Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr ModelicaTest_3.2.3_cpp_ModelicaTest.MultiBody.FourbarVariants.JointUSR.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) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.3+maint.om/package.mo", uses=false) Using package ModelicaTest with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.3+maint.om/package.mo) 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(ModelicaTest.MultiBody.FourbarVariants.JointUSR,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|j2.s|j2.v",fileNamePrefix="ModelicaTest_3.2.3_cpp_ModelicaTest.MultiBody.FourbarVariants.JointUSR") translateModel(ModelicaTest.MultiBody.FourbarVariants.JointUSR,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|j2.s|j2.v",fileNamePrefix="ModelicaTest_3.2.3_cpp_ModelicaTest.MultiBody.FourbarVariants.JointUSR") Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 3.2.3+maint.om/package.mo): time 0.002136/0.002136, allocations: 177.8 kB / 8.36 MB, free: 0.7148 MB / 5.871 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 2.008/2.008, allocations: 205.3 MB / 214.1 MB, free: 14.14 MB / 187.1 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 3.2.3+maint.om/package.mo): time 0.001078/0.001078, allocations: 90.84 kB / 262.1 MB, free: 13.88 MB / 219.1 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.3+maint.om/package.mo): time 0.295/0.295, allocations: 43.49 MB / 353.6 MB, free: 2.262 MB / 299.1 MB Notification: Performance of FrontEnd - loaded program: time 1.582e-05/1.595e-05, allocations: 224 / 418.2 MB, free: 41.02 MB / 299.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.3952/0.3953, allocations: 58.85 MB / 477.1 MB, free: 5.266 MB / 315.1 MB Notification: Performance of FrontEnd - scodeFlatten: time 0.2187/0.614, allocations: 116.8 MB / 0.58 GB, free: 14.42 MB / 427.1 MB Notification: Performance of FrontEnd - mkProgramGraph: time 0.0002495/0.6143, allocations: 75.97 kB / 0.58 GB, free: 14.35 MB / 427.1 MB Notification: Performance of FrontEnd - DAE generated: time 1.012/1.626, allocations: 169 MB / 0.7451 GB, free: 63.56 MB / 475.1 MB Notification: Performance of FrontEnd: time 2.575e-06/1.626, allocations: 0 / 0.7451 GB, free: 63.56 MB / 475.1 MB Notification: Performance of Transformations before backend: time 0.0004536/1.627, allocations: 148 kB / 0.7453 GB, free: 63.42 MB / 475.1 MB Notification: Model statistics after passing the front-end and creating the data structures used by the back-end: * Number of equations: 2782 * Number of variables: 2782 Notification: Performance of Generate backend data structure: time 0.03157/1.658, allocations: 7.698 MB / 0.7528 GB, free: 55.66 MB / 475.1 MB Notification: Performance of prepare preOptimizeDAE: time 4.856e-05/1.658, allocations: 12.03 kB / 0.7528 GB, free: 55.64 MB / 475.1 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.05193/1.71, allocations: 6.943 MB / 0.7596 GB, free: 48.68 MB / 475.1 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.0356/1.746, allocations: 9.839 MB / 0.7692 GB, free: 38.84 MB / 475.1 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0005502/1.746, allocations: 248 kB / 0.7694 GB, free: 38.6 MB / 475.1 MB Notification: Performance of preOpt expandDerOperator (simulation): time 0.00465/1.751, allocations: 463.8 kB / 0.7699 GB, free: 38.14 MB / 475.1 MB Notification: Performance of preOpt removeEqualFunctionCalls (simulation): time 0.03147/1.783, allocations: 13.16 MB / 0.7827 GB, free: 24.98 MB / 475.1 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.04675/1.829, allocations: 17.63 MB / 0.7999 GB, free: 5.93 MB / 475.1 MB Notification: Performance of preOpt findStateOrder (simulation): time 0.000726/1.83, allocations: 87.22 kB / 0.8 GB, free: 5.844 MB / 475.1 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.005369/1.836, allocations: 44 kB / 0.8001 GB, free: 5.801 MB / 475.1 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.006469/1.842, allocations: 1.971 MB / 0.802 GB, free: 3.828 MB / 475.1 MB Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.8553/2.698, allocations: 78.99 MB / 0.8791 GB, free: 39.25 MB / 491.2 MB Notification: Performance of preOpt comSubExp (simulation): time 0.01389/2.711, allocations: 5.986 MB / 0.885 GB, free: 38.02 MB / 491.2 MB Notification: Performance of preOpt resolveLoops (simulation): time 0.01184/2.723, allocations: 3.874 MB / 0.8888 GB, free: 37.96 MB / 491.2 MB Notification: Performance of preOpt evalFunc (simulation): time 0.07267/2.796, allocations: 17.98 MB / 0.9063 GB, free: 30.96 MB / 491.2 MB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 0.000121/2.796, allocations: 63.86 kB / 0.9064 GB, free: 30.9 MB / 491.2 MB Notification: Performance of pre-optimization done (n=334): time 1.176e-05/2.796, allocations: 3.375 kB / 0.9064 GB, free: 30.9 MB / 491.2 MB Notification: Performance of matching and sorting (n=426): time 0.136/2.932, allocations: 26.45 MB / 0.9322 GB, free: 21.63 MB / 491.2 MB Notification: Performance of inlineWhenForInitialization (initialization): time 8.54e-05/2.932, allocations: 192.6 kB / 0.9324 GB, free: 21.44 MB / 491.2 MB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.01277/2.945, allocations: 5.079 MB / 0.9373 GB, free: 19.61 MB / 491.2 MB Notification: Performance of collectPreVariables (initialization): time 0.001115/2.946, allocations: 25.7 kB / 0.9374 GB, free: 19.58 MB / 491.2 MB Notification: Performance of collectInitialEqns (initialization): time 0.005058/2.952, allocations: 5.406 MB / 0.9427 GB, free: 15.36 MB / 491.2 MB Notification: Performance of collectInitialBindings (initialization): time 0.002708/2.954, allocations: 1.525 MB / 0.9441 GB, free: 14.22 MB / 491.2 MB Notification: Performance of simplifyInitialFunctions (initialization): time 0.00173/2.956, allocations: 2.688 kB / 0.9441 GB, free: 14.22 MB / 491.2 MB Notification: Performance of setup shared object (initialization): time 0.001267/2.957, allocations: 0.7746 MB / 0.9449 GB, free: 13.71 MB / 491.2 MB Notification: Performance of preBalanceInitialSystem (initialization): time 0.009799/2.967, allocations: 3.969 MB / 0.9488 GB, free: 12.26 MB / 491.2 MB Notification: Performance of partitionIndependentBlocks (initialization): time 0.01429/2.982, allocations: 10.03 MB / 0.9586 GB, free: 2.668 MB / 491.2 MB Notification: Performance of analyzeInitialSystem (initialization): time 0.01769/2.999, allocations: 6.458 MB / 0.9649 GB, free: 14.3 MB / 0.4953 GB Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0002623/3, allocations: 60 kB / 0.9649 GB, free: 14.24 MB / 0.4953 GB Notification: Performance of matching and sorting (n=1434) (initialization): time 0.05364/3.053, allocations: 14.68 MB / 0.9793 GB, free: 2.137 MB / 0.4953 GB Notification: Performance of prepare postOptimizeDAE: time 0.0002029/3.054, allocations: 99.8 kB / 0.9794 GB, free: 2.043 MB / 0.4953 GB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0004086/3.054, allocations: 216 kB / 0.9796 GB, free: 1.832 MB / 0.4953 GB Notification: Performance of postOpt tearingSystem (initialization): time 0.01411/3.068, allocations: 2.297 MB / 0.9818 GB, free: 172 kB / 0.4953 GB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.01731/3.085, allocations: 2.552 MB / 0.9843 GB, free: 13.96 MB / 0.5109 GB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.03091/3.116, allocations: 11.14 MB / 0.9952 GB, free: 4.27 MB / 0.5109 GB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.01352/3.13, allocations: 0.4904 MB / 0.9957 GB, free: 3.898 MB / 0.5109 GB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.00319/3.133, allocations: 0.613 MB / 0.9963 GB, free: 3.289 MB / 0.5109 GB Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 982 * Number of states: 0 () * Number of discrete variables: 49 (jointUSR.revolute.positiveBranch,Body3.sphereColor[3],Body3.sphereColor[2],Body3.sphereColor[1],Body2.sphereColor[3],Body2.sphereColor[2],Body2.sphereColor[1],Body1.sphereColor[3],Body1.sphereColor[2],Body1.sphereColor[1],jointUSR.rod1Color[3],jointUSR.rod1Color[2],jointUSR.rod1Color[1],jointUSR.cylinderColor[3],jointUSR.cylinderColor[2],jointUSR.cylinderColor[1],jointUSR.sphereColor[3],jointUSR.sphereColor[2],jointUSR.sphereColor[1],jointUSR.revoluteColor[3],jointUSR.revoluteColor[2],jointUSR.revoluteColor[1],fixedFrame.color_x[3],fixedFrame.color_x[2],fixedFrame.color_x[1],b3.color[3],b3.color[2],b3.color[1],b2.color[3],b2.color[2],b2.color[1],b2.body.sphereColor[3],b2.body.sphereColor[2],b2.body.sphereColor[1],j2.boxColor[3],j2.boxColor[2],j2.boxColor[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 (1333): * Single equations (assignments): 1326 * Array equations: 6 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (linear and non-linear blocks): 0 * Torn equation systems: 1 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems: 1 {(2,100.0%) 52} * Non-linear torn systems: 0 Notification: Performance of prepare postOptimizeDAE: time 0.003998/3.137, allocations: 0.6396 MB / 0.9969 GB, free: 2.648 MB / 0.5109 GB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.00189/3.139, allocations: 0.5706 MB / 0.9974 GB, free: 2.074 MB / 0.5109 GB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.03572/3.175, allocations: 8.209 MB / 1.005 GB, free: 12.4 MB / 0.5265 GB Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.0001719/3.175, allocations: 67.75 kB / 1.006 GB, free: 12.34 MB / 0.5265 GB Notification: Performance of postOpt constantLinearSystem (simulation): time 2.964e-05/3.175, allocations: 8 kB / 1.006 GB, free: 12.33 MB / 0.5265 GB Notification: Performance of postOpt simplifysemiLinear (simulation): time 0.000104/3.175, allocations: 20.55 kB / 1.006 GB, free: 12.33 MB / 0.5265 GB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.4577/3.633, allocations: 17.43 MB / 1.023 GB, free: 118.7 MB / 0.5265 GB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 6.283e-05/3.633, allocations: 14.12 kB / 1.023 GB, free: 118.7 MB / 0.5265 GB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.006356/3.639, allocations: 0.649 MB / 1.023 GB, free: 118.7 MB / 0.5265 GB Notification: Performance of postOpt tearingSystem (simulation): time 0.01309/3.653, allocations: 1.804 MB / 1.025 GB, free: 118.7 MB / 0.5265 GB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.001022/3.654, allocations: 22.55 kB / 1.025 GB, free: 118.7 MB / 0.5265 GB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.03563/3.689, allocations: 9.398 MB / 1.034 GB, free: 117.4 MB / 0.5265 GB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 2.675e-05/3.689, allocations: 21.75 kB / 1.034 GB, free: 117.4 MB / 0.5265 GB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.03912/3.729, allocations: 13.99 MB / 1.048 GB, free: 114.1 MB / 0.5265 GB Notification: Performance of postOpt removeConstants (simulation): time 0.004732/3.733, allocations: 1.132 MB / 1.049 GB, free: 114 MB / 0.5265 GB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.002111/3.736, allocations: 17.86 kB / 1.049 GB, free: 114 MB / 0.5265 GB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.006466/3.742, allocations: 194.6 kB / 1.049 GB, free: 114 MB / 0.5265 GB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.001556/3.744, allocations: 276 kB / 1.049 GB, free: 114 MB / 0.5265 GB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0006181/3.744, allocations: 114.2 kB / 1.05 GB, free: 114 MB / 0.5265 GB Notification: Performance of sorting global known variables: time 0.009452/3.754, allocations: 3.381 MB / 1.053 GB, free: 113.7 MB / 0.5265 GB Notification: Performance of sort global known variables: time 1.152e-06/3.754, allocations: 0 / 1.053 GB, free: 113.7 MB / 0.5265 GB Notification: Performance of remove unused functions: time 0.01422/3.768, allocations: 1.685 MB / 1.054 GB, free: 113.7 MB / 0.5265 GB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 52 * Number of states: 2 (j2.s,j2.v) * Number of discrete variables: 0 () * Number of discrete states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for simulation (337): * Single equations (assignments): 330 * Array equations: 6 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (linear and non-linear blocks): 0 * Torn equation systems: 1 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems: 1 {(2,100.0%) 42} * Non-linear torn systems: 0 Notification: Performance of Backend phase and start with SimCode phase: time 0.001644/3.77, allocations: 227.8 kB / 1.055 GB, free: 113.7 MB / 0.5265 GB Notification: Performance of simCode: created initialization part: time 0.02165/3.791, allocations: 9.377 MB / 1.064 GB, free: 113.5 MB / 0.5265 GB Notification: Performance of simCode: created event and clocks part: time 1.77e-05/3.792, allocations: 3.219 kB / 1.064 GB, free: 113.5 MB / 0.5265 GB Notification: Performance of simCode: created simulation system equations: time 0.008075/3.8, allocations: 3.27 MB / 1.067 GB, free: 113.3 MB / 0.5265 GB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.005965/3.806, allocations: 0.572 MB / 1.068 GB, free: 113 MB / 0.5265 GB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.05351/3.859, allocations: 15.54 MB / 1.083 GB, free: 107.1 MB / 0.5265 GB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.01571/3.875, allocations: 5.771 MB / 1.088 GB, free: 105.3 MB / 0.5265 GB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.003238/3.878, allocations: 495.2 kB / 1.089 GB, free: 105.3 MB / 0.5265 GB Notification: Performance of SimCode: time 1.934e-06/3.878, allocations: 0 / 1.089 GB, free: 105.3 MB / 0.5265 GB Notification: Performance of Templates: time 0.6328/4.511, allocations: 133.5 MB / 1.219 GB, free: 122.8 MB / 0.5265 GB make -j1 -f ModelicaTest_3.2.3_cpp_ModelicaTest.MultiBody.FourbarVariants.JointUSR.makefile (rm -f ModelicaTest_3.2.3_cpp_ModelicaTest.MultiBody.FourbarVariants.JointUSR.pipe ; mkfifo ModelicaTest_3.2.3_cpp_ModelicaTest.MultiBody.FourbarVariants.JointUSR.pipe ; head -c 1048576 < ModelicaTest_3.2.3_cpp_ModelicaTest.MultiBody.FourbarVariants.JointUSR.pipe >> ../files/ModelicaTest_3.2.3_cpp_ModelicaTest.MultiBody.FourbarVariants.JointUSR.sim & ./ModelicaTest_3.2.3_cpp_ModelicaTest.MultiBody.FourbarVariants.JointUSR --alarm=480 -emit_protected > ModelicaTest_3.2.3_cpp_ModelicaTest.MultiBody.FourbarVariants.JointUSR.pipe 2>&1) diffSimulationResults("ModelicaTest_3.2.3_cpp_ModelicaTest.MultiBody.FourbarVariants.JointUSR_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v3.2.3+build.4/ModelicaTest/MultiBody/FourbarVariants/JointUSR/JointUSR.csv","../files/ModelicaTest_3.2.3_cpp_ModelicaTest.MultiBody.FourbarVariants.JointUSR.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001) "" Variables in the reference:time,j2.s,j2.v Variables in the result:Body1.I[1,1],Body1.I[1,2],Body1.I[1,3],Body1.I[2,1],Body1.I[2,2],Body1.I[2,3],Body1.I[3,1],Body1.I[3,2],Body1.I[3,3],Body1.I_11,Body1.I_21,Body1.I_22,Body1.I_31,Body1.I_32,Body1.I_33,Body1.Q[1],Body1.Q[2],Body1.Q[3],Body1.Q[4],Body1.Q_start[1],Body1.Q_start[2],Body1.Q_start[3],Body1.Q_start[4],Body1.R_start.T[1,1],Body1.R_start.T[1,2],Body1.R_start.T[1,3],Body1.R_start.T[2,1],Body1.R_start.T[2,2],Body1.R_start.T[2,3],Body1.R_start.T[3,1],Body1.R_start.T[3,2],Body1.R_start.T[3,3],Body1.R_start.w[1],Body1.R_start.w[2],Body1.R_start.w[3],Body1.a_0[1],Body1.a_0[2],Body1.a_0[3],Body1.angles_fixed,Body1.angles_start[1],Body1.angles_start[2],Body1.angles_start[3],Body1.animation,Body1.cylinder.R.T[1,1],Body1.cylinder.R.T[1,2],Body1.cylinder.R.T[1,3],Body1.cylinder.R.T[2,1],Body1.cylinder.R.T[2,2],Body1.cylinder.R.T[2,3],Body1.cylinder.R.T[3,1],Body1.cylinder.R.T[3,2],Body1.cylinder.R.T[3,3],Body1.cylinder.R.w[1],Body1.cylinder.R.w[2],Body1.cylinder.R.w[3],Body1.cylinder.color[1],Body1.cylinder.color[2],Body1.cylinder.color[3],Body1.cylinder.extra,Body1.cylinder.height,Body1.cylinder.length,Body1.cylinder.lengthDirection[1],Body1.cylinder.lengthDirection[2],Body1.cylinder.lengthDirection[3],Body1.cylinder.r[1],Body1.cylinder.r[2],Body1.cylinder.r[3],Body1.cylinder.r_shape[1],Body1.cylinder.r_shape[2],Body1.cylinder.r_shape[3],Body1.cylinder.specularCoefficient,Body1.cylinder.width,Body1.cylinder.widthDirection[1],Body1.cylinder.widthDirection[2],Body1.cylinder.widthDirection[3],Body1.cylinderColor[1],Body1.cylinderColor[2],Body1.cylinderColor[3],Body1.cylinderDiameter,Body1.enforceStates,Body1.frame_a.R.T[1,1],Body1.frame_a.R.T[1,2],Body1.frame_a.R.T[1,3],Body1.frame_a.R.T[2,1],Body1.frame_a.R.T[2,2],Body1.frame_a.R.T[2,3],Body1.frame_a.R.T[3,1],Body1.frame_a.R.T[3,2],Body1.frame_a.R.T[3,3],Body1.frame_a.R.w[1],Body1.frame_a.R.w[2],Body1.frame_a.R.w[3],Body1.frame_a.f[1],Body1.frame_a.f[2],Body1.frame_a.f[3],Body1.frame_a.r_0[1],Body1.frame_a.r_0[2],Body1.frame_a.r_0[3],Body1.frame_a.t[1],Body1.frame_a.t[2],Body1.frame_a.t[3],Body1.g_0[1],Body1.g_0[2],Body1.g_0[3],Body1.m,Body1.phi[1],Body1.phi[2],Body1.phi[3],Body1.phi_d[1],Body1.phi_d[2],Body1.phi_d[3],Body1.phi_dd[1],Body1.phi_dd[2],Body1.phi_dd[3],Body1.phi_start[1],Body1.phi_start[2],Body1.phi_start[3],Body1.r_0[1],Body1.r_0[2],Body1.r_0[3],Body1.r_CM[1],Body1.r_CM[2],Body1.r_CM[3],Body1.sequence_angleStates[1],Body1.sequence_angleStates[2],Body1.sequence_angleStates[3],Body1.sequence_start[1],Body1.sequence_start[2],Body1.sequence_start[3],Body1.specularCoefficient,Body1.sphere.R.T[1,1],Body1.sphere.R.T[1,2],Body1.sphere.R.T[1,3],Body1.sphere.R.T[2,1],Body1.sphere.R.T[2,2],Body1.sphere.R.T[2,3],Body1.sphere.R.T[3,1],Body1.sphere.R.T[3,2],Body1.sphere.R.T[3,3],Body1.sphere.R.w[1],Body1.sphere.R.w[2],Body1.sphere.R.w[3],Body1.sphere.color[1],Body1.sphere.color[2],Body1.sphere.color[3],Body1.sphere.extra,Body1.sphere.height,Body1.sphere.length,Body1.sphere.lengthDirection[1],Body1.sphere.lengthDirection[2],Body1.sphere.lengthDirection[3],Body1.sphere.r[1],Body1.sphere.r[2],Body1.sphere.r[3],Body1.sphere.r_shape[1],Body1.sphere.r_shape[2],Body1.sphere.r_shape[3],Body1.sphere.specularCoefficient,Body1.sphere.width,Body1.sphere.widthDirection[1],Body1.sphere.widthDirection[2],Body1.sphere.widthDirection[3],Body1.sphereColor[1],Body1.sphereColor[2],Body1.sphereColor[3],Body1.sphereDiameter,Body1.useQuaternions,Body1.v_0[1],Body1.v_0[2],Body1.v_0[3],Body1.w_0_fixed,Body1.w_0_start[1],Body1.w_0_start[2],Body1.w_0_start[3],Body1.w_a[1],Body1.w_a[2],Body1.w_a[3],Body1.z_0_fixed,Body1.z_0_start[1],Body1.z_0_start[2],Body1.z_0_start[3],Body1.z_a[1],Body1.z_a[2],Body1.z_a[3],Body1.z_a_start[1],Body1.z_a_start[2],Body1.z_a_start[3],Body2.I[1,1],Body2.I[1,2],Body2.I[1,3],Body2.I[2,1],Body2.I[2,2],Body2.I[2,3],Body2.I[3,1],Body2.I[3,2],Body2.I[3,3],Body2.I_11,Body2.I_21,Body2.I_22,Body2.I_31,Body2.I_32,Body2.I_33,Body2.Q[1],Body2.Q[2],Body2.Q[3],Body2.Q[4],Body2.Q_start[1],Body2.Q_start[2],Body2.Q_start[3],Body2.Q_start[4],Body2.R_start.T[1,1],Body2.R_start.T[1,2],Body2.R_start.T[1,3],Body2.R_start.T[2,1],Body2.R_start.T[2,2],Body2.R_start.T[2,3],Body2.R_start.T[3,1],Body2.R_start.T[3,2],Body2.R_start.T[3,3],Body2.R_start.w[1],Body2.R_start.w[2],Body2.R_start.w[3],Body2.a_0[1],Body2.a_0[2],Body2.a_0[3],Body2.angles_fixed,Body2.angles_start[1],Body2.angles_start[2],Body2.angles_start[3],Body2.animation,Body2.cylinder.R.T[1,1],Body2.cylinder.R.T[1,2],Body2.cylinder.R.T[1,3],Body2.cylinder.R.T[2,1],Body2.cylinder.R.T[2,2],Body2.cylinder.R.T[2,3],Body2.cylinder.R.T[3,1],Body2.cylinder.R.T[3,2],Body2.cylinder.R.T[3,3],Body2.cylinder.R.w[1],Body2.cylinder.R.w[2],Body2.cylinder.R.w[3],Body2.cylinder.color[1],Body2.cylinder.color[2],Body2.cylinder.color[3],Body2.cylinder.extra,Body2.cylinder.height,Body2.cylinder.length,Body2.cylinder.lengthDirection[1],Body2.cylinder.lengthDirection[2],Body2.cylinder.lengthDirection[3],Body2.cylinder.r[1],Body2.cylinder.r[2],Body2.cylinder.r[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ointUSR.revolute.k1a,jointUSR.revolute.k1b,jointUSR.revolute.k2,jointUSR.revolute.kcos_angle,jointUSR.revolute.ksin_angle,jointUSR.revolute.lengthConstraint,jointUSR.revolute.n[1],jointUSR.revolute.n[2],jointUSR.revolute.n[3],jointUSR.revolute.phi,jointUSR.revolute.phi_guess,jointUSR.revolute.phi_offset,jointUSR.revolute.position_a[1],jointUSR.revolute.position_a[2],jointUSR.revolute.position_a[3],jointUSR.revolute.position_b[1],jointUSR.revolute.position_b[2],jointUSR.revolute.position_b[3],jointUSR.revolute.positiveBranch,jointUSR.revolute.r_a[1],jointUSR.revolute.r_a[2],jointUSR.revolute.r_a[3],jointUSR.revolute.r_b[1],jointUSR.revolute.r_b[2],jointUSR.revolute.r_b[3],jointUSR.revolute.specularCoefficient,jointUSR.revolute.tau,jointUSR.revoluteColor[1],jointUSR.revoluteColor[2],jointUSR.revoluteColor[3],jointUSR.revoluteDiameter,jointUSR.revoluteLength,jointUSR.rod1.R_rel_ia.T[1,1],jointUSR.rod1.R_rel_ia.T[1,2],jointUSR.rod1.R_rel_ia.T[1,3],jointUSR.rod1.R_rel_ia.T[2,1],jointUSR.rod1.R_rel_ia.T[2,2],jointUSR.rod1.R_rel_ia.T[2,3],jointUSR.rod1.R_rel_ia.T[3,1],jointUSR.rod1.R_rel_ia.T[3,2],jointUSR.rod1.R_rel_ia.T[3,3],der(jointUSR.rod1.R_rel_ia.w[1]),der(jointUSR.rod1.R_rel_ia.w[2]),der(jointUSR.rod1.R_rel_ia.w[3]),jointUSR.rod1.R_rel_ia.w[1],jointUSR.rod1.R_rel_ia.w[2],jointUSR.rod1.R_rel_ia.w[3],jointUSR.rod1.R_rel_ia1.T[1,1],jointUSR.rod1.R_rel_ia1.T[1,2],jointUSR.rod1.R_rel_ia1.T[1,3],jointUSR.rod1.R_rel_ia1.T[2,1],jointUSR.rod1.R_rel_ia1.T[2,2],jointUSR.rod1.R_rel_ia1.T[2,3],jointUSR.rod1.R_rel_ia1.T[3,1],jointUSR.rod1.R_rel_ia1.T[3,2],jointUSR.rod1.R_rel_ia1.T[3,3],jointUSR.rod1.R_rel_ia1.w[1],jointUSR.rod1.R_rel_ia1.w[2],jointUSR.rod1.R_rel_ia1.w[3],jointUSR.rod1.R_rel_ia2.T[1,1],jointUSR.rod1.R_rel_ia2.T[1,2],jointUSR.rod1.R_rel_ia2.T[1,3],jointUSR.rod1.R_rel_ia2.T[2,1],jointUSR.rod1.R_rel_ia2.T[2,2],jointUSR.rod1.R_rel_ia2.T[2,3],jointUSR.rod1.R_rel_ia2.T[3,1],jointUSR.rod1.R_rel_ia2.T[3,2],jointUSR.rod1.R_rel_ia2.T[3,3],jointUSR.rod1.R_rel_ia2.w[1],jointUSR.rod1.R_rel_ia2.w[2],jointUSR.rod1.R_rel_ia2.w[3],jointUSR.rod1.animation,jointUSR.rod1.checkTotalPower,jointUSR.rod1.computeRodLength,jointUSR.rod1.constraintResidue,jointUSR.rod1.cylinderColor[1],jointUSR.rod1.cylinderColor[2],jointUSR.rod1.cylinderColor[3],jointUSR.rod1.cylinderDiameter,jointUSR.rod1.cylinderLength,der(jointUSR.rod1.der(rRod_0[1])),der(jointUSR.rod1.der(rRod_0[2])),der(jointUSR.rod1.der(rRod_0[3])),der(jointUSR.rod1.der_rRod_a_L[1]),der(jointUSR.rod1.der_rRod_a_L[2]),der(jointUSR.rod1.der_rRod_a_L[3]),der(jointUSR.rod1.e2_a[1]),der(jointUSR.rod1.e2_a[3]),der(jointUSR.rod1.e3_a[1]),der(jointUSR.rod1.e3_a[2]),der(jointUSR.rod1.e3_a[3]),der(jointUSR.rod1.eRod_a[1]),der(jointUSR.rod1.eRod_a[2]),der(jointUSR.rod1.eRod_a[3]),der(jointUSR.rod1.length2_n2_a),der(jointUSR.rod1.length_n2_a),der(jointUSR.rod1.rRod_0[1]),der(jointUSR.rod1.rRod_0[2]),der(jointUSR.rod1.rRod_0[3]),der(jointUSR.rod1.rRod_a[1]),der(jointUSR.rod1.rRod_a[2]),der(jointUSR.rod1.rRod_a[3]),der(jointUSR.rod1.w_rel_ia1[1]),der(jointUSR.rod1.w_rel_ia1[2]),der(jointUSR.rod1.w_rel_ia1[3]),jointUSR.rod1.der_rRod_a_L[1],jointUSR.rod1.der_rRod_a_L[2],jointUSR.rod1.der_rRod_a_L[3],jointUSR.rod1.e2_a[1],jointUSR.rod1.e2_a[2],jointUSR.rod1.e2_a[3],jointUSR.rod1.e2_ia[1],jointUSR.rod1.e2_ia[2],jointUSR.rod1.e2_ia[3],jointUSR.rod1.e3_a[1],jointUSR.rod1.e3_a[2],jointUSR.rod1.e3_a[3],jointUSR.rod1.e3_ia[1],jointUSR.rod1.e3_ia[2],jointUSR.rod1.e3_ia[3],jointUSR.rod1.eRod_a[1],jointUSR.rod1.eRod_a[2],jointUSR.rod1.eRod_a[3],jointUSR.rod1.eRod_ia[1],jointUSR.rod1.eRod_ia[2],jointUSR.rod1.eRod_ia[3],jointUSR.rod1.f_b_a1[1],jointUSR.rod1.f_b_a1[2],jointUSR.rod1.f_b_a1[3],jointUSR.rod1.f_b_a[1],jointUSR.rod1.f_b_a[2],jointUSR.rod1.f_b_a[3],jointUSR.rod1.f_ia_a[1],jointUSR.rod1.f_ia_a[2],jointUSR.rod1.f_ia_a[3],jointUSR.rod1.f_rod,jointUSR.rod1.frame_a.R.T[1,1],jointUSR.rod1.frame_a.R.T[1,2],jointUSR.rod1.frame_a.R.T[1,3],jointUSR.rod1.frame_a.R.T[2,1],jointUSR.rod1.frame_a.R.T[2,2],jointUSR.rod1.frame_a.R.T[2,3],jointUSR.rod1.frame_a.R.T[3,1],jointUSR.rod1.frame_a.R.T[3,2],jointUSR.rod1.frame_a.R.T[3,3],jointUSR.rod1.frame_a.R.w[1],jointUSR.rod1.frame_a.R.w[2],jointUSR.rod1.frame_a.R.w[3],jointUSR.rod1.frame_a.f[1],jointUSR.rod1.frame_a.f[2],jointUSR.rod1.frame_a.f[3],jointUSR.rod1.frame_a.r_0[1],jointUSR.rod1.frame_a.r_0[2],jointUSR.rod1.frame_a.r_0[3],jointUSR.rod1.frame_a.t[1],jointUSR.rod1.frame_a.t[2],jointUSR.rod1.frame_a.t[3],jointUSR.rod1.frame_b.R.T[1,1],jointUSR.rod1.frame_b.R.T[1,2],jointUSR.rod1.frame_b.R.T[1,3],jointUSR.rod1.frame_b.R.T[2,1],jointUSR.rod1.frame_b.R.T[2,2],jointUSR.rod1.frame_b.R.T[2,3],jointUSR.rod1.frame_b.R.T[3,1],jointUSR.rod1.frame_b.R.T[3,2],jointUSR.rod1.frame_b.R.T[3,3],jointUSR.rod1.frame_b.R.w[1],jointUSR.rod1.frame_b.R.w[2],jointUSR.rod1.frame_b.R.w[3],jointUSR.rod1.frame_b.f[1],jointUSR.rod1.frame_b.f[2],jointUSR.rod1.frame_b.f[3],jointUSR.rod1.frame_b.r_0[1],jointUSR.rod1.frame_b.r_0[2],jointUSR.rod1.frame_b.r_0[3],jointUSR.rod1.frame_b.t[1],jointUSR.rod1.frame_b.t[2],jointUSR.rod1.frame_b.t[3],jointUSR.rod1.frame_ia.R.T[1,1],jointUSR.rod1.frame_ia.R.T[1,2],jointUSR.rod1.frame_ia.R.T[1,3],jointUSR.rod1.frame_ia.R.T[2,1],jointUSR.rod1.frame_ia.R.T[2,2],jointUSR.rod1.frame_ia.R.T[2,3],jointUSR.rod1.frame_ia.R.T[3,1],jointUSR.rod1.frame_ia.R.T[3,2],jointUSR.rod1.frame_ia.R.T[3,3],jointUSR.rod1.frame_ia.R.w[1],jointUSR.rod1.frame_ia.R.w[2],jointUSR.rod1.frame_ia.R.w[3],jointUSR.rod1.frame_ia.f[1],jointUSR.rod1.frame_ia.f[2],jointUSR.rod1.frame_ia.f[3],jointUSR.rod1.frame_ia.r_0[1],jointUSR.rod1.frame_ia.r_0[2],jointUSR.rod1.frame_ia.r_0[3],jointUSR.rod1.frame_ia.t[1],jointUSR.rod1.frame_ia.t[2],jointUSR.rod1.frame_ia.t[3],jointUSR.rod1.kinematicConstraint,jointUSR.rod1.length2_n2_a,jointUSR.rod1.length_n2_a,jointUSR.rod1.n1_a[1],jointUSR.rod1.n1_a[2],jointUSR.rod1.n1_a[3],jointUSR.rod1.n2_a[1],jointUSR.rod1.n2_a[2],jointUSR.rod1.n2_a[3],jointUSR.rod1.rRod_0[1],jointUSR.rod1.rRod_0[2],jointUSR.rod1.rRod_0[3],jointUSR.rod1.rRod_a[1],jointUSR.rod1.rRod_a[2],jointUSR.rod1.rRod_a[3],jointUSR.rod1.rRod_ia[1],jointUSR.rod1.rRod_ia[2],jointUSR.rod1.rRod_ia[3],jointUSR.rod1.rodColor[1],jointUSR.rod1.rodColor[2],jointUSR.rod1.rodColor[3],jointUSR.rod1.rodExtra,jointUSR.rod1.rodHeight,jointUSR.rod1.rodLength,jointUSR.rod1.rodShape.R.T[1,1],jointUSR.rod1.rodShape.R.T[1,2],jointUSR.rod1.rodShape.R.T[1,3],jointUSR.rod1.rodShape.R.T[2,1],jointUSR.rod1.rodShape.R.T[2,2],jointUSR.rod1.rodShape.R.T[2,3],jointUSR.rod1.rodShape.R.T[3,1],jointUSR.rod1.rodShape.R.T[3,2],jointUSR.rod1.rodShape.R.T[3,3],jointUSR.rod1.rodShape.R.w[1],jointUSR.rod1.rodShape.R.w[2],jointUSR.rod1.rodShape.R.w[3],jointUSR.rod1.rodShape.color[1],jointUSR.rod1.rodShape.color[2],jointUSR.rod1.rodShape.color[3],jointUSR.rod1.rodShape.extra,jointUSR.rod1.rodShape.height,jointUSR.rod1.rodShape.length,jointUSR.rod1.rodShape.lengthDirection[1],jointUSR.rod1.rodShape.lengthDirection[2],jointUSR.rod1.rodShape.lengthDirection[3],jointUSR.rod1.rodShape.r[1],jointUSR.rod1.rodShape.r[2],jointUSR.rod1.rodShape.r[3],jointUSR.rod1.rodShape.r_shape[1],jointUSR.rod1.rodShape.r_shape[2],jointUSR.rod1.rodShape.r_shape[3],jointUSR.rod1.rodShape.specularCoefficient,jointUSR.rod1.rodShape.width,jointUSR.rod1.rodShape.widthDirection[1],jointUSR.rod1.rodShape.widthDirection[2],jointUSR.rod1.rodShape.widthDirection[3],jointUSR.rod1.rodWidth,jointUSR.rod1.showUniversalAxes,jointUSR.rod1.specularCoefficient,jointUSR.rod1.sphereColor[1],jointUSR.rod1.sphereColor[2],jointUSR.rod1.sphereColor[3],jointUSR.rod1.sphereDiameter,jointUSR.rod1.sphericalShape_b.R.T[1,1],jointUSR.rod1.sphericalShape_b.R.T[1,2],jointUSR.rod1.sphericalShape_b.R.T[1,3],jointUSR.rod1.sphericalShape_b.R.T[2,1],jointUSR.rod1.sphericalShape_b.R.T[2,2],jointUSR.rod1.sphericalShape_b.R.T[2,3],jointUSR.rod1.sphericalShape_b.R.T[3,1],jointUSR.rod1.sphericalShape_b.R.T[3,2],jointUSR.rod1.sphericalShape_b.R.T[3,3],jointUSR.rod1.sphericalShape_b.R.w[1],jointUSR.rod1.sphericalShape_b.R.w[2],jointUSR.rod1.sphericalShape_b.R.w[3],jointUSR.rod1.sphericalShape_b.color[1],jointUSR.rod1.sphericalShape_b.color[2],jointUSR.rod1.sphericalShape_b.color[3],jointUSR.rod1.sphericalShape_b.extra,jointUSR.rod1.sphericalShape_b.height,jointUSR.rod1.sphericalShape_b.length,jointUSR.rod1.sphericalShape_b.lengthDirection[1],jointUSR.rod1.sphericalShape_b.lengthDirection[2],jointUSR.rod1.sphericalShape_b.lengthDirection[3],jointUSR.rod1.sphericalShape_b.r[1],jointUSR.rod1.sphericalShape_b.r[2],jointUSR.rod1.sphericalShape_b.r[3],jointUSR.rod1.sphericalShape_b.r_shape[1],jointUSR.rod1.sphericalShape_b.r_shape[2],jointUSR.rod1.sphericalShape_b.r_shape[3],jointUSR.rod1.sphericalShape_b.specularCoefficient,jointUSR.rod1.sphericalShape_b.width,jointUSR.rod1.sphericalShape_b.widthDirection[1],jointUSR.rod1.sphericalShape_b.widthDirection[2],jointUSR.rod1.sphericalShape_b.widthDirection[3],jointUSR.rod1.t_ia_a[1],jointUSR.rod1.t_ia_a[2],jointUSR.rod1.t_ia_a[3],jointUSR.rod1.totalPower,jointUSR.rod1.universalShape1.R.T[1,1],jointUSR.rod1.universalShape1.R.T[1,2],jointUSR.rod1.universalShape1.R.T[1,3],jointUSR.rod1.universalShape1.R.T[2,1],jointUSR.rod1.universalShape1.R.T[2,2],jointUSR.rod1.universalShape1.R.T[2,3],jointUSR.rod1.universalShape1.R.T[3,1],jointUSR.rod1.universalShape1.R.T[3,2],jointUSR.rod1.universalShape1.R.T[3,3],jointUSR.rod1.universalShape1.R.w[1],jointUSR.rod1.universalShape1.R.w[2],jointUSR.rod1.universalShape1.R.w[3],jointUSR.rod1.universalShape1.color[1],jointUSR.rod1.universalShape1.color[2],jointUSR.rod1.universalShape1.color[3],jointUSR.rod1.universalShape1.extra,jointUSR.rod1.universalShape1.height,jointUSR.rod1.universalShape1.length,jointUSR.rod1.universalShape1.lengthDirection[1],jointUSR.rod1.universalShape1.lengthDirection[2],jointUSR.rod1.universalShape1.lengthDirection[3],jointUSR.rod1.universalShape1.r[1],jointUSR.rod1.universalShape1.r[2],jointUSR.rod1.universalShape1.r[3],jointUSR.rod1.universalShape1.r_shape[1],jointUSR.rod1.universalShape1.r_shape[2],j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