Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.BevelGear1D.conf.json loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 3.2.3+maint.om/package.mo", uses=false) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo", uses=false) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 3.2.3+maint.om/package.mo", uses=false) Using package ModelicaServices with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 3.2.3+maint.om/package.mo) Using package Modelica with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo) Using package Complex with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 3.2.3+maint.om/package.mo) Running command: translateModel(Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.BevelGear1D,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|inertia2.phi|inertia2.w|revolute1.phi|revolute1.w|revolute2.phi|revolute2.w|revolute3.phi|revolute3.w",fileNamePrefix="Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.BevelGear1D") translateModel(Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.BevelGear1D,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|inertia2.phi|inertia2.w|revolute1.phi|revolute1.w|revolute2.phi|revolute2.w|revolute3.phi|revolute3.w",fileNamePrefix="Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.BevelGear1D") [:1:1-1:32:writable] Error: Class GC_set_max_heap_size not found in scope (looking for a function or record). Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 3.2.3+maint.om/package.mo): time 0.002488/0.002488, allocations: 186 kB / 8.149 MB, free: 0.8398 MB / 6.77 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.755/1.755, allocations: 205.2 MB / 213.7 MB, free: 8.586 MB / 178.8 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 3.2.3+maint.om/package.mo): time 0.001302/0.001301, allocations: 92.27 kB / 261.8 MB, free: 5.152 MB / 210.8 MB Notification: Performance of FrontEnd - loaded program: time 8.597e-06/8.886e-06, allocations: 0 / 314.3 MB, free: 2.441 MB / 258.8 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.09904/0.09907, allocations: 47.57 MB / 361.8 MB, free: 2.754 MB / 306.8 MB Notification: Performance of FrontEnd - scodeFlatten: time 0.3148/0.414, allocations: 101.1 MB / 462.9 MB, free: 3.008 MB / 338.8 MB Notification: Performance of FrontEnd - mkProgramGraph: time 0.0003026/0.4143, allocations: 82.14 kB / 463 MB, free: 2.969 MB / 338.8 MB Notification: Performance of FrontEnd: time 0.5678/0.9821, allocations: 93.19 MB / 0.5431 GB, free: 83.2 MB / 402.8 MB Notification: Performance of Transformations before backend: time 0.0003435/0.9825, allocations: 103 kB / 0.5432 GB, free: 83.19 MB / 402.8 MB Notification: Model statistics after passing the front-end and creating the data structures used by the back-end: * Number of equations: 1755 * Number of variables: 1755 Notification: Performance of Generate backend data structure: time 0.04409/1.027, allocations: 5.9 MB / 0.549 GB, free: 81.17 MB / 402.8 MB Notification: Performance of prepare preOptimizeDAE: time 5.102e-05/1.027, allocations: 7.75 kB / 0.549 GB, free: 81.17 MB / 402.8 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.03028/1.057, allocations: 4.054 MB / 0.553 GB, free: 80.81 MB / 402.8 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.01925/1.076, allocations: 5.31 MB / 0.5581 GB, free: 80.1 MB / 402.8 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0002689/1.077, allocations: 164 kB / 0.5583 GB, free: 80.1 MB / 402.8 MB Notification: Performance of preOpt expandDerOperator (simulation): time 0.002782/1.079, allocations: 294.4 kB / 0.5586 GB, free: 80.1 MB / 402.8 MB Notification: Performance of preOpt removeEqualFunctionCalls (simulation): time 0.02161/1.101, allocations: 7.862 MB / 0.5663 GB, free: 78.86 MB / 402.8 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.03379/1.135, allocations: 11.57 MB / 0.5776 GB, free: 72.95 MB / 402.8 MB Notification: Performance of preOpt findStateOrder (simulation): time 0.0004101/1.135, allocations: 70.78 kB / 0.5776 GB, free: 72.91 MB / 402.8 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.002873/1.138, allocations: 32.41 kB / 0.5777 GB, free: 72.91 MB / 402.8 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.00316/1.141, allocations: 1.149 MB / 0.5788 GB, free: 72.72 MB / 402.8 MB Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.1041/1.246, allocations: 54.78 MB / 0.6323 GB, free: 30.22 MB / 402.8 MB Notification: Performance of preOpt comSubExp (simulation): time 0.009561/1.255, allocations: 4.902 MB / 0.6371 GB, free: 25.18 MB / 402.8 MB Notification: Performance of preOpt resolveLoops (simulation): time 0.006914/1.262, allocations: 3.555 MB / 0.6405 GB, free: 21.62 MB / 402.8 MB Notification: Performance of preOpt evalFunc (simulation): time 0.02629/1.289, allocations: 9.919 MB / 0.6502 GB, free: 11.43 MB / 402.8 MB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 4.44e-05/1.289, allocations: 59.81 kB / 0.6503 GB, free: 11.37 MB / 402.8 MB Notification: Performance of pre-optimization done (n=211): time 6.322e-06/1.289, allocations: 0 / 0.6503 GB, free: 11.37 MB / 402.8 MB Notification: Performance of matching and sorting (n=250): time 0.1136/1.402, allocations: 25.82 MB / 0.6755 GB, free: 1.41 MB / 418.8 MB Notification: Performance of inlineWhenForInitialization (initialization): time 0.0001465/1.402, allocations: 209.9 kB / 0.6757 GB, free: 1.164 MB / 418.8 MB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.1719/1.574, allocations: 3.381 MB / 0.679 GB, free: 136.7 MB / 418.8 MB Notification: Performance of collectPreVariables (initialization): time 0.0009354/1.575, allocations: 25.7 kB / 0.679 GB, free: 136.6 MB / 418.8 MB Notification: Performance of collectInitialEqns (initialization): time 0.0026/1.578, allocations: 3.209 MB / 0.6821 GB, free: 135.6 MB / 418.8 MB Notification: Performance of collectInitialBindings (initialization): time 0.001871/1.58, allocations: 0.911 MB / 0.683 GB, free: 135.1 MB / 418.8 MB Notification: Performance of simplifyInitialFunctions (initialization): time 0.00113/1.581, allocations: 0 / 0.683 GB, free: 135.1 MB / 418.8 MB Notification: Performance of setup shared object (initialization): time 0.0005899/1.582, allocations: 0.6046 MB / 0.6836 GB, free: 134.7 MB / 418.8 MB Notification: Performance of preBalanceInitialSystem (initialization): time 0.009063/1.591, allocations: 3.415 MB / 0.687 GB, free: 134.7 MB / 418.8 MB Notification: Performance of partitionIndependentBlocks (initialization): time 0.01219/1.603, allocations: 7.382 MB / 0.6942 GB, free: 129.6 MB / 418.8 MB Notification: Performance of analyzeInitialSystem (initialization): time 0.01203/1.615, allocations: 4.975 MB / 0.699 GB, free: 129.6 MB / 418.8 MB Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001851/1.615, allocations: 40.97 kB / 0.6991 GB, free: 129.6 MB / 418.8 MB Notification: Performance of matching and sorting (n=904) (initialization): time 0.03977/1.655, allocations: 11.74 MB / 0.7105 GB, free: 128 MB / 418.8 MB Notification: Performance of prepare postOptimizeDAE: time 2.634e-05/1.655, allocations: 8.812 kB / 0.7105 GB, free: 128 MB / 418.8 MB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0002587/1.655, allocations: 141.2 kB / 0.7107 GB, free: 128 MB / 418.8 MB Notification: Performance of postOpt tearingSystem (initialization): time 0.01178/1.667, allocations: 2.174 MB / 0.7128 GB, free: 127.6 MB / 418.8 MB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.01241/1.68, allocations: 1.643 MB / 0.7144 GB, free: 127.4 MB / 418.8 MB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.03371/1.713, allocations: 14.4 MB / 0.7285 GB, free: 119.9 MB / 418.8 MB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.009146/1.723, allocations: 260.9 kB / 0.7287 GB, free: 119.9 MB / 418.8 MB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.002228/1.725, allocations: 449.7 kB / 0.7291 GB, free: 119.8 MB / 418.8 MB Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 644 * Number of states: 0 () * Number of discrete variables: 36 (sensor2.torqueColor[3],sensor2.torqueColor[2],sensor2.torqueColor[1],bodyBox.color[3],bodyBox.color[2],bodyBox.color[1],bodyBox.body.sphereColor[3],bodyBox.body.sphereColor[2],bodyBox.body.sphereColor[1],revolute3.cylinderColor[3],revolute3.cylinderColor[2],revolute3.cylinderColor[1],revolute2.cylinderColor[3],revolute2.cylinderColor[2],revolute2.cylinderColor[1],revolute1.cylinderColor[3],revolute1.cylinderColor[2],revolute1.cylinderColor[1],inertia2.cylinderColor[3],inertia2.cylinderColor[2],inertia2.cylinderColor[1],inertia1.cylinderColor[3],inertia1.cylinderColor[2],inertia1.cylinderColor[1],world.gravityArrowColor[3],world.gravityArrowColor[2],world.gravityArrowColor[1],world.axisColor_x[3],world.axisColor_x[2],world.axisColor_x[1],world.groundColor[3],world.groundColor[2],world.groundColor[1],world.gravitySphereColor[3],world.gravitySphereColor[2],world.gravitySphereColor[1]) * Number of discrete states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for initialization (831): * Single equations (assignments): 825 * Array equations: 3 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (linear and non-linear blocks): 0 * Torn equation systems: 3 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems: 3 {(3,100.0%) 15,(4,100.0%) 21,(3,100.0%) 6} * Non-linear torn systems: 0 Notification: Performance of prepare postOptimizeDAE: time 0.003101/1.728, allocations: 388.6 kB / 0.7295 GB, free: 119.5 MB / 418.8 MB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001595/1.73, allocations: 377.1 kB / 0.7299 GB, free: 119.3 MB / 418.8 MB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.03318/1.763, allocations: 7.447 MB / 0.7371 GB, free: 116.8 MB / 418.8 MB Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.0001417/1.763, allocations: 22.03 kB / 0.7372 GB, free: 116.8 MB / 418.8 MB Notification: Performance of postOpt constantLinearSystem (simulation): time 4.621e-05/1.763, allocations: 10.69 kB / 0.7372 GB, free: 116.8 MB / 418.8 MB Notification: Performance of postOpt simplifysemiLinear (simulation): time 7.282e-05/1.763, allocations: 20.09 kB / 0.7372 GB, free: 116.8 MB / 418.8 MB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.04646/1.81, allocations: 13.7 MB / 0.7506 GB, free: 111.2 MB / 418.8 MB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 4.005e-05/1.81, allocations: 0 / 0.7506 GB, free: 111.2 MB / 418.8 MB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.005529/1.815, allocations: 404.3 kB / 0.751 GB, free: 110.9 MB / 418.8 MB Notification: Performance of postOpt tearingSystem (simulation): time 0.01173/1.827, allocations: 1.927 MB / 0.7528 GB, free: 109.5 MB / 418.8 MB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0009116/1.828, allocations: 11.7 kB / 0.7528 GB, free: 109.5 MB / 418.8 MB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.02959/1.858, allocations: 12.82 MB / 0.7654 GB, free: 97.96 MB / 418.8 MB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 7.654e-06/1.858, allocations: 4 kB / 0.7654 GB, free: 97.95 MB / 418.8 MB Notification: Performance of postOpt detectJacobianSparsePattern (simulation): time 0.03391/1.892, allocations: 11.88 MB / 0.777 GB, free: 87.68 MB / 418.8 MB Notification: Performance of postOpt removeConstants (simulation): time 0.00372/1.896, allocations: 0.9213 MB / 0.7779 GB, free: 86.83 MB / 418.8 MB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0018/1.897, allocations: 7.938 kB / 0.7779 GB, free: 86.82 MB / 418.8 MB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.005633/1.903, allocations: 118.3 kB / 0.778 GB, free: 86.75 MB / 418.8 MB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.00125/1.904, allocations: 121 kB / 0.7781 GB, free: 86.68 MB / 418.8 MB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0008301/1.905, allocations: 63.94 kB / 0.7782 GB, free: 86.62 MB / 418.8 MB Notification: Performance of sort global known variables: time 0.006428/1.912, allocations: 2.287 MB / 0.7804 GB, free: 84.61 MB / 418.8 MB Notification: Performance of remove unused functions: time 0.00957/1.921, allocations: 1.19 MB / 0.7816 GB, free: 83.43 MB / 418.8 MB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 4 * Number of states: 8 (inertia1.phi,inertia1.w,revolute1.phi,revolute1.w,revolute2.phi,revolute2.w,revolute3.phi,revolute3.w) * Number of discrete variables: 0 () * Number of discrete states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for simulation (193): * Single equations (assignments): 187 * Array equations: 3 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (linear and non-linear blocks): 0 * Torn equation systems: 3 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems: 3 {(3,100.0%) 12,(4,100.0%) 18,(2,100.0%) 7} * Non-linear torn systems: 0 Notification: Performance of Backend phase and start with SimCode phase: time 0.001318/1.923, allocations: 159.7 kB / 0.7817 GB, free: 83.28 MB / 418.8 MB Notification: Performance of simCode: created initialization part: time 0.02305/1.946, allocations: 8.476 MB / 0.79 GB, free: 75.71 MB / 418.8 MB Notification: Performance of simCode: created event and clocks part: time 9.548e-06/1.946, allocations: 0 / 0.79 GB, free: 75.71 MB / 418.8 MB Notification: Performance of simCode: created simulation system equations: time 0.01014/1.956, allocations: 3.534 MB / 0.7934 GB, free: 72.54 MB / 418.8 MB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.004535/1.961, allocations: 359.2 kB / 0.7938 GB, free: 72.23 MB / 418.8 MB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.03587/1.996, allocations: 10.77 MB / 0.8043 GB, free: 61.73 MB / 418.8 MB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.01268/2.009, allocations: 4.199 MB / 0.8084 GB, free: 57.52 MB / 418.8 MB Notification: Performance of SimCode: time 2.565e-06/2.009, allocations: 0 / 0.8084 GB, free: 57.52 MB / 418.8 MB Notification: Performance of Templates: time 0.4022/2.412, allocations: 135.3 MB / 0.9405 GB, free: 77.27 MB / 418.8 MB make -j1 -f Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.BevelGear1D.makefile (rm -f Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.BevelGear1D.pipe ; mkfifo Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.BevelGear1D.pipe ; head -c 1048576 < Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.BevelGear1D.pipe >> ../files/Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.BevelGear1D.sim & ./Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.BevelGear1D --alarm=480 -emit_protected > Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.BevelGear1D.pipe 2>&1) diffSimulationResults("Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.BevelGear1D_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v3.2.3+build.4/Modelica/Mechanics/MultiBody/Examples/Rotational3DEffects/BevelGear1D/BevelGear1D.csv","../files/Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.BevelGear1D.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001) "" Variables in the reference:time,inertia2.phi,inertia2.w,revolute1.phi,revolute1.w,revolute2.phi,revolute2.w,revolute3.phi,revolute3.w Variables in the result:_D_cse1,_D_cse10,_D_cse2,_D_cse3,_D_cse4,_D_cse5,_D_cse6,_D_cse7,_D_cse8,_D_cse9,bevelGear.e_a[1],bevelGear.e_a[2],bevelGear.e_a[3],bevelGear.e_b[1],bevelGear.e_b[2],bevelGear.e_b[3],bevelGear.flange_a.phi,bevelGear.flange_a.tau,bevelGear.flange_b.phi,bevelGear.flange_b.tau,bevelGear.frame_a.R.T[1,1],bevelGear.frame_a.R.T[1,2],bevelGear.frame_a.R.T[1,3],bevelGear.frame_a.R.T[2,1],bevelGear.frame_a.R.T[2,2],bevelGear.frame_a.R.T[2,3],bevelGear.frame_a.R.T[3,1],bevelGear.frame_a.R.T[3,2],bevelGear.frame_a.R.T[3,3],bevelGear.frame_a.R.w[1],bevelGear.frame_a.R.w[2],bevelGear.frame_a.R.w[3],bevelGear.frame_a.f[1],bevelGear.frame_a.f[2],bevelGear.frame_a.f[3],bevelGear.frame_a.r_0[1],bevelGear.frame_a.r_0[2],bevelGear.frame_a.r_0[3],bevelGear.frame_a.t[1],bevelGear.frame_a.t[2],bevelGear.frame_a.t[3],bevelGear.housing.frame_a.R.T[1,1],bevelGear.housing.frame_a.R.T[1,2],bevelGear.housing.frame_a.R.T[1,3],bevelGear.housing.frame_a.R.T[2,1],bevelGear.housing.frame_a.R.T[2,2],bevelGear.housing.frame_a.R.T[2,3],bevelGear.housing.frame_a.R.T[3,1],bevelGear.housing.frame_a.R.T[3,2],bevelGear.housing.frame_a.R.T[3,3],bevelGear.housing.frame_a.R.w[1],bevelGear.housing.frame_a.R.w[2],bevelGear.housing.frame_a.R.w[3],bevelGear.housing.frame_a.f[1],bevelGear.housing.frame_a.f[2],bevelGear.housing.frame_a.f[3],bevelGear.housing.frame_a.r_0[1],bevelGear.housing.frame_a.r_0[2],bevelGear.housing.frame_a.r_0[3],bevelGear.housing.frame_a.t[1],bevelGear.housing.frame_a.t[2],bevelGear.housing.frame_a.t[3],bevelGear.housing.t[1],bevelGear.housing.t[2],bevelGear.housing.t[3],bevelGear.n_a[1],bevelGear.n_a[2],bevelGear.n_a[3],bevelGear.n_b[1],bevelGear.n_b[2],bevelGear.n_b[3],bevelGear.ratio,bevelGearPower,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.a_0[1],bodyBox.a_0[2],bodyBox.a_0[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.a_0[1],bodyBox.body.a_0[2],bodyBox.body.a_0[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.cylinderColor[1],bodyBox.body.cylinderColor[2],bodyBox.body.cylinderColor[3],bodyBox.body.cylinderDiameter,bodyBox.body.enforceStates,bodyBox.body.frame_a.R.T[1,1],bodyBox.body.frame_a.R.T[1,2],bodyBox.body.frame_a.R.T[1,3],bodyBox.body.frame_a.R.T[2,1],bodyBox.body.frame_a.R.T[2,2],bodyBox.body.frame_a.R.T[2,3],bodyBox.body.frame_a.R.T[3,1],bodyBox.body.frame_a.R.T[3,2],bodyBox.body.frame_a.R.T[3,3],bodyBox.body.frame_a.R.w[1],bodyBox.body.frame_a.R.w[2],bodyBox.body.frame_a.R.w[3],bodyBox.body.frame_a.f[1],bodyBox.body.frame_a.f[2],bodyBox.body.frame_a.f[3],bodyBox.body.frame_a.r_0[1],bodyBox.body.frame_a.r_0[2],bodyBox.body.frame_a.r_0[3],bodyBox.body.frame_a.t[1],bodyBox.body.frame_a.t[2],bodyBox.body.frame_a.t[3],bodyBox.body.g_0[1],bodyBox.body.g_0[2],bodyBox.body.g_0[3],bodyBox.body.m,bodyBox.body.phi[1],bodyBox.body.phi[2],bodyBox.body.phi[3],bodyBox.body.phi_d[1],bodyBox.body.phi_d[2],bodyBox.body.phi_d[3],bodyBox.body.phi_dd[1],bodyBox.body.phi_dd[2],bodyBox.body.phi_dd[3],bodyBox.body.phi_start[1],bodyBox.body.phi_start[2],bodyBox.body.phi_start[3],bodyBox.body.r_0[1],bodyBox.body.r_0[2],bodyBox.body.r_0[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.sphereColor[1],bodyBox.body.sphereColor[2],bodyBox.body.sphereColor[3],bodyBox.body.sphereDiameter,bodyBox.body.useQuaternions,bodyBox.body.v_0[1],bodyBox.body.v_0[2],bodyBox.body.v_0[3],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],bodyB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