Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr ModelicaTest_trunk_ModelicaTest.MultiBody.FourbarVariants.JointUSR.conf.json
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo", uses=false)
Using package ModelicaTest with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo)
Using package Modelica with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo)
Using package Complex with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo)
Using package ModelicaServices with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo)
Running command: "" <> buildModelFMU(ModelicaTest.MultiBody.FourbarVariants.JointUSR,fileNamePrefix="ModelicaTest_trunk_ModelicaTest_MultiBody_FourbarVariants_JointUSR",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(ModelicaTest.MultiBody.FourbarVariants.JointUSR,fileNamePrefix="ModelicaTest_trunk_ModelicaTest_MultiBody_FourbarVariants_JointUSR",fmuType="me",version="2.0",platforms={"static"})
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo): time 0.00117/0.00117, allocations: 94.47 kB / 17.35 MB, free: 6.371 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo): time 0.001146/0.001146, allocations: 200.9 kB / 18.28 MB, free: 5.496 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo): time 1.395/1.395, allocations: 227.7 MB / 246.8 MB, free: 11.27 MB / 206.1 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo): time 0.207/0.207, allocations: 46.19 MB / 345.2 MB, free: 11.38 MB / 286.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.0002889/0.0002889, allocations: 8 kB / 419.6 MB, free: 19.65 MB / 302.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.1199/0.1202, allocations: 63.56 MB / 483.2 MB, free: 4.07 MB / 350.1 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.FourbarVariants.JointUSR): time 0.3093/0.4296, allocations: 61.05 MB / 0.5315 GB, free: 9.324 MB / 382.1 MB
Notification: Performance of NFInst.instExpressions: time 0.02946/0.4591, allocations: 13.03 MB / 0.5442 GB, free: 1.879 MB / 382.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.01264/0.4717, allocations: 272.4 kB / 0.5445 GB, free: 1.836 MB / 382.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.002442/0.4742, allocations: 0.7262 MB / 0.5452 GB, free: 1.562 MB / 382.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.007584/0.4818, allocations: 2.829 MB / 0.5479 GB, free: 15.86 MB / 398.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.003051/0.4849, allocations: 1.378 MB / 0.5493 GB, free: 14.97 MB / 398.1 MB
Notification: Performance of NFFlatten.flatten: time 0.01445/0.4993, allocations: 12.38 MB / 0.5614 GB, free: 6.648 MB / 398.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.01403/0.5134, allocations: 8.652 MB / 0.5698 GB, free: 13.89 MB / 414.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.004776/0.5182, allocations: 2.245 MB / 0.572 GB, free: 11.63 MB / 414.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.00623/0.5245, allocations: 3.983 MB / 0.5759 GB, free: 7.637 MB / 414.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.001676/0.5262, allocations: 292 kB / 0.5762 GB, free: 7.352 MB / 414.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.004056/0.5302, allocations: 1.552 MB / 0.5777 GB, free: 5.797 MB / 414.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.004155/0.5344, allocations: 3.28 MB / 0.5809 GB, free: 2.508 MB / 414.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.005561/0.54, allocations: 3.747 MB / 0.5845 GB, free: 14.73 MB / 430.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.01499/0.555, allocations: 12.6 MB / 0.5969 GB, free: 2.082 MB / 430.1 MB
Notification: Performance of FrontEnd - DAE generated: time 4.899e-06/0.555, allocations: 0 / 0.5969 GB, free: 2.082 MB / 430.1 MB
Notification: Performance of FrontEnd: time 2.675e-06/0.555, allocations: 0 / 0.5969 GB, free: 2.082 MB / 430.1 MB
Notification: Performance of Transformations before backend: time 0.0005203/0.5556, allocations: 0 / 0.5969 GB, free: 2.082 MB / 430.1 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 0.02085/0.5764, allocations: 7.497 MB / 0.6042 GB, free: 10.5 MB / 446.1 MB
Notification: Performance of prepare preOptimizeDAE: time 5.411e-05/0.5765, allocations: 12.88 kB / 0.6042 GB, free: 10.49 MB / 446.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.004319/0.5808, allocations: 1.419 MB / 0.6056 GB, free: 9.059 MB / 446.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.03268/0.6135, allocations: 6.082 MB / 0.6115 GB, free: 2.957 MB / 446.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.01288/0.6265, allocations: 5.9 MB / 0.6173 GB, free: 12.97 MB / 462.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0004585/0.6269, allocations: 438.9 kB / 0.6177 GB, free: 12.54 MB / 462.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.00237/0.6293, allocations: 0.601 MB / 0.6183 GB, free: 11.94 MB / 462.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.03944/0.6688, allocations: 20.61 MB / 0.6384 GB, free: 6.188 MB / 478.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0003079/0.6691, allocations: 83.25 kB / 0.6385 GB, free: 6.105 MB / 478.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.001735/0.6709, allocations: 267.7 kB / 0.6387 GB, free: 5.844 MB / 478.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.005965/0.6769, allocations: 3.718 MB / 0.6424 GB, free: 2.125 MB / 478.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.04081/0.7177, allocations: 18.13 MB / 0.6601 GB, free: 15.98 MB / 0.4981 GB
Warning: The model contains alias variables with redundant start and/or conflicting nominal values. It is recommended to resolve the conflicts, because otherwise the system could be hard to solve. To print the conflicting alias sets and the chosen candidates please use -d=aliasConflicts.
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.58/1.298, allocations: 74.23 MB / 0.7326 GB, free: 130.3 MB / 0.5294 GB
Notification: Performance of preOpt comSubExp (simulation): time 0.01943/1.317, allocations: 7.434 MB / 0.7398 GB, free: 129 MB / 0.5294 GB
Notification: Performance of preOpt resolveLoops (simulation): time 0.005834/1.323, allocations: 4.041 MB / 0.7438 GB, free: 127.7 MB / 0.5294 GB
Notification: Performance of preOpt evalFunc (simulation): time 0.02784/1.351, allocations: 17.99 MB / 0.7613 GB, free: 118.4 MB / 0.5294 GB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 5.325e-05/1.351, allocations: 63.91 kB / 0.7614 GB, free: 118.3 MB / 0.5294 GB
Notification: Performance of pre-optimization done (n=332): time 6.472e-06/1.351, allocations: 3.969 kB / 0.7614 GB, free: 118.3 MB / 0.5294 GB
Notification: Performance of matching and sorting (n=413): time 0.112/1.463, allocations: 34.55 MB / 0.7951 GB, free: 92.57 MB / 0.5294 GB
Notification: Performance of inlineWhenForInitialization (initialization): time 6.547e-05/1.463, allocations: 196.8 kB / 0.7953 GB, free: 92.34 MB / 0.5294 GB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.01045/1.474, allocations: 6.474 MB / 0.8017 GB, free: 85.87 MB / 0.5294 GB
Notification: Performance of collectPreVariables (initialization): time 0.001053/1.475, allocations: 81.7 kB / 0.8017 GB, free: 85.79 MB / 0.5294 GB
Notification: Performance of collectInitialEqns (initialization): time 0.003404/1.478, allocations: 5.424 MB / 0.807 GB, free: 80.36 MB / 0.5294 GB
Notification: Performance of collectInitialBindings (initialization): time 0.001786/1.48, allocations: 1.523 MB / 0.8085 GB, free: 78.85 MB / 0.5294 GB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.001797/1.482, allocations: 0.8771 MB / 0.8094 GB, free: 77.97 MB / 0.5294 GB
Notification: Performance of setup shared object (initialization): time 4.383e-05/1.482, allocations: 305.1 kB / 0.8097 GB, free: 77.67 MB / 0.5294 GB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.006346/1.488, allocations: 4.178 MB / 0.8137 GB, free: 73.48 MB / 0.5294 GB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.008726/1.497, allocations: 10.08 MB / 0.8236 GB, free: 60.62 MB / 0.5294 GB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01508/1.512, allocations: 15.37 MB / 0.8386 GB, free: 42.43 MB / 0.5294 GB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001702/1.512, allocations: 64 kB / 0.8386 GB, free: 42.37 MB / 0.5294 GB
Notification: Performance of matching and sorting (n=1377) (initialization): time 0.03222/1.544, allocations: 15.94 MB / 0.8542 GB, free: 26.4 MB / 0.5294 GB
Notification: Performance of prepare postOptimizeDAE: time 0.0002001/1.545, allocations: 96 kB / 0.8543 GB, free: 26.3 MB / 0.5294 GB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0002772/1.545, allocations: 207.9 kB / 0.8545 GB, free: 26.1 MB / 0.5294 GB
Notification: Performance of postOpt tearingSystem (initialization): time 0.007141/1.552, allocations: 2.314 MB / 0.8568 GB, free: 23.78 MB / 0.5294 GB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.007375/1.56, allocations: 2.398 MB / 0.8591 GB, free: 21.38 MB / 0.5294 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.0162/1.576, allocations: 11.69 MB / 0.8705 GB, free: 9.566 MB / 0.5294 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.007729/1.584, allocations: 0.5814 MB / 0.8711 GB, free: 8.984 MB / 0.5294 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001946/1.586, allocations: 0.5881 MB / 0.8717 GB, free: 8.398 MB / 0.5294 GB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 937
 * 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 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (1276):
 * Single equations (assignments): 1269
 * Array equations: 6
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (not torn): 0
 * Torn equation systems: 1
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems (#iteration vars, #inner vars, density): 1 system
   {(2,52,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of prepare postOptimizeDAE: time 0.007326/1.593, allocations: 3.754 MB / 0.8753 GB, free: 4.629 MB / 0.5294 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001583/1.594, allocations: 0.6016 MB / 0.8759 GB, free: 4.02 MB / 0.5294 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01889/1.613, allocations: 8.169 MB / 0.8839 GB, free: 11.8 MB / 0.545 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.0001092/1.614, allocations: 63.98 kB / 0.884 GB, free: 11.74 MB / 0.545 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 4.031e-05/1.614, allocations: 8 kB / 0.884 GB, free: 11.73 MB / 0.545 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 9.077e-05/1.614, allocations: 19.92 kB / 0.884 GB, free: 11.71 MB / 0.545 GB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.04288/1.657, allocations: 18.64 MB / 0.9022 GB, free: 8.715 MB / 0.5607 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 5.109e-05/1.657, allocations: 12 kB / 0.9022 GB, free: 8.703 MB / 0.5607 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.003035/1.66, allocations: 0.6123 MB / 0.9028 GB, free: 8.09 MB / 0.5607 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.00678/1.667, allocations: 1.761 MB / 0.9045 GB, free: 6.324 MB / 0.5607 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0006952/1.667, allocations: 76.92 kB / 0.9046 GB, free: 6.25 MB / 0.5607 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.01679/1.684, allocations: 9.788 MB / 0.9141 GB, free: 12.33 MB / 0.5763 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 1.486e-05/1.684, allocations: 19.88 kB / 0.9142 GB, free: 12.31 MB / 0.5763 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.3071/1.991, allocations: 12.17 MB / 0.926 GB, free: 201.2 MB / 0.5763 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.001889/1.993, allocations: 0.6306 MB / 0.9267 GB, free: 201.1 MB / 0.5763 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001557/1.995, allocations: 73.39 kB / 0.9267 GB, free: 201.1 MB / 0.5763 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.003148/1.998, allocations: 204.6 kB / 0.9269 GB, free: 201.1 MB / 0.5763 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0008369/1.999, allocations: 261.8 kB / 0.9272 GB, free: 201.1 MB / 0.5763 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0003018/1.999, allocations: 114.5 kB / 0.9273 GB, free: 201.1 MB / 0.5763 GB
Notification: Performance of sorting global known variables: time 0.008367/2.007, allocations: 4.032 MB / 0.9312 GB, free: 200.9 MB / 0.5763 GB
Notification: Performance of sort global known variables: time 3.41e-07/2.007, allocations: 0 / 0.9312 GB, free: 200.9 MB / 0.5763 GB
Notification: Performance of remove unused functions: time 0.01013/2.018, allocations: 1.874 MB / 0.9331 GB, free: 200.9 MB / 0.5763 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 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (325):
 * Single equations (assignments): 318
 * Array equations: 6
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (not torn): 0
 * Torn equation systems: 1
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems (#iteration vars, #inner vars, density): 1 system
   {(2,42,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of Backend phase and start with SimCode phase: time 0.02355/2.041, allocations: 12.94 MB / 0.9457 GB, free: 196.5 MB / 0.5763 GB
Notification: Performance of simCode: created initialization part: time 0.01477/2.056, allocations: 9.827 MB / 0.9553 GB, free: 192.9 MB / 0.5763 GB
Notification: Performance of simCode: created event and clocks part: time 1.604e-05/2.056, allocations: 3.781 kB / 0.9553 GB, free: 192.9 MB / 0.5763 GB
Notification: Performance of simCode: created simulation system equations: time 0.005193/2.061, allocations: 3.309 MB / 0.9585 GB, free: 191.6 MB / 0.5763 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.01656/2.078, allocations: 0.7864 MB / 0.9593 GB, free: 191.3 MB / 0.5763 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.1511/2.229, allocations: 108.7 MB / 1.065 GB, free: 81.54 MB / 0.5763 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.005805/2.235, allocations: 5.58 MB / 1.071 GB, free: 75.93 MB / 0.5763 GB
Notification: Performance of simCode: alias equations: time 0.007539/2.242, allocations: 3.305 MB / 1.074 GB, free: 72.62 MB / 0.5763 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.004286/2.247, allocations: 3.67 MB / 1.078 GB, free: 68.95 MB / 0.5763 GB
Notification: Performance of SimCode: time 7.02e-07/2.247, allocations: 0 / 1.078 GB, free: 68.95 MB / 0.5763 GB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.4618/2.708, allocations: 129.7 MB / 1.204 GB, free: 168.4 MB / 0.5763 GB
Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0001737/2.709, allocations: 218.8 kB / 1.205 GB, free: 168.2 MB / 0.5763 GB
Notification: Performance of buildModelFMU: Generate platform static: time 5.808/8.517, allocations: 0 / 1.205 GB, free: 168.2 MB / 0.5763 GB
(rm -f ModelicaTest_trunk_ModelicaTest.MultiBody.FourbarVariants.JointUSR.pipe ; mkfifo ModelicaTest_trunk_ModelicaTest.MultiBody.FourbarVariants.JointUSR.pipe ; head -c 1048576 < ModelicaTest_trunk_ModelicaTest.MultiBody.FourbarVariants.JointUSR.pipe >> ../files/ModelicaTest_trunk_ModelicaTest.MultiBody.FourbarVariants.JointUSR.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=ModelicaTest_trunk_ModelicaTest.MultiBody.FourbarVariants.JointUSR_res.mat --tempDir=temp_ModelicaTest_trunk_ModelicaTest_MultiBody_FourbarVariants_JointUSR_fmu --startTime=0 --stopTime=2 --timeout=50 --tolerance=1e-06 ModelicaTest_trunk_ModelicaTest_MultiBody_FourbarVariants_JointUSR.fmu > ModelicaTest_trunk_ModelicaTest.MultiBody.FourbarVariants.JointUSR.pipe 2>&1)
diffSimulationResults("ModelicaTest_trunk_ModelicaTest.MultiBody.FourbarVariants.JointUSR_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/ModelicaTest/MultiBody/FourbarVariants/JointUSR/JointUSR.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/ModelicaTest_trunk_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.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.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.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.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],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.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.cylinderColor[1],Body2.cylinderColor[2],Body2.cylinderColor[3],Body2.cylinderDiameter,Body2.enforceStates,Body2.frame_a.R.T[1,1],Body2.frame_a.R.T[1,2],Body2.frame_a.R.T[1,3],Body2.frame_a.R.T[2,1],Body2.frame_a.R.T[2,2],Body2.frame_a.R.T[2,3],Body2.frame_a.R.T[3,1],Body2.frame_a.R.T[3,2],Body2.frame_a.R.T[3,3],Body2.frame_a.R.w[1],Body2.frame_a.R.w[2],Body2.frame_a.R.w[3],Body2.frame_a.f[1],Body2.frame_a.f[2],Body2.frame_a.f[3],Body2.frame_a.r_0[1],Body2.frame_a.r_0[2],Body2.frame_a.r_0[3],Body2.frame_a.t[1],Body2.frame_a.t[2],Body2.frame_a.t[3],Body2.g_0[1],Body2.g_0[2],Body2.g_0[3],Body2.m,Body2.r_0[1],Body2.r_0[2],Body2.r_0[3],Body2.r_CM[1],Body2.r_CM[2],Body2.r_CM[3],Body2.sequence_angleStates[1],Body2.sequence_angleStates[2],Body2.sequence_angleStates[3],Body2.sequence_start[1],Body2.sequence_start[2],Body2.sequence_start[3],Body2.specularCoefficient,Body2.sphereColor[1],Body2.sphereColor[2],Body2.sphereColor[3],Body2.sphereDiameter,Body2.useQuaternions,Body2.v_0[1],Body2.v_0[2],Body2.v_0[3],Body2.w_0_fixed,Body2.w_0_start[1],Body2.w_0_start[2],Body2.w_0_start[3],Body2.w_a[1],Body2.w_a[2],Body2.w_a[3],Body2.z_0_fixed,Body2.z_0_start[1],Body2.z_0_start[2],Body2.z_0_start[3],Body2.z_a[1],Body2.z_a[2],Body2.z_a[3],Body3.I[1,1],Body3.I[1,2],Body3.I[1,3],Body3.I[2,1],Body3.I[2,2],Body3.I[2,3],Body3.I[3,1],Body3.I[3,2],Body3.I[3,3],Body3.I_11,Body3.I_21,Body3.I_22,Body3.I_31,Body3.I_32,Body3.I_33,Body3.R_start.T[1,1],Body3.R_start.T[1,2],Body3.R_start.T[1,3],Body3.R_start.T[2,1],Body3.R_start.T[2,2],Body3.R_start.T[2,3],Body3.R_start.T[3,1],Body3.R_start.T[3,2],Body3.R_start.T[3,3],Body3.R_start.w[1],Body3.R_start.w[2],Body3.R_start.w[3],Body3.a_0[1],Body3.a_0[2],Body3.a_0[3],Body3.angles_fixed,Body3.angles_start[1],Body3.angles_start[2],Body3.angles_start[3],Body3.animation,Body3.cylinderColor[1],Body3.cylinderColor[2],Body3.cylinderColor[3],Body3.cylinderDiameter,Body3.enforceStates,Body3.frame_a.R.T[1,1],Body3.frame_a.R.T[1,2],Body3.frame_a.R.T[1,3],Body3.frame_a.R.T[2,1],Body3.frame_a.R.T[2,2],Body3.frame_a.R.T[2,3],Body3.frame_a.R.T[3,1],Body3.frame_a.R.T[3,2],Body3.frame_a.R.T[3,3],Body3.frame_a.R.w[1],Body3.frame_a.R.w[2],Body3.frame_a.R.w[3],Body3.frame_a.f[1],Body3.frame_a.f[2],Body3.frame_a.f[3],Body3.frame_a.r_0[1],Body3.frame_a.r_0[2],Body3.frame_a.r_0[3],Body3.frame_a.t[1],Body3.frame_a.t[2],Body3.frame_a.t[3],Body3.g_0[1],Body3.g_0[2],Body3.g_0[3],Body3.m,Body3.r_0[1],Body3.r_0[2],Body3.r_0[3],Body3.r_CM[1],Body3.r_CM[2],Body3.r_CM[3],Body3.sequence_angleStates[1],Body3.sequence_angleStates[2],Body3.sequence_angleStates[3],Body3.sequence_start[1]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USR.n_b[3],jointUSR.phi_guess,jointUSR.phi_offset,jointUSR.position_b[1].k,jointUSR.position_b[1].y,jointUSR.position_b[2].k,jointUSR.position_b[2].y,jointUSR.position_b[3].k,jointUSR.position_b[3].y,jointUSR.rRod1_ia[1],jointUSR.rRod1_ia[2],jointUSR.rRod1_ia[3],jointUSR.rRod2_ib[1],jointUSR.rRod2_ib[2],jointUSR.rRod2_ib[3],jointUSR.relativePosition.frame_a.R.T[1,1],jointUSR.relativePosition.frame_a.R.T[1,2],jointUSR.relativePosition.frame_a.R.T[1,3],jointUSR.relativePosition.frame_a.R.T[2,1],jointUSR.relativePosition.frame_a.R.T[2,2],jointUSR.relativePosition.frame_a.R.T[2,3],jointUSR.relativePosition.frame_a.R.T[3,1],jointUSR.relativePosition.frame_a.R.T[3,2],jointUSR.relativePosition.frame_a.R.T[3,3],jointUSR.relativePosition.frame_a.R.w[1],jointUSR.relativePosition.frame_a.R.w[2],jointUSR.relativePosition.frame_a.R.w[3],jointUSR.relativePosition.frame_a.f[1],jointUSR.relativePosition.frame_a.f[2],jointUSR.relativePosition.frame_a.f[3],jointUSR.relativePosition.frame_a.r_0[1],jointUSR.relativePosition.frame_a.r_0[2],jointUSR.relativePosition.frame_a.r_0[3],jointUSR.relativePosition.frame_a.t[1],jointUSR.relativePosition.frame_a.t[2],jointUSR.relativePosition.frame_a.t[3],jointUSR.relativePosition.frame_b.R.T[1,1],jointUSR.relativePosition.frame_b.R.T[1,2],jointUSR.relativePosition.frame_b.R.T[1,3],jointUSR.relativePosition.frame_b.R.T[2,1],jointUSR.relativePosition.frame_b.R.T[2,2],jointUSR.relativePosition.frame_b.R.T[2,3],jointUSR.relativePosition.frame_b.R.T[3,1],jointUSR.relativePosition.frame_b.R.T[3,2],jointUSR.relativePosition.frame_b.R.T[3,3],jointUSR.relativePosition.frame_b.R.w[1],jointUSR.relativePosition.frame_b.R.w[2],jointUSR.relativePosition.frame_b.R.w[3],jointUSR.relativePosition.frame_b.f[1],jointUSR.relativePosition.frame_b.f[2],jointUSR.relativePosition.frame_b.f[3],jointUSR.relativePosition.frame_b.r_0[1],jointUSR.relativePosition.frame_b.r_0[2],jointUSR.relativePosition.frame_b.r_0[3],jointUSR.relativePosition.frame_b.t[1],jointUSR.relativePosition.frame_b.t[2],jointUSR.relativePosition.frame_b.t[3],jointUSR.relativePosition.r_rel[1],jointUSR.relativePosition.r_rel[2],jointUSR.relativePosition.r_rel[3],jointUSR.relativePosition.resolveInFrame,jointUSR.revolute.R_rel.T[1,1],jointUSR.revolute.R_rel.T[1,2],jointUSR.revolute.R_rel.T[1,3],jointUSR.revolute.R_rel.T[2,1],jointUSR.revolute.R_rel.T[2,2],jointUSR.revolute.R_rel.T[2,3],jointUSR.revolute.R_rel.T[3,1],jointUSR.revolute.R_rel.T[3,2],jointUSR.revolute.R_rel.T[3,3],jointUSR.revolute.R_rel.w[1],jointUSR.revolute.R_rel.w[2],jointUSR.revolute.R_rel.w[3],jointUSR.revolute.angle,jointUSR.revolute.animation,jointUSR.revolute.axis.phi,jointUSR.revolute.axis.tau,jointUSR.revolute.bearing.phi,jointUSR.revolute.bearing.tau,jointUSR.revolute.cylinderColor[1],jointUSR.revolute.cylinderColor[2],jointUSR.revolute.cylinderColor[3],jointUSR.revolute.cylinderDiameter,jointUSR.revolute.cylinderLength,jointUSR.revolute.e[1],jointUSR.revolute.e[2],jointUSR.revolute.e[3],jointUSR.revolute.frame_a.R.T[1,1],jointUSR.revolute.frame_a.R.T[1,2],jointUSR.revolute.frame_a.R.T[1,3],jointUSR.revolute.frame_a.R.T[2,1],jointUSR.revolute.frame_a.R.T[2,2],jointUSR.revolute.frame_a.R.T[2,3],jointUSR.revolute.frame_a.R.T[3,1],jointUSR.revolute.frame_a.R.T[3,2],jointUSR.revolute.frame_a.R.T[3,3],jointUSR.revolute.frame_a.R.w[1],jointUSR.revolute.frame_a.R.w[2],jointUSR.revolute.frame_a.R.w[3],jointUSR.revolute.frame_a.f[1],jointUSR.revolute.frame_a.f[2],jointUSR.revolute.frame_a.f[3],jointUSR.revolute.frame_a.r_0[1],jointUSR.revolute.frame_a.r_0[2],jointUSR.revolute.frame_a.r_0[3],jointUSR.revolute.frame_a.t[1],jointUSR.revolute.frame_a.t[2],jointUSR.revolute.frame_a.t[3],jointUSR.revolute.frame_b.R.T[1,1],jointUSR.revolute.frame_b.R.T[1,2],jointUSR.revolute.frame_b.R.T[1,3],jointUSR.revolute.frame_b.R.T[2,1],jointUSR.revolute.frame_b.R.T[2,2],jointUSR.revolute.frame_b.R.T[2,3],jointUSR.revolute.frame_b.R.T[3,1],jointUSR.revolute.frame_b.R.T[3,2],jointUSR.revolute.frame_b.R.T[3,3],jointUSR.revolute.frame_b.R.w[1],jointUSR.revolute.frame_b.R.w[2],jointUSR.revolute.frame_b.R.w[3],jointUSR.revolute.frame_b.f[1],jointUSR.revolute.frame_b.f[2],jointUSR.revolute.frame_b.f[3],jointUSR.revolute.frame_b.r_0[1],jointUSR.revolute.frame_b.r_0[2],jointUSR.revolute.frame_b.r_0[3],jointUSR.revolute.frame_b.t[1],jointUSR.revolute.frame_b.t[2],jointUSR.revolute.frame_b.t[3],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.specularCoefficient,jointUSR.revolute.tau,jointUSR.revoluteColor[1],jointUSR.revoluteColor[2],jointUSR.revoluteColor[3],jointUSR.revoluteDiameter,jointUSR.revoluteLength,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,jointUSR.rod1.e2_ia[1],jointUSR.rod1.e2_ia[2],jointUSR.rod1.e2_ia[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_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.n1_a[1],jointUSR.rod1.n1_a[2],jointUSR.rod1.n1_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.rodWidth,jointUSR.rod1.showUniversalAxes,jointUSR.rod1.specularCoefficient,jointUSR.rod1.sphereColor[1],jointUSR.rod1.sphereColor[2],jointUSR.rod1.sphereColor[3],jointUSR.rod1.sphereDiameter,jointUSR.rod1.totalPower,jointUSR.rod1Color[1],jointUSR.rod1Color[2],jointUSR.rod1Color[3],jointUSR.rod1Diameter,jointUSR.rod1Length,jointUSR.rod2.animation,jointUSR.rod2.color[1],jointUSR.rod2.color[2],jointUSR.rod2.color[3],jointUSR.rod2.extra,jointUSR.rod2.frame_a.R.T[1,1],jointUSR.rod2.frame_a.R.T[1,2],jointUSR.rod2.frame_a.R.T[1,3],jointUSR.rod2.frame_a.R.T[2,1],jointUSR.rod2.frame_a.R.T[2,2],jointUSR.rod2.frame_a.R.T[2,3],jointUSR.rod2.frame_a.R.T[3,1],jointUSR.rod2.frame_a.R.T[3,2],jointUSR.rod2.frame_a.R.T[3,3],jointUSR.rod2.frame_a.R.w[1],jointUSR.rod2.frame_a.R.w[2],jointUSR.rod2.frame_a.R.w[3],jointUSR.rod2.frame_a.f[1],jointUSR.rod2.frame_a.f[2],jointUSR.rod2.frame_a.f[3],jointUSR.rod2.frame_a.r_0[1],jointUSR.rod2.frame_a.r_0[2],jointUSR.rod2.frame_a.r_0[3],jointUSR.rod2.frame_a.t[1],jointUSR.rod2.frame_a.t[2],jointUSR.rod2.frame_a.t[3],jointUSR.rod2.frame_b.R.T[1,1],jointUSR.rod2.frame_b.R.T[1,2],jointUSR.rod2.frame_b.R.T[1,3],jointUSR.rod2.frame_b.R.T[2,1],jointUSR.rod2.frame_b.R.T[2,2],jointUSR.rod2.frame_b.R.T[2,3],jointUSR.rod2.frame_b.R.T[3,1],jointUSR.rod2.frame_b.R.T[3,2],jointUSR.rod2.frame_b.R.T[3,3],jointUSR.rod2.frame_b.R.w[1],jointUSR.rod2.frame_b.R.w[2],jointUSR.rod2.frame_b.R.w[3],jointUSR.rod2.frame_b.f[1],jointUSR.rod2.frame_b.f[2],jointUSR.rod2.frame_b.f[3],jointUSR.rod2.frame_b.r_0[1],jointUSR.rod2.frame_b.r_0[2],jointUSR.rod2.frame_b.r_0[3],jointUSR.rod2.frame_b.t[1],jointUSR.rod2.frame_b.t[2],jointUSR.rod2.frame_b.t[3],jointUSR.rod2.height,jointUSR.rod2.length,jointUSR.rod2.lengthDirection[1],jointUSR.rod2.lengthDirection[2],jointUSR.rod2.lengthDirection[3],jointUSR.rod2.r[1],jointUSR.rod2.r[2],jointUSR.rod2.r[3],jointUSR.rod2.r_shape[1],jointUSR.rod2.r_shape[2],jointUSR.rod2.r_shape[3],jointUSR.rod2.specularCoefficient,jointUSR.rod2.width,jointUSR.rod2.widthDirection[1],jointUSR.rod2.widthDirection[2],jointUSR.rod2.widthDirection[3],jointUSR.rod2Color[1],jointUSR.rod2Color[2],jointUSR.rod2Color[3],jointUSR.rod2Diameter,jointUSR.showUniversalAxes,jointUSR.specularCoefficient,jointUSR.sphereColor[1],jointUSR.sphereColor[2],jointUSR.sphereColor[3],jointUSR.sphereDiameter,jointUSR.totalPower,time,world.animateGravity,world.animateGround,world.animateWorld,world.axisColor_x[1],world.axisColor_x[2],world.axisColor_x[3],world.axisColor_y[1],world.axisColor_y[2],world.axisColor_y[3],world.axisColor_z[1],world.axisColor_z[2],world.axisColor_z[3],world.axisDiameter,world.axisLength,world.axisShowLabels,world.defaultArrowDiameter,world.defaultAxisLength,world.defaultBodyDiameter,world.defaultForceLength,world.defaultForceWidth,world.defaultFrameDiameterFraction,world.defaultJointLength,world.defaultJointWidth,world.defaultN_to_m,world.defaultNm_to_m,world.defaultSpecularCoefficient,world.defaultWidthFraction,world.driveTrainMechanics3D,world.enableAnimation,world.frame_b.R.T[1,1],world.frame_b.R.T[1,2],world.frame_b.R.T[1,3],world.frame_b.R.T[2,1],world.frame_b.R.T[2,2],world.frame_b.R.T[2,3],world.frame_b.R.T[3,1],world.frame_b.R.T[3,2],world.frame_b.R.T[3,3],world.frame_b.R.w[1],world.frame_b.R.w[2],world.frame_b.R.w[3],world.frame_b.f[1],world.frame_b.f[2],world.frame_b.f[3],world.frame_b.r_0[1],world.frame_b.r_0[2],world.frame_b.r_0[3],world.frame_b.t[1],world.frame_b.t[2],world.frame_b.t[3],world.g,world.gravityArrowColor[1],world.gravityArrowColor[2],world.gravityArrowColor[3],world.gravityArrowDiameter,world.gravityArrowLength,world.gravityArrowTail[1],world.gravityArrowTail[2],world.gravityArrowTail[3],world.gravitySphereColor[1],world.gravitySphereColor[2],world.gravitySphereColor[3],world.gravitySphereDiameter,world.gravityType,world.groundAxis_u[1],world.groundAxis_u[2],world.groundAxis_u[3],world.groundColor[1],world.groundColor[2],world.groundColor[3],world.groundLength_u,world.groundLength_v,world.mu,world.n[1],world.n[2],world.n[3],world.nominalLength