Running command: translateModel(ModelicaTest.MultiBody.Sensors.RelativeSensor,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|relative_a1.r_rel.3.|relative_a1.v_rel.3.|relative_a1.a_rel.3.|relative_a1.angles.3.|relative_a1.w_rel.3.|relative_a2.r_rel.3.|relative_a2.v_rel.3.|relative_a2.a_rel.3.|relative_a2.angles.3.|relative_a2.w_rel.3.|relative_a2.z_rel.3.|relative_b2.r_rel.3.|relative_b2.v_rel.3.|relative_b2.angles.3.|relative_b2.w_rel.3.|relative_b2.z_rel.3.|relative_b1.r_rel.3.|relative_b1.v_rel.3.|relative_b1.a_rel.3.|relative_b1.angles.3.|relative_b1.w_rel.3.|relative_b1.z_rel.3.|relativeSensor.r_rel.3.|relativeSensor.angles.3.|relative_a1.r_rel.2.|relative_a1.v_rel.2.|relative_a1.a_rel.2.|relative_a1.angles.2.|relative_a1.w_rel.2.|relative_a2.r_rel.2.|relative_a2.v_rel.2.|relative_a2.a_rel.2.|relative_a2.angles.2.|relative_a2.w_rel.2.|relative_a2.z_rel.2.|relative_b2.r_rel.2.|relative_b2.v_rel.2.|relative_b2.angles.2.|relative_b2.w_rel.2.|relative_b2.z_rel.2.|relative_b1.r_rel.2.|relative_b1.v_rel.2.|relative_b1.a_rel.2.|relative_b1.angles.2.|relative_b1.w_rel.2.|relative_b1.z_rel.2.|relativeSensor.r_rel.2.|relativeSensor.angles.2.|relative_a1.r_rel.1.|relative_a1.v_rel.1.|relative_a1.a_rel.1.|relative_a1.angles.1.|relative_a1.w_rel.1.|relative_a2.r_rel.1.|relative_a2.v_rel.1.|relative_a2.a_rel.1.|relative_a2.angles.1.|relative_a2.w_rel.1.|relative_a2.z_rel.1.|relative_b2.r_rel.1.|relative_b2.v_rel.1.|relative_b2.angles.1.|relative_b2.w_rel.1.|relative_b2.z_rel.1.|relative_b1.r_rel.1.|relative_b1.v_rel.1.|relative_b1.a_rel.1.|relative_b1.angles.1.|relative_b1.w_rel.1.|relative_b1.z_rel.1.|relativeSensor.r_rel.1.|relativeSensor.angles.1.",fileNamePrefix="ModelicaTest_4.0.0_ModelicaTest.MultiBody.Sensors.RelativeSensor")
Notification: Performance of loadModel(ModelicaTest): time 2.309/2.309, allocations: 270 MB / 283.6 MB, free: 3.031 MB / 234.7 MB
Notification: Performance of FrontEnd - loaded program: time 3.487e-05/3.501e-05, allocations: 4 kB / 348.4 MB, free: 10.82 MB / 282.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.1119/0.112, allocations: 61.89 MB / 410.3 MB, free: 13 MB / 346.7 MB
Notification: Performance of FrontEnd - scodeFlatten: time 0.578/0.69, allocations: 113.2 MB / 0.5112 GB, free: 6.918 MB / 426.7 MB
Notification: Performance of FrontEnd - mkProgramGraph: time 0.0003382/0.6904, allocations: 79.95 kB / 0.5112 GB, free: 6.84 MB / 426.7 MB
Notification: Performance of FrontEnd - DAE generated: time 1.272/1.963, allocations: 241.2 MB / 0.7468 GB, free: 56.11 MB / 0.5105 GB
Notification: Performance of FrontEnd: time 2.571e-06/1.963, allocations: 4 kB / 0.7468 GB, free: 56.11 MB / 0.5105 GB
Notification: Performance of Transformations before backend: time 0.0006197/1.963, allocations: 359.9 kB / 0.7472 GB, free: 55.75 MB / 0.5105 GB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 5720
 * Number of variables: 5720
Notification: Performance of Generate backend data structure: time 0.05535/2.019, allocations: 15.18 MB / 0.762 GB, free: 40.46 MB / 0.5105 GB
Notification: Performance of prepare preOptimizeDAE: time 4.308e-05/2.019, allocations: 8.031 kB / 0.762 GB, free: 40.46 MB / 0.5105 GB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.03916/2.058, allocations: 8.17 MB / 0.77 GB, free: 32.25 MB / 0.5105 GB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.03148/2.089, allocations: 11.84 MB / 0.7815 GB, free: 20.32 MB / 0.5105 GB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.001383/2.091, allocations: 1.453 MB / 0.783 GB, free: 18.87 MB / 0.5105 GB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.006265/2.097, allocations: 1.91 MB / 0.7848 GB, free: 16.96 MB / 0.5105 GB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.8535/2.951, allocations: 40.7 MB / 0.8246 GB, free: 59.59 MB / 0.5262 GB
Notification: Performance of preOpt findStateOrder (simulation): time 0.00199/2.953, allocations: 149.7 kB / 0.8247 GB, free: 59.59 MB / 0.5262 GB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.01123/2.964, allocations: 0.8564 MB / 0.8256 GB, free: 59.59 MB / 0.5262 GB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.008599/2.973, allocations: 2.201 MB / 0.8277 GB, free: 59.55 MB / 0.5262 GB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.1548/3.127, allocations: 31.76 MB / 0.8587 GB, free: 59.47 MB / 0.5262 GB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.2121/3.34, allocations: 142.5 MB / 0.9979 GB, free: 0 / 0.5574 GB
Notification: Performance of preOpt comSubExp (simulation): time 0.07519/3.415, allocations: 22.06 MB / 1.019 GB, free: 7.621 MB / 0.573 GB
Notification: Performance of preOpt resolveLoops (simulation): time 0.01137/3.426, allocations: 6.542 MB / 1.026 GB, free: 1.562 MB / 0.573 GB
Notification: Performance of preOpt evalFunc (simulation): time 0.8391/4.265, allocations: 26.52 MB / 1.052 GB, free: 136.6 MB / 0.5888 GB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 0.0001376/4.266, allocations: 76.94 kB / 1.052 GB, free: 136.6 MB / 0.5888 GB
Notification: Performance of pre-optimization done (n=336): time 1.949e-05/4.266, allocations: 3.125 kB / 1.052 GB, free: 136.6 MB / 0.5888 GB
Notification: Performance of matching and sorting (n=450): time 1.545/5.811, allocations: 279.1 MB / 1.324 GB, free: 116.6 MB / 0.5888 GB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.0001023/5.811, allocations: 283.8 kB / 1.325 GB, free: 116.3 MB / 0.5888 GB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.01996/5.831, allocations: 8.627 MB / 1.333 GB, free: 113.1 MB / 0.5888 GB
Notification: Performance of collectPreVariables (initialization): time 0.001888/5.833, allocations: 95.83 kB / 1.333 GB, free: 113 MB / 0.5888 GB
Notification: Performance of collectInitialEqns (initialization): time 0.007051/5.84, allocations: 10.42 MB / 1.343 GB, free: 105.1 MB / 0.5888 GB
Notification: Performance of collectInitialBindings (initialization): time 0.00329/5.843, allocations: 1.763 MB / 1.345 GB, free: 103.9 MB / 0.5888 GB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.002677/5.846, allocations: 324.3 kB / 1.345 GB, free: 103.6 MB / 0.5888 GB
Notification: Performance of setup shared object (initialization): time 0.001306/5.847, allocations: 0.9983 MB / 1.346 GB, free: 103 MB / 0.5888 GB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.02798/5.875, allocations: 15.44 MB / 1.361 GB, free: 96.44 MB / 0.5888 GB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.03434/5.91, allocations: 25.47 MB / 1.386 GB, free: 76.25 MB / 0.5888 GB
Notification: Performance of analyzeInitialSystem (initialization): time 0.03505/5.945, allocations: 19.43 MB / 1.405 GB, free: 66.05 MB / 0.5888 GB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0002998/5.945, allocations: 100 kB / 1.405 GB, free: 65.95 MB / 0.5888 GB
Notification: Performance of matching and sorting (n=2100) (initialization): time 0.07854/6.024, allocations: 39.69 MB / 1.444 GB, free: 31.21 MB / 0.5888 GB
Notification: Performance of prepare postOptimizeDAE: time 0.0002508/6.024, allocations: 163.2 kB / 1.444 GB, free: 31.06 MB / 0.5888 GB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0003987/6.024, allocations: 360.7 kB / 1.445 GB, free: 30.71 MB / 0.5888 GB
Notification: Performance of postOpt tearingSystem (initialization): time 0.002029/6.026, allocations: 0.8479 MB / 1.445 GB, free: 29.94 MB / 0.5888 GB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.02537/6.052, allocations: 5.076 MB / 1.45 GB, free: 25.97 MB / 0.5888 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.006938/6.059, allocations: 5.612 MB / 1.456 GB, free: 20.6 MB / 0.5888 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.02289/6.082, allocations: 2.113 MB / 1.458 GB, free: 19.2 MB / 0.5888 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.004302/6.086, allocations: 0.9807 MB / 1.459 GB, free: 18.23 MB / 0.5888 GB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 1644
 * Number of states: 0 ()
 * Number of discrete variables: 58 (relativeSensor.arrow.arrowLine.twoHeadedArrow,relativeSensor.arrow.headAtOrigin,relativeSensor.arrowColor[3],relativeSensor.arrowColor[2],relativeSensor.arrowColor[1],relative_b1.arrow.arrowLine.twoHeadedArrow,relative_b1.arrow.headAtOrigin,relative_b1.arrowColor[3],relative_b1.arrowColor[2],relative_b1.arrowColor[1],relative_b2.arrow.arrowLine.twoHeadedArrow,relative_b2.arrow.headAtOrigin,relative_b2.arrowColor[3],relative_b2.arrowColor[2],relative_b2.arrowColor[1],relative_a2.arrow.arrowLine.twoHeadedArrow,relative_a2.arrow.headAtOrigin,relative_a2.arrowColor[3],relative_a2.arrowColor[2],relative_a2.arrowColor[1],relative_a1.arrow.arrowLine.twoHeadedArrow,relative_a1.arrow.headAtOrigin,relative_a1.arrowColor[3],relative_a1.arrowColor[2],relative_a1.arrowColor[1],BodyBox2.color[3],BodyBox2.color[2],BodyBox2.color[1],BodyBox2.body.sphereColor[3],BodyBox2.body.sphereColor[2],BodyBox2.body.sphereColor[1],revolute1.cylinderColor[3],revolute1.cylinderColor[2],revolute1.cylinderColor[1],fixed.color[3],fixed.color[2],fixed.color[1],BodyBox1.color[3],BodyBox1.color[2],BodyBox1.color[1],BodyBox1.body.sphereColor[3],BodyBox1.body.sphereColor[2],BodyBox1.body.sphereColor[1],revolute.cylinderColor[3],revolute.cylinderColor[2],revolute.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 (2044):
 * Single equations (assignments): 2034
 * Array equations: 8
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 0
 * Torn equation systems: 2
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 2 {(1,100.0%) 11,(1,100.0%) 11}
 * Non-linear torn systems: 0
Notification: Performance of prepare postOptimizeDAE: time 0.006543/6.093, allocations: 1.349 MB / 1.46 GB, free: 16.88 MB / 0.5888 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.002727/6.095, allocations: 0.8329 MB / 1.461 GB, free: 16.04 MB / 0.5888 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.4906/6.586, allocations: 31.27 MB / 1.492 GB, free: 113.2 MB / 0.5888 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.0003331/6.586, allocations: 92.44 kB / 1.492 GB, free: 113.2 MB / 0.5888 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 4.312e-05/6.587, allocations: 4.562 kB / 1.492 GB, free: 113.2 MB / 0.5888 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 0.0001369/6.587, allocations: 20.95 kB / 1.492 GB, free: 113.2 MB / 0.5888 GB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.1296/6.716, allocations: 71.02 MB / 1.561 GB, free: 83.7 MB / 0.5888 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.21e-05/6.716, allocations: 2.375 kB / 1.561 GB, free: 83.7 MB / 0.5888 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.01586/6.732, allocations: 2.036 MB / 1.563 GB, free: 83.68 MB / 0.5888 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.001498/6.734, allocations: 318.7 kB / 1.563 GB, free: 83.6 MB / 0.5888 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.001941/6.736, allocations: 75.97 kB / 1.563 GB, free: 83.55 MB / 0.5888 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.005413/6.741, allocations: 4.278 MB / 1.568 GB, free: 80.35 MB / 0.5888 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 5.563e-06/6.741, allocations: 9.219 kB / 1.568 GB, free: 80.35 MB / 0.5888 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.08564/6.827, allocations: 49.66 MB / 1.616 GB, free: 56.79 MB / 0.5888 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.002352/6.829, allocations: 0.7983 MB / 1.617 GB, free: 56.45 MB / 0.5888 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.003815/6.833, allocations: 69.17 kB / 1.617 GB, free: 56.39 MB / 0.5888 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.01266/6.846, allocations: 1.619 MB / 1.618 GB, free: 55.52 MB / 0.5888 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.002496/6.848, allocations: 229.5 kB / 1.619 GB, free: 55.38 MB / 0.5888 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.001502/6.85, allocations: 116.4 kB / 1.619 GB, free: 55.27 MB / 0.5888 GB
Notification: Performance of sorting global known variables: time 0.01365/6.864, allocations: 5.945 MB / 1.625 GB, free: 50.07 MB / 0.5888 GB
Notification: Performance of sort global known variables: time 1.389e-06/6.864, allocations: 0 / 1.625 GB, free: 50.07 MB / 0.5888 GB
Notification: Performance of remove unused functions: time 0.0222/6.886, allocations: 4.143 MB / 1.629 GB, free: 45.95 MB / 0.5888 GB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 4
 * Number of states: 4 (revolute.phi,revolute.w,revolute1.phi,revolute1.w)
 * Number of discrete variables: 0 ()
 * Number of discrete states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (404):
 * Single equations (assignments): 394
 * Array equations: 8
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 0
 * Torn equation systems: 2
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 2 {(1,100.0%) 8,(1,100.0%) 8}
 * Non-linear torn systems: 0
Notification: Performance of Backend phase and start with SimCode phase: time 0.002493/6.888, allocations: 318.1 kB / 1.629 GB, free: 45.73 MB / 0.5888 GB
Notification: Performance of simCode: created initialization part: time 0.05614/6.944, allocations: 33.62 MB / 1.662 GB, free: 15.65 MB / 0.5888 GB
Notification: Performance of simCode: created event and clocks part: time 9.358e-06/6.945, allocations: 0.625 kB / 1.662 GB, free: 15.65 MB / 0.5888 GB
Notification: Performance of simCode: created simulation system equations: time 0.02369/6.968, allocations: 14.58 MB / 1.676 GB, free: 2.258 MB / 0.5888 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.008391/6.977, allocations: 1.329 MB / 1.677 GB, free: 1.223 MB / 0.5888 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.5039/7.481, allocations: 43.46 MB / 1.72 GB, free: 135 MB / 0.6044 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.03002/7.511, allocations: 10.99 MB / 1.73 GB, free: 133.9 MB / 0.6044 GB
Notification: Performance of simCode: alias equations: time 0.02877/7.54, allocations: 7.166 MB / 1.737 GB, free: 133.8 MB / 0.6044 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.009122/7.549, allocations: 0.5889 MB / 1.738 GB, free: 133.8 MB / 0.6044 GB
Notification: Performance of SimCode: time 2.411e-06/7.549, allocations: 2.156 kB / 1.738 GB, free: 133.8 MB / 0.6044 GB
Notification: Performance of Templates: time 0.3718/7.921, allocations: 136.9 MB / 1.872 GB, free: 55.16 MB / 0.6044 GB
""

Variables in the reference:time,relative_a1.r_rel[3],relative_a1.v_rel[3],relative_a1.a_rel[3],relative_a1.angles[3],relative_a1.w_rel[3],relative_a2.r_rel[3],relative_a2.v_rel[3],relative_a2.a_rel[3],relative_a2.angles[3],relative_a2.w_rel[3],relative_a2.z_rel[3],relative_b2.r_rel[3],relative_b2.v_rel[3],relative_b2.angles[3],relative_b2.w_rel[3],relative_b2.z_rel[3],relative_b1.r_rel[3],relative_b1.v_rel[3],relative_b1.a_rel[3],relative_b1.angles[3],relative_b1.w_rel[3],relative_b1.z_rel[3],relativeSensor.r_rel[3],relativeSensor.angles[3],relative_a1.r_rel[2],relative_a1.v_rel[2],relative_a1.a_rel[2],relative_a1.angles[2],relative_a1.w_rel[2],relative_a2.r_rel[2],relative_a2.v_rel[2],relative_a2.a_rel[2],relative_a2.angles[2],relative_a2.w_rel[2],relative_a2.z_rel[2],relative_b2.r_rel[2],relative_b2.v_rel[2],relative_b2.angles[2],relative_b2.w_rel[2],relative_b2.z_rel[2],relative_b1.r_rel[2],relative_b1.v_rel[2],relative_b1.a_rel[2],relative_b1.angles[2],relative_b1.w_rel[2],relative_b1.z_rel[2],relativeSensor.r_rel[2],relativeSensor.angles[2],relative_a1.r_rel[1],relative_a1.v_rel[1],relative_a1.a_rel[1],relative_a1.angles[1],relative_a1.w_rel[1],relative_a2.r_rel[1],relative_a2.v_rel[1],relative_a2.a_rel[1],relative_a2.angles[1],relative_a2.w_rel[1],relative_a2.z_rel[1],relative_b2.r_rel[1],relative_b2.v_rel[1],relative_b2.angles[1],relative_b2.w_rel[1],relative_b2.z_rel[1],relative_b1.r_rel[1],relative_b1.v_rel[1],relative_b1.a_rel[1],relative_b1.angles[1],relative_b1.w_rel[1],relative_b1.z_rel[1],relativeSensor.r_rel[1],relativeSensor.angles[1]

Variables in the result: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_start[1],BodyBox1.body.Q_start[2],BodyBox1.body.Q_start[3],BodyBox1.body.Q_start[4],BodyBox1.body.R_start.T[1,1],BodyBox1.body.R_start.T[1,2],BodyBox1.body.R_start.T[1,3],BodyBox1.body.R_start.T[2,1],BodyBox1.body.R_start.T[2,2],BodyBox1.body.R_start.T[2,3],BodyBox1.body.R_start.T[3,1],BodyBox1.body.R_start.T[3,2],BodyBox1.body.R_start.T[3,3],BodyBox1.body.R_start.w[1],BodyBox1.body.R_start.w[2],BodyBox1.body.R_start.w[3],BodyBox1.body.angles_fixed,BodyBox1.body.angles_start[1],BodyBox1.body.angles_start[2],BodyBox1.body.angles_start[3],BodyBox1.body.animation,BodyBox1.body.cylinderDiameter,BodyBox1.body.enforceStates,BodyBox1.body.m,BodyBox1.body.phi_start[1],BodyBox1.body.phi_start[2],BodyBox1.body.phi_start[3],BodyBox1.body.r_CM[1],BodyBox1.body.r_CM[2],BodyBox1.body.r_CM[3],BodyBox1.body.sequence_angleStates[1],BodyBox1.body.sequence_angleStates[2],BodyBox1.body.sequence_angleStates[3],BodyBox1.body.sequence_start[1],BodyBox1.body.sequence_start[2],BodyBox1.body.sequence_start[3],BodyBox1.body.specularCoefficient,BodyBox1.body.sphereDiameter,BodyBox1.body.useQuaternions,BodyBox1.body.w_0_fixed,BodyBox1.body.w_0_start[1],BodyBox1.body.w_0_start[2],BodyBox1.body.w_0_start[3],BodyBox1.body.z_0_fixed,BodyBox1.body.z_0_start[1],BodyBox1.body.z_0_start[2],BodyBox1.body.z_0_start[3],BodyBox1.density,BodyBox1.enforceStates,BodyBox1.frameTranslation.animation,BodyBox1.frameTranslation.extra,BodyBox1.frameTranslation.height,BodyBox1.frameTranslation.length,BodyBox1.frameTranslation.lengthDirection[1],BodyBox1.frameTranslation.lengthDirection[2],BodyBox1.frameTranslation.lengthDirection[3],BodyBox1.frameTranslation.r[1],BodyBox1.frameTranslation.r[2],BodyBox1.frameTranslation.r[3],BodyBox1.frameTranslation.r_shape[1],BodyBox1.frameTranslation.r_shape[2],BodyBox1.frameTranslation.r_shape[3],BodyBox1.frameTranslation.shape.extra,BodyBox1.frameTranslation.shape.height,BodyBox1.frameTranslation.shape.specularCoefficient,BodyBox1.frameTranslation.shape.width,BodyBox1.frameTranslation.specularCoefficient,BodyBox1.frameTranslation.width,BodyBox1.frameTranslation.widthDirection[1],BodyBox1.frameTranslation.widthDirection[2],BodyBox1.frameTranslation.widthDirection[3],BodyBox1.height,BodyBox1.innerHeight,BodyBox1.innerWidth,BodyBox1.length,BodyBox1.lengthDirection[1],BodyBox1.lengthDirection[2],BodyBox1.lengthDirection[3],BodyBox1.m,BodyBox1.mi,BodyBox1.mo,BodyBox1.r[1],BodyBox1.r[2],BodyBox1.r[3],BodyBox1.r_CM[1],BodyBox1.r_CM[2],BodyBox1.r_CM[3],BodyBox1.r_shape[1],BodyBox1.r_shape[2],BodyBox1.r_shape[3],BodyBox1.sequence_angleStates[1],BodyBox1.sequence_angleStates[2],BodyBox1.sequence_angleStates[3],BodyBox1.sequence_start[1],BodyBox1.sequence_start[2],BodyBox1.sequence_start[3],BodyBox1.specularCoefficient,BodyBox1.useQuaternions,BodyBox1.w_0_fixed,BodyBox1.w_0_start[1],BodyBox1.w_0_start[2],BodyBox1.w_0_start[3],BodyBox1.width,BodyBox1.widthDirection[1],BodyBox1.widthDirection[2],BodyBox1.widthDirection[3],BodyBox1.z_0_fixed,BodyBox1.z_0_start[1],BodyBox1.z_0_start[2],BodyBox1.z_0_start[3],BodyBox2.I[1,1],BodyBox2.I[1,2],BodyBox2.I[1,3],BodyBox2.I[2,1],BodyBox2.I[2,2],BodyBox2.I[2,3],BodyBox2.I[3,1],BodyBox2.I[3,2],BodyBox2.I[3,3],BodyBox2.R.T[1,1],BodyBox2.R.T[1,2],BodyBox2.R.T[1,3],BodyBox2.R.T[2,1],BodyBox2.R.T[2,2],BodyBox2.R.T[2,3],BodyBox2.R.T[3,1],BodyBox2.R.T[3,2],BodyBox2.R.T[3,3],BodyBox2.R.w[1],BodyBox2.R.w[2],BodyBox2.R.w[3],BodyBox2.angles_fixed,BodyBox2.angles_start[1],BodyBox2.angles_start[2],BodyBox2.angles_start[3],BodyBox2.animation,BodyBox2.body.I[1,1],BodyBox2.body.I[1,2],BodyBox2.body.I[1,3],BodyBox2.body.I[2,1],BodyBox2.body.I[2,2],BodyBox2.body.I[2,3],BodyBox2.body.I[3,1],BodyBox2.body.I[3,2],BodyBox2.body.I[3,3],BodyBox2.body.I_11,BodyBox2.body.I_21,BodyBox2.body.I_22,BodyBox2.body.I_31,BodyBox2.body.I_32,BodyBox2.body.I_33,BodyBox2.body.Q_start[1],BodyBox2.body.Q_start[2],BodyBox2.body.Q_start[3],BodyBox2.body.Q_start[4],BodyBox2.body.R_start.T[1,1],BodyBox2.body.R_start.T[1,2],BodyBox2.body.R_start.T[1,3],BodyBox2.body.R_start.T[2,1],BodyBox2.body.R_start.T[2,2],BodyBox2.body.R_start.T[2,3],BodyBox2.body.R_start.T[3,1],BodyBox2.body.R_start.T[3,2],BodyBox2.body.R_start.T[3,3],BodyBox2.body.R_start.w[1],BodyBox2.body.R_start.w[2],BodyBox2.body.R_start.w[3],BodyBox2.body.angles_fixed,BodyBox2.body.angles_start[1],BodyBox2.body.angles_start[2],BodyBox2.body.angles_start[3],BodyBox2.body.animation,BodyBox2.body.cylinderDiameter,BodyBox2.body.enforceStates,BodyBox2.body.frame_a.r_0[1],BodyBox2.body.frame_a.r_0[2],BodyBox2.body.frame_a.r_0[3],BodyBox2.body.m,BodyBox2.body.phi_start[1],BodyBox2.body.phi_start[2],BodyBox2.body.phi_start[3],BodyBox2.body.r_0[1],BodyBox2.body.r_0[2],BodyBox2.body.r_0[3],BodyBox2.body.r_CM[1],BodyBox2.body.r_CM[2],BodyBox2.body.r_CM[3],BodyBox2.body.sequence_angleStates[1],BodyBox2.body.sequence_angleStates[2],BodyBox2.body.sequence_angleStates[3],BodyBox2.body.sequence_start[1],BodyBox2.body.sequence_start[2],BodyBox2.body.sequence_start[3],BodyBox2.body.specularCoefficient,BodyBox2.body.sphereDiameter,BodyBox2.body.useQuaternions,BodyBox2.body.w_0_fixed,BodyBox2.body.w_0_start[1],BodyBox2.body.w_0_start[2],BodyBox2.body.w_0_start[3],BodyBox2.body.z_0_fixed,BodyBox2.body.z_0_start[1],BodyBox2.body.z_0_start[2],BodyBox2.body.z_0_start[3],BodyBox2.density,BodyBox2.enforceStates,BodyBox2.frameTranslation.animation,BodyBox2.frameTranslation.extra,BodyBox2.frameTranslation.frame_a.r_0[1],BodyBox2.frameTranslation.frame_a.r_0[2],BodyBox2.frameTranslation.frame_a.r_0[3],BodyBox2.frameTranslation.height,BodyBox2.frameTranslation.length,BodyBox2.frameTranslation.lengthDirection[1],BodyBox2.frameTranslation.lengthDirection[2],BodyBox2.frameTranslation.lengthDirection[3],BodyBox2.frameTranslation.r[1],BodyBox2.frameTranslation.r[2],BodyBox2.frameTranslation.r[3],BodyBox2.frameTranslation.r_shape[1],BodyBox2.frameTranslation.r_shape[2],BodyBox2.frameTranslation.r_shape[3],BodyBox2.frameTranslation.shape.extra,BodyBox2.frameTranslation.shape.height,BodyBox2.frameTranslation.shape.r[1],BodyBox2.frameTranslation.shape.r[2],BodyBox2.frameTranslation.shape.r[3],BodyBox2.frameTranslation.shape.specularCoefficient,BodyBox2.frameTranslation.shape.width,BodyBox2.frameTranslation.specularCoefficient,BodyBox2.frameTranslation.width,BodyBox2.frameTranslation.widthDirection[1],BodyBox2.frameTranslation.widthDirection[2],BodyBox2.frameTranslation.widthDirection[3],BodyBox2.frame_a.r_0[1],BodyBox2.frame_a.r_0[2],BodyBox2.frame_a.r_0[3],BodyBox2.height,BodyBox2.innerHeight,BodyBox2.innerWidth,BodyBox2.length,BodyBox2.lengthDirection[1],BodyBox2.lengthDirection[2],BodyBox2.lengthDirection[3],BodyBox2.m,BodyBox2.mi,BodyBox2.mo,BodyBox2.r[1],BodyBox2.r[2],BodyBox2.r[3],BodyBox2.r_0[1],BodyBox2.r_0[2],BodyBox2.r_0[3],BodyBox2.r_CM[1],BodyBox2.r_CM[2],BodyBox2.r_CM[3],BodyBox2.r_shape[1],BodyBox2.r_shape[2],BodyBox2.r_shape[3],BodyBox2.sequence_angleStates[1],BodyBox2.sequence_angleStates[2],BodyBox2.sequence_angleStates[3],BodyBox2.sequence_start[1],BodyBox2.sequence_start[2],BodyBox2.sequence_start[3],BodyBox2.specularCoefficient,BodyBox2.useQuaternions,BodyBox2.w_0_fixed,BodyBox2.w_0_start[1],BodyBox2.w_0_start[2],BodyBox2.w_0_start[3],BodyBox2.width,BodyBox2.widthDirection[1],BodyBox2.widthDirection[2],BodyBox2.widthDirection[3],BodyBox2.z_0_fixed,BodyBox2.z_0_start[1],BodyBox2.z_0_start[2],BodyBox2.z_0_start[3],err1[10].k1,err1[10].k2,err1[10].u1,err1[10].u2,err1[11].k1,err1[11].k2,err1[11].u1,err1[11].u2,err1[12].k1,err1[12].k2,err1[12].u1,err1[12].u2,err1[13].k1,err1[13].k2,err1[14].k1,err1[14].k2,err1[15].k1,err1[15].k2,err1[16].k1,err1[16].k2,err1[16].u2,err1[17].k1,err1[17].k2,err1[17].u2,err1[18].k1,err1[18].k2,err1[18].u2,err1[1].k1,err1[1].k2,err1[2].k1,err1[2].k2,err1[3].k1,err1[3].k2,err1[4].k1,err1[4].k2,err1[5].k1,err1[5].k2,err1[6].k1,err1[6].k2,err1[7].k1,err1[7].k2,err1[7].u1,err1[7].u2,err1[8].k1,err1[8].k2,err1[8].u1,err1[8].u2,err1[9].k1,err1[9].k2,err1[9].u1,err1[9].u2,err2[10].k1,err2[10].k2,err2[10].u1,err2[10].u2,err2[11].k1,err2[11].k2,err2[11].u1,err2[11].u2,err2[12].k1,err2[12].k2,err2[12].u1,err2[12].u2,err2[13].k1,err2[13].k2,err2[14].k1,err2[14].k2,err2[15].k1,err2[15].k2,err2[16].k1,err2[16].k2,err2[16].u1,err2[16].u2,err2[17].k1,err2[17].k2,err2[17].u1,err2[17].u2,err2[18].k1,err2[18].k2,err2[18].u1,err2[18].u2,err2[1].k1,err2[1].k2,err2[2].k1,err2[2].k2,err2[3].k1,err2[3].k2,err2[4].k1,err2[4].k2,err2[5].k1,err2[5].k2,err2[6].k1,err2[6].k2,err2[7].k1,err2[7].k2,err2[7].u1,err2[8].k1,err2[8].k2,err2[8].u1,err2[9].k1,err2[9].k2,err2[9].u1,fixed.animation,fixed.extra,fixed.frame_b.r_0[1],fixed.frame_b.r_0[2],fixed.frame_b.r_0[3],fixed.height,fixed.length,fixed.lengthDirection[1],fixed.lengthDirection[2],fixed.lengthDirection[3],fixed.r[1],fixed.r[2],fixed.r[3],fixed.r_shape[1],fixed.r_shape[2],fixed.r_shape[3],fixed.shape.extra,fixed.shape.height,fixed.shape.length,fixed.shape.lengthDirection[1],fixed.shape.lengthDirection[2],fixed.shape.lengthDirection[3],fixed.shape.r_shape[1],fixed.shape.r_shape[2],fixed.shape.r_shape[3],fixed.shape.specularCoefficient,fixed.shape.width,fixed.shape.widthDirection[1],fixed.shape.widthDirection[2],fixed.shape.widthDirection[3],fixed.specularCoefficient,fixed.width,fixed.widthDirection[1],fixed.widthDirection[2],fixed.widthDirection[3],relativeSensor.angles[1],relativeSensor.angles[2],relativeSensor.angles[3],relativeSensor.animation,relativeSensor.arrow.arrowLine.quantity,relativeSensor.arrow.arrowLine.specularCoefficient,relativeSensor.arrow.quantity,relativeSensor.arrow.specularCoefficient,relativeSensor.r_rel[1],relativeSensor.r_rel[2],relativeSensor.r_rel[3],relativeSensor.relativeAngles.guessAngle1,relativeSensor.relativeAngles.sequence[1],relativeSensor.relativeAngles.sequence[2],relativeSensor.relativeAngles.sequence[3],relativeSensor.relativePosition.relativePosition.resolveInFrame,relativeSensor.relativePosition.resolveInFrame,relativeSensor.resolveInFrame,relativeSensor.resolveInFrameAfterDifferentiation,relativeSensor.specularCoefficient,relative_a1.a_rel[1],relative_a1.a_rel[2],relative_a1.a_rel[3],relative_a1.angles[1],relative_a1.angles[2],relative_a1.angles[3],relative_a1.animation,relative_a1.arrow.arrowLine.quantity,relative_a1.arrow.arrowLine.specularCoefficient,relative_a1.arrow.quantity,relative_a1.arrow.specularCoefficient,relative_a1.der1[1].u,relative_a1.der1[2].u,relative_a1.der1[3].u,relative_a1.der2[1].u,relative_a1.der2[2].u,relative_a1.der2[3].u,relative_a1.der3[1].u,relative_a1.der3[2].u,relative_a1.der3[3].u,relative_a1.r_rel[1],relative_a1.r_rel[2],relative_a1.r_rel[3],relative_a1.relativeAngles.guessAngle1,relative_a1.relativeAngles.sequence[1],relative_a1.relativeAngles.sequence[2],relative_a1.relativeAngles.sequence[3],relative_a1.relativeAngularVelocity.relativeAngularVelocity.resolveInFrame,relative_a1.relativeAngularVelocity.resolveInFrame,relative_a1.relativePosition.relativePosition.resolveInFrame,relative_a1.relativePosition.resolveInFrame,relative_a1.resolveInFrame,relative_a1.resolveInFrameAfterDifferentiation,relative_a1.specularCoefficient,relative_a1.transformVector_a_rel.basicTransformVector.frame_r_in,relative_a1.transformVector_a_rel.basicTransformVector.frame_r_out,relative_a1.transformVector_a_rel.frame_r_in,relative_a1.transformVector_a_rel.frame_r_out,relative_a1.transformVector_v_rel.basicTransformVector.frame_r_in,relative_a1.transformVector_v_rel.basicTransformVector.frame_r_out,relative_a1.transformVector_v_rel.frame_r_in,relative_a1.transformVector_v_rel.frame_r_out,relative_a1.transformVector_z_rel.basicTransformVector.frame_r_in,relative_a1.transformVector_z_rel.basicTransformVector.frame_r_out,relative_a1.transformVector_z_rel.frame_r_in,relative_a1.transformVector_z_rel.frame_r_out,relative_a1.v_rel[1],relative_a1.v_rel[2],relative_a1.v_rel[3],relative_a1.w_rel[1],relative_a1.w_rel[2],relative_a1.w_rel[3],relative_a2.a_rel[1],relative_a2.a_rel[2],relative_a2.a_rel[3],relative_a2.angles[1],relative_a2.angles[2],relative_a2.angles[3],relative_a2.animation,relative_a2.arrow.arrowLine.quantity,relative_a2.arrow.arrowLine.specularCoefficient,relative_a2.arrow.quantity,relative_a2.arrow.specularCoefficient,relative_a2.der1[1].u,relative_a2.der1[2].u,relative_a2.der1[3].u,relative_a2.der2[1].u,relative_a2.der2[2].u,relative_a2.der2[3].u,relative_a2.der3[1].u,relative_a2.der3[2].u,relative_a2.der3[3].u,relative_a2.frame_resolve.r_0[1],relative_a2.frame_resolve.r_0[2],relative_a2.frame_resolve.r_0[3],relative_a2.r_rel[1],relative_a2.r_rel[2],relative_a2.r_rel[3],relative_a2.relativeAngles.guessAngle1,relative_a2.relativeAngles.sequence[1],relative_a2.relativeAngles.sequence[2],relative_a2.relativeAngles.sequence[3],relative_a2.relativeAngularVelocity.frame_resolve.r_0[1],relative_a2.relativeAngularVelocity.frame_resolve.r_0[2],relative_a2.relativeAngularVelocity.frame_resolve.r_0[3],relative_a2.relativeAngularVelocity.relativeAngularVelocity.frame_resolve.r_0[1],relative_a2.relativeAngularVelocity.relativeAngularVelocity.frame_resolve.r_0[2],relative_a2.relativeAngularVelocity.relativeAngularVelocity.frame_resolve.r_0[3],relative_a2.relativeAngularVelocity.relativeAngularVelocity.resolveInFrame,relative_a2.relativeAngularVelocity.resolveInFrame,relative_a2.relativePosition.frame_resolve.r_0[1],relative_a2.relativePosition.frame_resolve.r_0[2],relative_a2.relativePosition.frame_resolve.r_0[3],relative_a2.relativePosition.relativePosition.frame_resolve.r_0[1],relative_a2.relativePosition.relativePosition.frame_resolve.r_0[2],relative_a2.relativePosition.relativePosition.frame_resolve.r_0[3],relative_a2.relativePosition.relativePosition.resolveInFrame,relative_a2.relativePosition.resolveInFrame,relative_a2.resolveInFrame,relative_a2.resolveInFrameAfterDifferentiation,relative_a2.specularCoefficient,relative_a2.transformVector_a_rel.basicTransformVector.frame_r_in,relative_a2.transformVector_a_rel.basicTransformVector.frame_r_out,relative_a2.transformVector_a_rel.basicTransformVector.frame_resolve.r_0[1],relative_a2.transformVector_a_rel.basicTransformVector.frame_resolve.r_0[2],relative_a2.transformVector_a_rel.basicTransformVector.frame_resolve.r_0[3],relative_a2.transformVector_a_rel.frame_r_in,relative_a2.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