],bodyOfConstraint.frameTranslation.widthDirection[2],bodyOfConstraint.frameTranslation.widthDirection[3],bodyOfConstraint.frame_a.R.T[1,1],bodyOfConstraint.frame_a.R.T[1,2],bodyOfConstraint.frame_a.R.T[1,3],bodyOfConstraint.frame_a.R.T[2,1],bodyOfConstraint.frame_a.R.T[2,2],bodyOfConstraint.frame_a.R.T[2,3],bodyOfConstraint.frame_a.R.T[3,1],bodyOfConstraint.frame_a.R.T[3,2],bodyOfConstraint.frame_a.R.T[3,3],bodyOfConstraint.frame_a.R.w[1],bodyOfConstraint.frame_a.R.w[2],bodyOfConstraint.frame_a.R.w[3],bodyOfConstraint.frame_a.f[1],bodyOfConstraint.frame_a.f[2],bodyOfConstraint.frame_a.f[3],bodyOfConstraint.frame_a.r_0[1],bodyOfConstraint.frame_a.r_0[2],bodyOfConstraint.frame_a.r_0[3],bodyOfConstraint.frame_a.t[1],bodyOfConstraint.frame_a.t[2],bodyOfConstraint.frame_a.t[3],bodyOfConstraint.frame_b.R.T[1,1],bodyOfConstraint.frame_b.R.T[1,2],bodyOfConstraint.frame_b.R.T[1,3],bodyOfConstraint.frame_b.R.T[2,1],bodyOfConstraint.frame_b.R.T[2,2],bodyOfConstraint.frame_b.R.T[2,3],bodyOfConstraint.frame_b.R.T[3,1],bodyOfConstraint.frame_b.R.T[3,2],bodyOfConstraint.frame_b.R.T[3,3],bodyOfConstraint.frame_b.R.w[1],bodyOfConstraint.frame_b.R.w[2],bodyOfConstraint.frame_b.R.w[3],bodyOfConstraint.frame_b.f[1],bodyOfConstraint.frame_b.f[2],bodyOfConstraint.frame_b.f[3],bodyOfConstraint.frame_b.r_0[1],bodyOfConstraint.frame_b.r_0[2],bodyOfConstraint.frame_b.r_0[3],bodyOfConstraint.frame_b.t[1],bodyOfConstraint.frame_b.t[2],bodyOfConstraint.frame_b.t[3],bodyOfConstraint.height,bodyOfConstraint.length,bodyOfConstraint.lengthDirection[1],bodyOfConstraint.lengthDirection[2],bodyOfConstraint.lengthDirection[3],bodyOfConstraint.m,bodyOfConstraint.r[1],bodyOfConstraint.r[2],bodyOfConstraint.r[3],bodyOfConstraint.r_0[1],bodyOfConstraint.r_0[2],bodyOfConstraint.r_0[3],bodyOfConstraint.r_CM[1],bodyOfConstraint.r_CM[2],bodyOfConstraint.r_CM[3],bodyOfConstraint.r_shape[1],bodyOfConstraint.r_shape[2],bodyOfConstraint.r_shape[3],bodyOfConstraint.sequence_angleStates[1],bodyOfConstraint.sequence_angleStates[2],bodyOfConstraint.sequence_angleStates[3],bodyOfConstraint.sequence_start[1],bodyOfConstraint.sequence_start[2],bodyOfConstraint.sequence_start[3],bodyOfConstraint.shape1.R.T[1,1],bodyOfConstraint.shape1.R.T[1,2],bodyOfConstraint.shape1.R.T[1,3],bodyOfConstraint.shape1.R.T[2,1],bodyOfConstraint.shape1.R.T[2,2],bodyOfConstraint.shape1.R.T[2,3],bodyOfCons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raintRelative.frame_a.R.T[1,3],sensorConstraintRelative.frame_a.R.T[2,1],sensorConstraintRelative.frame_a.R.T[2,2],sensorConstraintRelative.frame_a.R.T[2,3],sensorConstraintRelative.frame_a.R.T[3,1],sensorConstraintRelative.frame_a.R.T[3,2],sensorConstraintRelative.frame_a.R.T[3,3],sensorConstraintRelative.frame_a.R.w[1],sensorConstraintRelative.frame_a.R.w[2],sensorConstraintRelative.frame_a.R.w[3],sensorConstraintRelative.frame_a.f[1],sensorConstraintRelative.frame_a.f[2],sensorConstraintRelative.frame_a.f[3],sensorConstraintRelative.frame_a.r_0[1],sensorConstraintRelative.frame_a.r_0[2],sensorConstraintRelative.frame_a.r_0[3],sensorConstraintRelative.frame_a.t[1],sensorConstraintRelative.frame_a.t[2],sensorConstraintRelative.frame_a.t[3],sensorConstraintRelative.frame_b.R.T[1,1],sensorConstraintRelative.frame_b.R.T[1,2],sensorConstraintRelative.frame_b.R.T[1,3],sensorConstraintRelative.frame_b.R.T[2,1],sensorConstraintRelative.frame_b.R.T[2,2],sensorConstraintRelative.frame_b.R.T[2,3],sensorConstraintRelative.frame_b.R.T[3,1],sensorConstraintRelative.frame_b.R.T[3,2],sensorConstraintRelative.frame_b.R.T[3,3],sensorConstraintRelative.frame_b.R.w[1],sensorConstraintRelative.frame_b.R.w[2],sensorConstraintRelative.frame_b.R.w[3],sensorConstraintRelative.frame_b.f[1],sensorConstraintRelative.frame_b.f[2],sensorConstraintRelative.frame_b.f[3],sensorConstraintRelative.frame_b.r_0[1],sensorConstraintRelative.frame_b.r_0[2],sensorConstraintRelative.frame_b.r_0[3],sensorConstraintRelative.frame_b.t[1],sensorConstraintRelative.frame_b.t[2],sensorConstraintRelative.frame_b.t[3],sensorConstraintRelative.get_a_rel,sensorConstraintRelative.get_angles,sensorConstraintRelative.get_r_rel,sensorConstraintRelative.get_v_rel,sensorConstraintRelative.get_w_rel,sensorConstraintRelative.get_z_rel,sensorConstraintRelative.guessAngle1,sensorConstraintRelative.r_rel[1],sensorConstraintRelative.r_rel[2],sensorConstraintRelative.r_rel[3],sensorConstraintRelative.relativeAngles.R_rel.T[1,1],sensorConstraintRelative.relativeAngles.R_rel.T[1,2],sensorConstraintRelative.relativeAngles.R_rel.T[1,3],sensorConstraintRelative.relativeAngles.R_rel.T[2,1],sensorConstraintRelative.relativeAngles.R_rel.T[2,2],sensorConstraintRelative.relativeAngles.R_rel.T[2,3],sensorConstraintRelative.relativeAngles.R_rel.T[3,1],sensorConstraintRelative.relativeAngles.R_rel.T[3,2],sensorConstraintRelative.relativeAngles.R_rel.T[3,3],sensorConstraintRelative.relativeAngles.R_rel.w[1],sensorConstraintRelative.relativeAngles.R_rel.w[2],sensorConstraintRelative.relativeAngles.R_rel.w[3],sensorConstraintRelative.relativeAngles.angles[1],sensorConstraintRelative.relativeAngles.angles[2],sensorConstraintRelative.relativeAngles.angles[3],sensorConstraintRelative.relativeAngles.frame_a.R.T[1,1],sensorConstraintRelative.relativeAngles.frame_a.R.T[1,2],sensorConstraintRelative.relativeAngles.frame_a.R.T[1,3],sensorConstraintRelative.relativeAngles.frame_a.R.T[2,1],sensorConstraintRelative.relativeAngles.frame_a.R.T[2,2],sensorConstraintRelative.relativeAngles.frame_a.R.T[2,3],sensorConstraintRelative.relativeAngles.frame_a.R.T[3,1],sensorConstraintRelative.relativeAngles.frame_a.R.T[3,2],sensorConstraintRelative.relativeAngles.frame_a.R.T[3,3],sensorConstraintRelative.relativeAngles.frame_a.R.w[1],sensorConstraintRelative.relativeAngles.frame_a.R.w[2],sensorConstraintRelative.relativeAngles.frame_a.R.w[3],sensorConstraintRelative.relativeAngles.frame_a.f[1],sensorConstraintRelative.relativeAngles.frame_a.f[2],sensorConstraintRelative.relativeAngles.frame_a.f[3],sensorConstraintRelative.relativeAngles.frame_a.r_0[1],sensorConstraintRelative.relativeAngles.frame_a.r_0[2],sensorConstraintRelative.relativeAngles.frame_a.r_0[3],sensorConstraintRelative.relativeAngles.frame_a.t[1],sensorConstraintRelative.relativeAngles.frame_a.t[2],sensorConstraintRelative.relativeAngles.frame_a.t[3],sensorConstraintRelative.relativeAngles.frame_b.R.T[1,1],sensorConstraintRelative.relativeAngles.frame_b.R.T[1,2],sensorConstraintRelative.relativeAngles.frame_b.R.T[1,3],sensorConstraintRelative.relativeAngles.frame_b.R.T[2,1],sensorConstraintRelative.relativeAngles.frame_b.R.T[2,2],sensorConstraintRelative.relativeAngles.frame_b.R.T[2,3],sensorConstraintRelative.relativeAngles.frame_b.R.T[3,1],sensorConstraintRelative.relativeAngles.frame_b.R.T[3,2],sensorConstraintRelative.relativeAngles.frame_b.R.T[3,3],sensorConstraintRelative.relativeAngles.frame_b.R.w[1],sensorConstraintRelative.relativeAngles.frame_b.R.w[2],sensorConstraintRelative.relativeAngles.frame_b.R.w[3],sensorConstraintRelative.relativeAngles.frame_b.f[1],sensorConstraintRelative.relativeAngles.frame_b.f[2],sensorConstraintRelative.relativeAngles.frame_b.f[3],sensorConstraintRelative.relativeAngles.frame_b.r_0[1],sensorConstraintRelative.relativeAngles.frame_b.r_0[2],sensorConstraintRelative.relativeAngles.frame_b.r_0[3],sensorConstraintRelative.relativeAngles.frame_b.t[1],sensorConstraintRelative.relativeAngles.frame_b.t[2],sens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