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_3.2.3_ModelicaTest.MultiBody.Joints.UniversalSpherical")
Notification: Performance of loadModel(ModelicaTest): time 2.328/2.328, allocations: 249.5 MB / 261.6 MB, free: 2.156 MB / 202.8 MB
Notification: Performance of FrontEnd - loaded program: time 3.576e-05/3.595e-05, allocations: 4 kB / 323.4 MB, free: 4.301 MB / 266.8 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.325/0.325, allocations: 58.83 MB / 382.2 MB, free: 10.33 MB / 314.8 MB
Notification: Performance of FrontEnd - scodeFlatten: time 0.1863/0.5114, allocations: 121.6 MB / 0.492 GB, free: 2.91 MB / 426.8 MB
Notification: Performance of FrontEnd - mkProgramGraph: time 0.0002576/0.5117, allocations: 79.95 kB / 0.492 GB, free: 2.832 MB / 426.8 MB
Notification: Performance of FrontEnd - DAE generated: time 1.061/1.573, allocations: 230.8 MB / 0.7174 GB, free: 4.109 MB / 0.4949 GB
Notification: Performance of FrontEnd: time 2.193e-06/1.573, allocations: 0 / 0.7174 GB, free: 4.109 MB / 0.4949 GB
Notification: Performance of Transformations before backend: time 0.000756/1.574, allocations: 284 kB / 0.7177 GB, free: 3.832 MB / 0.4949 GB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 4701
 * Number of variables: 4701
Notification: Performance of Generate backend data structure: time 0.6922/2.266, allocations: 14.49 MB / 0.7318 GB, free: 47.84 MB / 0.4949 GB
Notification: Performance of prepare preOptimizeDAE: time 4.326e-05/2.266, allocations: 10.69 kB / 0.7319 GB, free: 47.84 MB / 0.4949 GB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.0572/2.323, allocations: 10.51 MB / 0.7421 GB, free: 46.98 MB / 0.4949 GB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.04076/2.364, allocations: 14.02 MB / 0.7558 GB, free: 46.02 MB / 0.4949 GB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.001234/2.366, allocations: 1.087 MB / 0.7569 GB, free: 45.99 MB / 0.4949 GB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.006134/2.372, allocations: 1.439 MB / 0.7583 GB, free: 45.98 MB / 0.4949 GB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.08501/2.457, allocations: 32.52 MB / 0.79 GB, free: 39.97 MB / 0.4949 GB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0008618/2.458, allocations: 144.8 kB / 0.7902 GB, free: 39.96 MB / 0.4949 GB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.005478/2.463, allocations: 0.6548 MB / 0.7908 GB, free: 39.96 MB / 0.4949 GB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.0045/2.468, allocations: 2.547 MB / 0.7933 GB, free: 39.94 MB / 0.4949 GB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.07062/2.538, allocations: 26.44 MB / 0.8191 GB, free: 35.41 MB / 0.4949 GB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.6127/3.151, allocations: 131.4 MB / 0.9474 GB, free: 41.31 MB / 0.5574 GB
Notification: Performance of preOpt comSubExp (simulation): time 0.04568/3.197, allocations: 12.86 MB / 0.96 GB, free: 40.63 MB / 0.5574 GB
Notification: Performance of preOpt resolveLoops (simulation): time 0.01092/3.208, allocations: 6.791 MB / 0.9666 GB, free: 40.58 MB / 0.5574 GB
Notification: Performance of preOpt evalFunc (simulation): time 0.07992/3.288, allocations: 31.03 MB / 0.9969 GB, free: 33.36 MB / 0.5574 GB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 9.066e-05/3.288, allocations: 76.31 kB / 0.997 GB, free: 33.32 MB / 0.5574 GB
Notification: Performance of pre-optimization done (n=424): time 1.783e-05/3.288, allocations: 3.594 kB / 0.997 GB, free: 33.32 MB / 0.5574 GB
Notification: Performance of matching and sorting (n=554): time 0.3829/3.671, allocations: 106.4 MB / 1.101 GB, free: 9.914 MB / 0.5731 GB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.04659/3.718, allocations: 23.1 MB / 1.124 GB, free: 2.152 MB / 0.5887 GB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.02235/3.74, allocations: 8.283 MB / 1.132 GB, free: 9.926 MB / 0.6043 GB
Notification: Performance of collectPreVariables (initialization): time 0.00138/3.741, allocations: 109.2 kB / 1.132 GB, free: 9.816 MB / 0.6043 GB
Notification: Performance of collectInitialEqns (initialization): time 0.01008/3.751, allocations: 8.931 MB / 1.14 GB, free: 0.8828 MB / 0.6043 GB
Notification: Performance of collectInitialBindings (initialization): time 0.004111/3.756, allocations: 2.147 MB / 1.143 GB, free: 14.75 MB / 0.6199 GB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.002436/3.758, allocations: 318.5 kB / 1.143 GB, free: 14.44 MB / 0.6199 GB
Notification: Performance of setup shared object (initialization): time 0.001796/3.76, allocations: 0.9919 MB / 1.144 GB, free: 13.44 MB / 0.6199 GB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.02077/3.781, allocations: 9.239 MB / 1.153 GB, free: 4.195 MB / 0.6199 GB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.3821/4.163, allocations: 18.41 MB / 1.171 GB, free: 158.4 MB / 0.6356 GB
Notification: Performance of analyzeInitialSystem (initialization): time 0.02378/4.187, allocations: 12.82 MB / 1.183 GB, free: 158.3 MB / 0.6356 GB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0003053/4.187, allocations: 101.5 kB / 1.183 GB, free: 158.3 MB / 0.6356 GB
Notification: Performance of matching and sorting (n=2096) (initialization): time 0.1301/4.317, allocations: 34.05 MB / 1.217 GB, free: 157.5 MB / 0.6356 GB
Notification: Performance of prepare postOptimizeDAE: time 0.000228/4.317, allocations: 148.4 kB / 1.217 GB, free: 157.5 MB / 0.6356 GB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.05871/4.376, allocations: 21.9 MB / 1.238 GB, free: 157 MB / 0.6356 GB
Notification: Performance of postOpt tearingSystem (initialization): time 0.03918/4.415, allocations: 9.319 MB / 1.247 GB, free: 156.8 MB / 0.6356 GB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.01795/4.433, allocations: 3.943 MB / 1.251 GB, free: 156.3 MB / 0.6356 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.06479/4.498, allocations: 47.03 MB / 1.297 GB, free: 129.5 MB / 0.6356 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.02044/4.519, allocations: 1.709 MB / 1.299 GB, free: 129.3 MB / 0.6356 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.003777/4.522, allocations: 0.9802 MB / 1.3 GB, free: 129.1 MB / 0.6356 GB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 1488
 * Number of states: 0 ()
 * Number of discrete variables: 72 (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.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 (1961):
 * Single equations (assignments): 1934
 * 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 0.005521/4.528, allocations: 1.306 MB / 1.301 GB, free: 128.3 MB / 0.6356 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.002349/4.53, allocations: 0.8701 MB / 1.302 GB, free: 128.3 MB / 0.6356 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.07811/4.609, allocations: 27.46 MB / 1.329 GB, free: 115.9 MB / 0.6356 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.07033/4.679, allocations: 25.61 MB / 1.354 GB, free: 96.07 MB / 0.6356 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 6.931e-05/4.679, allocations: 27.28 kB / 1.354 GB, free: 96.05 MB / 0.6356 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 0.0001179/4.679, allocations: 31.89 kB / 1.354 GB, free: 96.02 MB / 0.6356 GB
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 postOpt removeSimpleEquations (simulation): time 0.4992/5.178, allocations: 58.42 MB / 1.411 GB, free: 150.7 MB / 0.6356 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 6.866e-05/5.178, allocations: 3.219 kB / 1.411 GB, free: 150.7 MB / 0.6356 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.007812/5.186, allocations: 1.085 MB / 1.412 GB, free: 150.7 MB / 0.6356 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.06282/5.249, allocations: 14 MB / 1.425 GB, free: 150.6 MB / 0.6356 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.00151/5.251, allocations: 164.2 kB / 1.426 GB, free: 150.6 MB / 0.6356 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.09305/5.344, allocations: 59.15 MB / 1.483 GB, free: 139.2 MB / 0.6356 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.03881/5.383, allocations: 22.82 MB / 1.506 GB, free: 129.6 MB / 0.6356 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.09542/5.478, allocations: 39.21 MB / 1.544 GB, free: 116.3 MB / 0.6356 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.007595/5.486, allocations: 2.476 MB / 1.546 GB, free: 115.6 MB / 0.6356 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.003085/5.489, allocations: 123 kB / 1.547 GB, free: 115.5 MB / 0.6356 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.01075/5.5, allocations: 0.8577 MB / 1.547 GB, free: 115.4 MB / 0.6356 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.002521/5.502, allocations: 420.3 kB / 1.548 GB, free: 115.4 MB / 0.6356 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.001034/5.503, allocations: 174.7 kB / 1.548 GB, free: 115.3 MB / 0.6356 GB
Notification: Performance of sorting global known variables: time 0.0133/5.517, allocations: 5.706 MB / 1.553 GB, free: 113.4 MB / 0.6356 GB
Notification: Performance of sort global known variables: time 2.474e-06/5.517, allocations: 0 / 1.553 GB, free: 113.4 MB / 0.6356 GB
Notification: Performance of remove unused functions: time 0.02116/5.538, allocations: 4.294 MB / 1.558 GB, free: 112.8 MB / 0.6356 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 ()
 * 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 0.001707/5.539, allocations: 295.3 kB / 1.558 GB, free: 112.6 MB / 0.6356 GB
Notification: Performance of simCode: created initialization part: time 0.0396/5.579, allocations: 22.64 MB / 1.58 GB, free: 92.71 MB / 0.6356 GB
Notification: Performance of simCode: created event and clocks part: time 1.014e-05/5.579, allocations: 6.125 kB / 1.58 GB, free: 92.7 MB / 0.6356 GB
Notification: Performance of simCode: created simulation system equations: time 0.02781/5.607, allocations: 10.98 MB / 1.591 GB, free: 82.88 MB / 0.6356 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.00838/5.615, allocations: 1.278 MB / 1.592 GB, free: 81.67 MB / 0.6356 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.07547/5.691, allocations: 31.13 MB / 1.622 GB, free: 50.91 MB / 0.6356 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.406/6.097, allocations: 9.468 MB / 1.632 GB, free: 150.3 MB / 0.6356 GB
Notification: Performance of simCode: alias equations: time 0.02099/6.118, allocations: 5.112 MB / 1.637 GB, free: 150.2 MB / 0.6356 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.004999/6.123, allocations: 0.7027 MB / 1.637 GB, free: 150.2 MB / 0.6356 GB
Notification: Performance of SimCode: time 1.771e-06/6.123, allocations: 0 / 1.637 GB, free: 150.2 MB / 0.6356 GB
Notification: Performance of Templates: time 0.4751/6.598, allocations: 165.1 MB / 1.799 GB, free: 83.32 MB / 0.6356 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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