Running: ./testmodel.py --libraries=/var/lib/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr ModelicaTest_3.2.2_ModelicaTest.MultiBody.Joints.UniversalSpherical.conf.json
Using package ModelicaTest with version 3.2.2 (/var/lib/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.2+maint.om/package.mo)
Using package ModelicaServices with version 3.2.2 (/var/lib/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 3.2.2+maint.om/package.mo)
Using package Modelica with version 3.2.2 (/var/lib/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.2+maint.om/package.mo)
Using package Complex with version 3.2.2 (/var/lib/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 3.2.2+maint.om/package.mo)
Running command: translateModel(ModelicaTest.MultiBody.Joints.UniversalSpherical,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|bodyBox.body.Q.1.|bodyBox.body.Q.2.|bodyBox.body.Q.3.|bodyBox.body.Q.4.|bodyBox.body.w_a.1.|bodyBox.body.w_a.2.|bodyBox.body.w_a.3.|bodyBox.v_0.1.|bodyBox.v_0.2.|bodyBox.v_0.3.|bodyBox1.body.Q.1.|bodyBox1.body.Q.2.|bodyBox1.body.Q.3.|bodyBox1.body.Q.4.|bodyBox1.body.w_a.1.|bodyBox1.body.w_a.2.|bodyBox1.body.w_a.3.|bodyBox2.body.Q.1.|bodyBox2.body.Q.2.|bodyBox2.body.Q.3.|bodyBox2.body.Q.4.|bodyBox2.body.frame_a.r_0.1.|bodyBox2.body.frame_a.r_0.2.|bodyBox2.body.frame_a.r_0.3.|bodyBox2.body.w_a.1.|bodyBox2.body.w_a.2.|bodyBox2.body.w_a.3.|bodyBox2.v_0.1.|bodyBox2.v_0.2.|bodyBox2.v_0.3.|universal.phi_a|universal.phi_b|universal.w_a|universal.w_b|universalSpherical.rRod_0.1.|universalSpherical.rRod_0.2.|universalSpherical.rRod_0.3.",fileNamePrefix="ModelicaTest_3.2.2_ModelicaTest.MultiBody.Joints.UniversalSpherical")
Notification: Performance of loadFile(/var/lib/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 3.2.2+maint.om/package.mo): time 0.004268/0.004267, allocations: 363.1 kB / 15.95 MB, free: 6.203 MB / 13.93 MB
Notification: Performance of loadFile(/var/lib/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.2+maint.om/package.mo): time 4.13/4.13, allocations: 388.9 MB / 405.6 MB, free: 9.637 MB / 346.7 MB
Notification: Performance of loadFile(/var/lib/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 3.2.2+maint.om/package.mo): time 0.003644/0.003643, allocations: 221.2 kB / 451 MB, free: 145 MB / 346.7 MB
Notification: Performance of loadFile(/var/lib/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.2+maint.om/package.mo): time 0.5777/0.5777, allocations: 80.03 MB / 0.5627 GB, free: 19.76 MB / 346.7 MB
Notification: Performance of FrontEnd - loaded program: time 0.0006344/0.000635, allocations: 12 kB / 0.6265 GB, free: 96.54 MB / 346.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.1053/0.1059, allocations: 54.87 MB / 0.6801 GB, free: 41.67 MB / 346.7 MB
Notification: Performance of FrontEnd - scodeFlatten: time 0.5491/0.6551, allocations: 115.2 MB / 0.7926 GB, free: 2.547 MB / 378.7 MB
Notification: Performance of FrontEnd - mkProgramGraph: time 0.0002939/0.6554, allocations: 82.41 kB / 0.7927 GB, free: 2.504 MB / 378.7 MB
Notification: Performance of FrontEnd - DAE generated: time 1.208/1.863, allocations: 228.1 MB / 1.015 GB, free: 54.3 MB / 474.7 MB
Notification: Performance of FrontEnd: time 2.806e-06/1.863, allocations: 3.938 kB / 1.015 GB, free: 54.29 MB / 474.7 MB
Notification: Performance of Transformations before backend: time 0.0008203/1.864, allocations: 280 kB / 1.016 GB, free: 54.02 MB / 474.7 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 4698
 * Number of variables: 4698
Notification: Performance of Generate backend data structure: time 0.08095/1.945, allocations: 14.72 MB / 1.03 GB, free: 39.19 MB / 474.7 MB
Notification: Performance of prepare preOptimizeDAE: time 4.228e-05/1.945, allocations: 8.031 kB / 1.03 GB, free: 39.18 MB / 474.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.07872/2.024, allocations: 8.004 MB / 1.038 GB, free: 31.14 MB / 474.7 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.04166/2.066, allocations: 12.59 MB / 1.05 GB, free: 18.47 MB / 474.7 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.001344/2.067, allocations: 1.087 MB / 1.051 GB, free: 17.38 MB / 474.7 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.007548/2.075, allocations: 1.437 MB / 1.053 GB, free: 15.95 MB / 474.7 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.5143/2.589, allocations: 32.67 MB / 1.085 GB, free: 60.17 MB / 490.7 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.001266/2.59, allocations: 142 kB / 1.085 GB, free: 60.17 MB / 490.7 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.006927/2.597, allocations: 0.655 MB / 1.085 GB, free: 60.17 MB / 490.7 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.006477/2.604, allocations: 2.542 MB / 1.088 GB, free: 60.14 MB / 490.7 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.1008/2.705, allocations: 26.88 MB / 1.114 GB, free: 60.04 MB / 490.7 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.2583/2.963, allocations: 131.1 MB / 1.242 GB, free: 7.031 MB / 0.5105 GB
Notification: Performance of preOpt comSubExp (simulation): time 0.06267/3.026, allocations: 12.84 MB / 1.255 GB, free: 3.574 MB / 0.5105 GB
Notification: Performance of preOpt resolveLoops (simulation): time 0.01646/3.042, allocations: 6.937 MB / 1.261 GB, free: 15.59 MB / 0.5261 GB
Notification: Performance of preOpt evalFunc (simulation): time 0.5079/3.55, allocations: 30.84 MB / 1.292 GB, free: 118.5 MB / 0.5261 GB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 9.252e-05/3.55, allocations: 82.25 kB / 1.292 GB, free: 118.5 MB / 0.5261 GB
Notification: Performance of pre-optimization done (n=424): time 8.616e-06/3.55, allocations: 0 / 1.292 GB, free: 118.5 MB / 0.5261 GB
Notification: Performance of matching and sorting (n=554): time 0.8789/4.429, allocations: 129.3 MB / 1.418 GB, free: 69.57 MB / 0.5261 GB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.05909/4.488, allocations: 23.12 MB / 1.44 GB, free: 45.76 MB / 0.5261 GB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.03182/4.52, allocations: 9.372 MB / 1.45 GB, free: 36.52 MB / 0.5261 GB
Notification: Performance of collectPreVariables (initialization): time 0.002118/4.523, allocations: 111.7 kB / 1.45 GB, free: 36.41 MB / 0.5261 GB
Notification: Performance of collectInitialEqns (initialization): time 0.01077/4.533, allocations: 8.925 MB / 1.458 GB, free: 27.48 MB / 0.5261 GB
Notification: Performance of collectInitialBindings (initialization): time 0.005207/4.539, allocations: 2.141 MB / 1.46 GB, free: 25.36 MB / 0.5261 GB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.003652/4.542, allocations: 320.8 kB / 1.461 GB, free: 25.05 MB / 0.5261 GB
Notification: Performance of setup shared object (initialization): time 0.002234/4.545, allocations: 0.9957 MB / 1.462 GB, free: 24.05 MB / 0.5261 GB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.4561/5.001, allocations: 9.383 MB / 1.471 GB, free: 106.5 MB / 0.5261 GB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.03199/5.033, allocations: 18.71 MB / 1.489 GB, free: 94.59 MB / 0.5261 GB
Notification: Performance of analyzeInitialSystem (initialization): time 0.03147/5.064, allocations: 12.86 MB / 1.502 GB, free: 94.48 MB / 0.5261 GB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0004559/5.065, allocations: 95.84 kB / 1.502 GB, free: 94.48 MB / 0.5261 GB
Notification: Performance of matching and sorting (n=2093) (initialization): time 0.145/5.21, allocations: 35.25 MB / 1.536 GB, free: 89.75 MB / 0.5261 GB
Notification: Performance of prepare postOptimizeDAE: time 0.0003993/5.21, allocations: 143.3 kB / 1.536 GB, free: 89.75 MB / 0.5261 GB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.09848/5.309, allocations: 22.06 MB / 1.558 GB, free: 82.5 MB / 0.5261 GB
Notification: Performance of postOpt tearingSystem (initialization): time 0.05634/5.365, allocations: 9.316 MB / 1.567 GB, free: 80.74 MB / 0.5261 GB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.02576/5.391, allocations: 3.931 MB / 1.571 GB, free: 80.3 MB / 0.5261 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.08153/5.473, allocations: 47.1 MB / 1.617 GB, free: 42.47 MB / 0.5261 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.02801/5.501, allocations: 1.69 MB / 1.619 GB, free: 41.34 MB / 0.5261 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.004694/5.505, allocations: 0.9805 MB / 1.619 GB, free: 40.43 MB / 0.5261 GB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 1485
 * Number of states: 0 ()
 * Number of discrete variables: 69 (init2.arrowColor[3],init2.arrowColor[2],init2.arrowColor[1],init.arrowColor[3],init.arrowColor[2],init.arrowColor[1],universal.cylinderColor[3],universal.cylinderColor[2],universal.cylinderColor[1],universalSpherical1.cylinderColor[3],universalSpherical1.cylinderColor[2],universalSpherical1.cylinderColor[1],universalSpherical1.sphereColor[3],universalSpherical1.sphereColor[2],universalSpherical1.sphereColor[1],universalSpherical1.rodColor[3],universalSpherical1.rodColor[2],universalSpherical1.rodColor[1],universalSpherical.cylinderColor[3],universalSpherical.cylinderColor[2],universalSpherical.cylinderColor[1],universalSpherical.sphereColor[3],universalSpherical.sphereColor[2],universalSpherical.sphereColor[1],universalSpherical.rodColor[3],universalSpherical.rodColor[2],universalSpherical.rodColor[1],rs3.arrowColor[3],rs3.arrowColor[2],rs3.arrowColor[1],rs2.arrowColor[3],rs2.arrowColor[2],rs2.arrowColor[1],bodyBox2.color[3],bodyBox2.color[2],bodyBox2.color[1],bodyBox2.body.sphereColor[3],bodyBox2.body.sphereColor[2],bodyBox2.body.sphereColor[1],bodyBox1.color[3],bodyBox1.color[2],bodyBox1.color[1],bodyBox1.body.sphereColor[3],bodyBox1.body.sphereColor[2],bodyBox1.body.sphereColor[1],spherical1.sphereColor[3],spherical1.sphereColor[2],spherical1.sphereColor[1],bodyBox.color[3],bodyBox.color[2],bodyBox.color[1],bodyBox.body.sphereColor[3],bodyBox.body.sphereColor[2],bodyBox.body.sphereColor[1],rs1.arrowColor[3],rs1.arrowColor[2],rs1.arrowColor[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 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (1958):
 * Single equations (assignments): 1931
 * Array equations: 13
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 8
 * Torn equation systems: 6
 * Mixed (continuous/discrete) equation systems: 0
Notification: Equation system details:
 * Constant Jacobian: 0
 * Linear Jacobian (size,density): 3 {(4,100.0%),(4,100.0%),(4,100.0%)}
 * Non-linear Jacobian: 5 {1,1,4,4,4}
 * Without analytic Jacobian: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 6 {(4,93.8%) 8,(8,76.6%) 20,(1,100.0%) 3,(1,100.0%) 9,(4,87.5%) 6,(1,100.0%) 4}
 * Non-linear torn systems: 0
Notification: Performance of prepare postOptimizeDAE: time 0.01983/5.525, allocations: 6.282 MB / 1.626 GB, free: 34.98 MB / 0.5261 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.003641/5.529, allocations: 0.8668 MB / 1.626 GB, free: 34.59 MB / 0.5261 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.1146/5.644, allocations: 27.62 MB / 1.653 GB, free: 12.95 MB / 0.5261 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.5625/6.206, allocations: 25.8 MB / 1.679 GB, free: 88.91 MB / 0.5261 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 0.0001279/6.206, allocations: 19.22 kB / 1.679 GB, free: 88.91 MB / 0.5261 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 0.0001685/6.207, allocations: 26.58 kB / 1.679 GB, free: 88.91 MB / 0.5261 GB
Warning: The model contains alias variables with redundant start and/or conflicting nominal values. It is recommended to resolve the conflicts, because otherwise the system could be hard to solve. To print the conflicting alias sets and the chosen candidates please use -d=aliasConflicts.
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.2381/6.445, allocations: 58.6 MB / 1.736 GB, free: 81.18 MB / 0.5261 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 0.0001024/6.445, allocations: 3.812 kB / 1.736 GB, free: 81.18 MB / 0.5261 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.01089/6.456, allocations: 1.083 MB / 1.737 GB, free: 81.16 MB / 0.5261 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.0861/6.542, allocations: 14 MB / 1.751 GB, free: 79.02 MB / 0.5261 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.001896/6.544, allocations: 165.5 kB / 1.751 GB, free: 78.94 MB / 0.5261 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.1163/6.66, allocations: 59.26 MB / 1.809 GB, free: 40.53 MB / 0.5261 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.05022/6.71, allocations: 22.84 MB / 1.831 GB, free: 17.21 MB / 0.5261 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.6672/7.378, allocations: 38.94 MB / 1.869 GB, free: 96.46 MB / 0.5417 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.009555/7.387, allocations: 2.479 MB / 1.871 GB, free: 96.36 MB / 0.5417 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.004401/7.392, allocations: 119.4 kB / 1.872 GB, free: 96.36 MB / 0.5417 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.01568/7.408, allocations: 0.8539 MB / 1.872 GB, free: 96.36 MB / 0.5417 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.003407/7.411, allocations: 421.3 kB / 1.873 GB, free: 96.36 MB / 0.5417 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.001645/7.413, allocations: 174.2 kB / 1.873 GB, free: 96.36 MB / 0.5417 GB
Notification: Performance of sorting global known variables: time 0.01745/7.43, allocations: 5.775 MB / 1.879 GB, free: 96.11 MB / 0.5417 GB
Notification: Performance of sort global known variables: time 1.192e-06/7.43, allocations: 0 / 1.879 GB, free: 96.11 MB / 0.5417 GB
Notification: Performance of remove unused functions: time 0.0301/7.46, allocations: 4.284 MB / 1.883 GB, free: 96.11 MB / 0.5417 GB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 11
 * Number of states: 30 ($STATESET5.x[5],$STATESET5.x[4],$STATESET5.x[3],$STATESET5.x[2],$STATESET5.x[1],$STATESET4.x[2],$STATESET4.x[1],$STATESET3.x[6],$STATESET3.x[5],$STATESET3.x[4],$STATESET3.x[3],$STATESET3.x[2],$STATESET3.x[1],$STATESET2.x[5],$STATESET2.x[4],$STATESET2.x[3],$STATESET2.x[2],$STATESET2.x[1],$STATESET1.x[2],$STATESET1.x[1],bodyBox.body.w_a[1],bodyBox.body.w_a[2],bodyBox.body.w_a[3],bodyBox1.body.w_a[1],bodyBox1.body.w_a[2],bodyBox1.body.w_a[3],universal.phi_a,universal.phi_b,universal.w_a,universal.w_b)
 * Number of discrete variables: 0 ()
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (435):
 * Single equations (assignments): 420
 * Array equations: 3
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 5
 * Torn equation systems: 7
 * Mixed (continuous/discrete) equation systems: 0
Notification: Equation system details:
 * Constant Jacobian: 0
 * Linear Jacobian (size,density): 3 {(3,100.0%),(4,100.0%),(4,100.0%)}
 * Non-linear Jacobian: 2 {3,8}
 * Without analytic Jacobian: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 6 {(1,100.0%) 6,(4,87.5%) 6,(1,100.0%) 4,(4,93.8%) 8,(8,76.6%) 20,(7,93.9%) 12}
 * Non-linear torn systems: 1 {7 12}
Notification: Performance of Backend phase and start with SimCode phase: time 0.003596/7.464, allocations: 285.3 kB / 1.883 GB, free: 96.02 MB / 0.5417 GB
Notification: Performance of simCode: created initialization part: time 0.06638/7.53, allocations: 23.48 MB / 1.906 GB, free: 94.49 MB / 0.5417 GB
Notification: Performance of simCode: created event and clocks part: time 1.57e-05/7.53, allocations: 3.391 kB / 1.906 GB, free: 94.49 MB / 0.5417 GB
Notification: Performance of simCode: created simulation system equations: time 0.03481/7.565, allocations: 11.23 MB / 1.917 GB, free: 93.04 MB / 0.5417 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.01644/7.582, allocations: 1.352 MB / 1.918 GB, free: 93 MB / 0.5417 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.1166/7.698, allocations: 41.63 MB / 1.959 GB, free: 76.19 MB / 0.5417 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0277/7.726, allocations: 9.458 MB / 1.968 GB, free: 73.3 MB / 0.5417 GB
Notification: Performance of simCode: alias equations: time 0.02643/7.753, allocations: 5.104 MB / 1.973 GB, free: 72.91 MB / 0.5417 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.00627/7.759, allocations: 0.7003 MB / 1.974 GB, free: 72.89 MB / 0.5417 GB
Notification: Performance of SimCode: time 2.404e-06/7.759, allocations: 0 / 1.974 GB, free: 72.89 MB / 0.5417 GB
Notification: Performance of Templates: time 0.9175/8.677, allocations: 167 MB / 2.137 GB, free: 114.7 MB / 0.5574 GB
""

Variables in the reference:time,bodyBox.body.Q[1],bodyBox.body.Q[2],bodyBox.body.Q[3],bodyBox.body.Q[4],bodyBox.body.w_a[1],bodyBox.body.w_a[2],bodyBox.body.w_a[3],bodyBox.v_0[1],bodyBox.v_0[2],bodyBox.v_0[3],bodyBox1.body.Q[1],bodyBox1.body.Q[2],bodyBox1.body.Q[3],bodyBox1.body.Q[4],bodyBox1.body.w_a[1],bodyBox1.body.w_a[2],bodyBox1.body.w_a[3],bodyBox2.body.Q[1],bodyBox2.body.Q[2],bodyBox2.body.Q[3],bodyBox2.body.Q[4],bodyBox2.body.frame_a.r_0[1],bodyBox2.body.frame_a.r_0[2],bodyBox2.body.frame_a.r_0[3],bodyBox2.body.w_a[1],bodyBox2.body.w_a[2],bodyBox2.body.w_a[3],bodyBox2.v_0[1],bodyBox2.v_0[2],bodyBox2.v_0[3],universal.phi_a,universal.phi_b,universal.w_a,universal.w_b,universalSpherical.rRod_0[1],universalSpherical.rRod_0[2],universalSpherical.rRod_0[3]

Variables in the result:bodyBox.I[1,1],bodyBox.I[1,2],bodyBox.I[1,3],bodyBox.I[2,1],bodyBox.I[2,2],bodyBox.I[2,3],bodyBox.I[3,1],bodyBox.I[3,2],bodyBox.I[3,3],bodyBox.R.T[1,1],bodyBox.R.T[1,2],bodyBox.R.T[1,3],bodyBox.R.T[2,1],bodyBox.R.T[2,2],bodyBox.R.T[2,3],bodyBox.R.T[3,1],bodyBox.R.T[3,2],bodyBox.R.T[3,3],bodyBox.R.w[1],bodyBox.R.w[2],bodyBox.R.w[3],bodyBox.angles_fixed,bodyBox.angles_start[1],bodyBox.angles_start[2],bodyBox.angles_start[3],bodyBox.animation,bodyBox.body.I[1,1],bodyBox.body.I[1,2],bodyBox.body.I[1,3],bodyBox.body.I[2,1],bodyBox.body.I[2,2],bodyBox.body.I[2,3],bodyBox.body.I[3,1],bodyBox.body.I[3,2],bodyBox.body.I[3,3],bodyBox.body.I_11,bodyBox.body.I_21,bodyBox.body.I_22,bodyBox.body.I_31,bodyBox.body.I_32,bodyBox.body.I_33,bodyBox.body.Q[1],bodyBox.body.Q[2],bodyBox.body.Q[3],bodyBox.body.Q[4],bodyBox.body.Q_start[1],bodyBox.body.Q_start[2],bodyBox.body.Q_start[3],bodyBox.body.Q_start[4],bodyBox.body.R_start.T[1,1],bodyBox.body.R_start.T[1,2],bodyBox.body.R_start.T[1,3],bodyBox.body.R_start.T[2,1],bodyBox.body.R_start.T[2,2],bodyBox.body.R_start.T[2,3],bodyBox.body.R_start.T[3,1],bodyBox.body.R_start.T[3,2],bodyBox.body.R_start.T[3,3],bodyBox.body.R_start.w[1],bodyBox.body.R_start.w[2],bodyBox.body.R_start.w[3],bodyBox.body.angles_fixed,bodyBox.body.angles_start[1],bodyBox.body.angles_start[2],bodyBox.body.angles_start[3],bodyBox.body.animation,bodyBox.body.cylinderDiameter,bodyBox.body.enforceStates,bodyBox.body.frame_a.r_0[1],bodyBox.body.frame_a.r_0[2],bodyBox.body.frame_a.r_0[3],bodyBox.body.m,bodyBox.body.phi_start[1],bodyBox.body.phi_start[2],bodyBox.body.phi_start[3],bodyBox.body.r_CM[1],bodyBox.body.r_CM[2],bodyBox.body.r_CM[3],bodyBox.body.sequence_angleStates[1],bodyBox.body.sequence_angleStates[2],bodyBox.body.sequence_angleStates[3],bodyBox.body.sequence_start[1],bodyBox.body.sequence_start[2],bodyBox.body.sequence_start[3],bodyBox.body.specularCoefficient,bodyBox.body.sphereDiameter,bodyBox.body.useQuaternions,bodyBox.body.w_0_fixed,bodyBox.body.w_0_start[1],bodyBox.body.w_0_start[2],bodyBox.body.w_0_start[3],bodyBox.body.w_a[1],bodyBox.body.w_a[2],bodyBox.body.w_a[3],bodyBox.body.z_0_fixed,bodyBox.body.z_0_start[1],bodyBox.body.z_0_start[2],bodyBox.body.z_0_start[3],bodyBox.body.z_a_start[1],bodyBox.body.z_a_start[2],bodyBox.body.z_a_start[3],bodyBox.density,bodyBox.enforceStates,bodyBox.frameTranslation.animation,bodyBox.frameTranslation.extra,bodyBox.frameTranslation.height,bodyBox.frameTranslation.length,bodyBox.frameTranslation.lengthDirection[1],bodyBox.frameTranslation.lengthDirection[2],bodyBox.frameTranslation.lengthDirection[3],bodyBox.frameTranslation.r[1],bodyBox.frameTranslation.r[2],bodyBox.frameTranslation.r[3],bodyBox.frameTranslation.r_shape[1],bodyBox.frameTranslation.r_shape[2],bodyBox.frameTranslation.r_shape[3],bodyBox.frameTranslation.shape.extra,bodyBox.frameTranslation.shape.height,bodyBox.frameTranslation.shape.specularCoefficient,bodyBox.frameTranslation.shape.width,bodyBox.frameTranslation.specularCoefficient,bodyBox.frameTranslation.width,bodyBox.frameTranslation.widthDirection[1],bodyBox.frameTranslation.widthDirection[2],bodyBox.frameTranslation.widthDirection[3],bodyBox.height,bodyBox.innerHeight,bodyBox.innerWidth,bodyBox.length,bodyBox.lengthDirection[1],bodyBox.lengthDirection[2],bodyBox.lengthDirection[3],bodyBox.m,bodyBox.mi,bodyBox.mo,bodyBox.r[1],bodyBox.r[2],bodyBox.r[3],bodyBox.r_CM[1],bodyBox.r_CM[2],bodyBox.r_CM[3],bodyBox.r_shape[1],bodyBox.r_shape[2],bodyBox.r_shape[3],bodyBox.sequence_angleStates[1],bodyBox.sequence_angleStates[2],bodyBox.sequence_angleStates[3],bodyBox.sequence_start[1],bodyBox.sequence_start[2],bodyBox.sequence_start[3],bodyBox.specularCoefficient,bodyBox.useQuaternions,bodyBox.v_0[1],bodyBox.v_0[2],bodyBox.v_0[3],bodyBox.w_0_fixed,bodyBox.w_0_start[1],bodyBox.w_0_start[2],bodyBox.w_0_start[3],bodyBox.width,bodyBox.widthDirection[1],bodyBox.widthDirection[2],bodyBox.widthDirection[3],bodyBox.z_0_fixed,bodyBox.z_0_start[1],bodyBox.z_0_start[2],bodyBox.z_0_start[3],bodyBox1.I[1,1],bodyBox1.I[1,2],bodyBox1.I[1,3],bodyBox1.I[2,1],bodyBox1.I[2,2],bodyBox1.I[2,3],bodyBox1.I[3,1],bodyBox1.I[3,2],bodyBox1.I[3,3],bodyBox1.R.T[1,1],bodyBox1.R.T[1,2],bodyBox1.R.T[1,3],bodyBox1.R.T[2,1],bodyBox1.R.T[2,2],bodyBox1.R.T[2,3],bodyBox1.R.T[3,1],bodyBox1.R.T[3,2],bodyBox1.R.T[3,3],bodyBox1.R.w[1],bodyBox1.R.w[2],bodyBox1.R.w[3],bodyBox1.angles_fixed,bodyBox1.angles_start[1],bodyBox1.angles_start[2],bodyBox1.angles_start[3],bodyBox1.animation,bodyBox1.body.I[1,1],bodyBox1.body.I[1,2],bodyBox1.body.I[1,3],bodyBox1.body.I[2,1],bodyBox1.body.I[2,2],bodyBox1.body.I[2,3],bodyBox1.body.I[3,1],bodyBox1.body.I[3,2],bodyBox1.body.I[3,3],bodyBox1.body.I_11,bodyBox1.body.I_21,bodyBox1.body.I_22,bodyBox1.body.I_31,bodyBox1.body.I_32,bodyBox1.body.I_33,bodyBox1.body.Q[1],bodyBox1.body.Q[2],bodyBox1.body.Q[3],bodyBox1.body.Q[4],bodyBox1.body.Q_start[1],bodyBox1.body.Q_start[2],bodyBox1.body.Q_start[3],bodyBox1.body.Q_start[4],bodyBox1.body.R_start.T[1,1],bod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