Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.conf.json
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo", uses=false)
Using package Modelica with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo)
Using package Complex with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo)
Using package ModelicaServices with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo)
Running command: "" <> buildModelFMU(Modelica.Mechanics.Rotational.Examples.FirstGrounded,fileNamePrefix="Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_FirstGrounded",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(Modelica.Mechanics.Rotational.Examples.FirstGrounded,fileNamePrefix="Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_FirstGrounded",fmuType="me",version="2.0",platforms={"static"})
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo): time 0.0007275/0.0007275, allocations: 95.27 kB / 17.3 MB, free: 6.391 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.0008234/0.0008236, allocations: 172.5 kB / 18.2 MB, free: 5.551 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.236/1.236, allocations: 205.4 MB / 224.4 MB, free: 13.08 MB / 190.1 MB
Notification: Modelica requested package Complex of version 3.2.3. Complex 4.0.0 is used instead which states that it is fully compatible without conversion script needed.
Notification: Modelica requested package ModelicaServices of version 3.2.3. ModelicaServices 4.0.0 is used instead which states that it is fully compatible without conversion script needed.
Notification: Performance of FrontEnd - loaded program: time 0.000445/0.0004451, allocations: 12 kB / 281.5 MB, free: 3.324 MB / 222.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.07993/0.08038, allocations: 47.58 MB / 329.1 MB, free: 3.668 MB / 270.1 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.Rotational.Examples.FirstGrounded): time 0.002421/0.08285, allocations: 2.032 MB / 331.1 MB, free: 1.617 MB / 270.1 MB
Notification: Performance of NFInst.instExpressions: time 0.001022/0.08391, allocations: 0.6126 MB / 331.7 MB, free: 1 MB / 270.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.0001177/0.08404, allocations: 4 kB / 331.7 MB, free: 0.9961 MB / 270.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.0001301/0.08418, allocations: 31.77 kB / 331.7 MB, free: 0.9648 MB / 270.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.000132/0.08432, allocations: 63.47 kB / 331.8 MB, free: 0.9023 MB / 270.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.0001816/0.08451, allocations: 43.97 kB / 331.8 MB, free: 0.8594 MB / 270.1 MB
Notification: Performance of NFFlatten.flatten: time 0.0002413/0.08476, allocations: 242.8 kB / 332.1 MB, free: 0.6211 MB / 270.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.0001615/0.08493, allocations: 80.72 kB / 332.2 MB, free: 0.543 MB / 270.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.0001324/0.08507, allocations: 83.64 kB / 332.2 MB, free: 472 kB / 270.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.0001231/0.0852, allocations: 95.5 kB / 332.3 MB, free: 376 kB / 270.1 MB
Notification: Performance of NFPackage.collectConstants: time 2.996e-05/0.08524, allocations: 16 kB / 332.3 MB, free: 360 kB / 270.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 2.944e-05/0.08528, allocations: 12 kB / 332.4 MB, free: 348 kB / 270.1 MB
Notification: Performance of NFScalarize.scalarize: time 3.404e-05/0.08532, allocations: 35.78 kB / 332.4 MB, free: 312 kB / 270.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.0001095/0.08543, allocations: 141 kB / 332.5 MB, free: 164 kB / 270.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.0002201/0.08566, allocations: 227.3 kB / 332.8 MB, free: 15.94 MB / 286.1 MB
Notification: Performance of FrontEnd - DAE generated: time 6.052e-06/0.08568, allocations: 3.984 kB / 332.8 MB, free: 15.93 MB / 286.1 MB
Notification: Performance of FrontEnd: time 1.543e-06/0.08568, allocations: 0 / 332.8 MB, free: 15.93 MB / 286.1 MB
Notification: Performance of Transformations before backend: time 5.951e-06/0.0857, allocations: 0 / 332.8 MB, free: 15.93 MB / 286.1 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 50
 * Number of variables: 50
Notification: Performance of Generate backend data structure: time 0.0006059/0.08631, allocations: 483.2 kB / 333.2 MB, free: 15.41 MB / 286.1 MB
Notification: Performance of prepare preOptimizeDAE: time 4.598e-05/0.08636, allocations: 8.031 kB / 333.2 MB, free: 15.4 MB / 286.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 5.69e-05/0.08642, allocations: 54.73 kB / 333.3 MB, free: 15.34 MB / 286.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 4.605e-05/0.08648, allocations: 28.56 kB / 333.3 MB, free: 15.31 MB / 286.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.0002456/0.08673, allocations: 244.5 kB / 333.6 MB, free: 15.04 MB / 286.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 1.86e-05/0.08676, allocations: 16.81 kB / 333.6 MB, free: 15.02 MB / 286.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 3.857e-05/0.0868, allocations: 24.38 kB / 333.6 MB, free: 15 MB / 286.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.0003482/0.08715, allocations: 213.8 kB / 333.8 MB, free: 14.77 MB / 286.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 1.704e-05/0.08718, allocations: 7.938 kB / 333.8 MB, free: 14.77 MB / 286.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 1.883e-05/0.08721, allocations: 4 kB / 333.8 MB, free: 14.76 MB / 286.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 9.567e-06/0.08722, allocations: 8 kB / 333.8 MB, free: 14.75 MB / 286.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.0002417/0.08747, allocations: 133.6 kB / 334 MB, free: 14.62 MB / 286.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.0009158/0.08839, allocations: 0.7054 MB / 334.7 MB, free: 13.86 MB / 286.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.0002402/0.08865, allocations: 150.5 kB / 334.8 MB, free: 13.71 MB / 286.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.0001246/0.08878, allocations: 68.83 kB / 334.9 MB, free: 13.64 MB / 286.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 1.915e-05/0.08881, allocations: 11.97 kB / 334.9 MB, free: 13.62 MB / 286.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 1.934e-05/0.08884, allocations: 34.5 kB / 334.9 MB, free: 13.58 MB / 286.1 MB
Notification: Performance of pre-optimization done (n=20): time 1.192e-06/0.08884, allocations: 0 / 334.9 MB, free: 13.58 MB / 286.1 MB
Notification: Performance of matching and sorting (n=24): time 0.001499/0.09035, allocations: 0.9 MB / 335.8 MB, free: 12.59 MB / 286.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 3.352e-05/0.0904, allocations: 55.41 kB / 335.9 MB, free: 12.52 MB / 286.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.0001354/0.09054, allocations: 174.7 kB / 336 MB, free: 12.34 MB / 286.1 MB
Notification: Performance of collectPreVariables (initialization): time 1.83e-05/0.09056, allocations: 29.7 kB / 336.1 MB, free: 12.3 MB / 286.1 MB
Notification: Performance of collectInitialEqns (initialization): time 6.661e-05/0.09064, allocations: 140.3 kB / 336.2 MB, free: 12.16 MB / 286.1 MB
Notification: Performance of collectInitialBindings (initialization): time 5.682e-05/0.0907, allocations: 90.66 kB / 336.3 MB, free: 12.07 MB / 286.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 3.469e-05/0.09074, allocations: 25.7 kB / 336.3 MB, free: 12.04 MB / 286.1 MB
Notification: Performance of setup shared object (initialization): time 7.987e-05/0.09083, allocations: 330.8 kB / 336.7 MB, free: 11.71 MB / 286.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.0001114/0.09095, allocations: 63.97 kB / 336.7 MB, free: 11.64 MB / 286.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.0001267/0.09108, allocations: 100.2 kB / 336.8 MB, free: 11.53 MB / 286.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.0002524/0.09134, allocations: 172.2 kB / 337 MB, free: 11.35 MB / 286.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 1.112e-06/0.09135, allocations: 0 / 337 MB, free: 11.35 MB / 286.1 MB
Notification: Performance of matching and sorting (n=31) (initialization): time 0.0004007/0.09176, allocations: 262.1 kB / 337.2 MB, free: 11.08 MB / 286.1 MB
Notification: Performance of prepare postOptimizeDAE: time 1.448e-05/0.09178, allocations: 4 kB / 337.2 MB, free: 11.08 MB / 286.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 4.659e-06/0.09179, allocations: 0 / 337.2 MB, free: 11.08 MB / 286.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.0001458/0.09194, allocations: 36.83 kB / 337.3 MB, free: 11.04 MB / 286.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.0002089/0.09216, allocations: 55.91 kB / 337.3 MB, free: 10.98 MB / 286.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.0009992/0.09317, allocations: 1.37 MB / 338.7 MB, free: 9.477 MB / 286.1 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.0001081/0.09329, allocations: 19.86 kB / 338.7 MB, free: 9.457 MB / 286.1 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 1.495e-05/0.09332, allocations: 8 kB / 338.7 MB, free: 9.449 MB / 286.1 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 5
 * Number of states: 0 ()
 * Number of discrete variables: 0 ()
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (28):
 * Single equations (assignments): 27
 * Array equations: 0
 * 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
   {(1,3,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of prepare postOptimizeDAE: time 0.0001067/0.09343, allocations: 133.9 kB / 338.9 MB, free: 9.309 MB / 286.1 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 3.799e-05/0.09347, allocations: 23.66 kB / 338.9 MB, free: 9.285 MB / 286.1 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 4.632e-05/0.09353, allocations: 21.88 kB / 338.9 MB, free: 9.266 MB / 286.1 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 4.188e-06/0.09354, allocations: 4.141 kB / 338.9 MB, free: 9.262 MB / 286.1 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 4.729e-06/0.09355, allocations: 7.922 kB / 338.9 MB, free: 9.254 MB / 286.1 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 9.458e-06/0.09356, allocations: 7.922 kB / 338.9 MB, free: 9.246 MB / 286.1 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.0007947/0.09436, allocations: 0.6597 MB / 339.6 MB, free: 8.516 MB / 286.1 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 2.084e-06/0.09437, allocations: 0 / 339.6 MB, free: 8.516 MB / 286.1 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.0001955/0.09457, allocations: 47.91 kB / 339.6 MB, free: 8.469 MB / 286.1 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.0001012/0.09468, allocations: 32.91 kB / 339.7 MB, free: 8.434 MB / 286.1 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 1.468e-05/0.09471, allocations: 8 kB / 339.7 MB, free: 8.426 MB / 286.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.0009156/0.09563, allocations: 1.382 MB / 341.1 MB, free: 6.91 MB / 286.1 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 1.372e-06/0.09564, allocations: 0 / 341.1 MB, free: 6.91 MB / 286.1 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.0005372/0.09618, allocations: 414.1 kB / 341.5 MB, free: 6.48 MB / 286.1 MB
Notification: Performance of postOpt removeConstants (simulation): time 4.897e-05/0.09625, allocations: 92.92 kB / 341.5 MB, free: 6.371 MB / 286.1 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 2.394e-05/0.09628, allocations: 8.031 kB / 341.6 MB, free: 6.363 MB / 286.1 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.0001167/0.0964, allocations: 8 kB / 341.6 MB, free: 6.355 MB / 286.1 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 4.847e-05/0.09646, allocations: 11.98 kB / 341.6 MB, free: 6.344 MB / 286.1 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 1.266e-05/0.09648, allocations: 15.98 kB / 341.6 MB, free: 6.328 MB / 286.1 MB
Notification: Performance of sorting global known variables: time 9.439e-05/0.09658, allocations: 120.8 kB / 341.7 MB, free: 6.211 MB / 286.1 MB
Notification: Performance of sort global known variables: time 1.3e-07/0.09659, allocations: 4 kB / 341.7 MB, free: 6.207 MB / 286.1 MB
Notification: Performance of remove unused functions: time 0.0003107/0.0969, allocations: 60 kB / 341.8 MB, free: 6.148 MB / 286.1 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 3
 * Number of states: 4 (inertia3.phi,inertia3.w,damper.phi_rel,damper.w_rel)
 * 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 (21):
 * Single equations (assignments): 20
 * Array equations: 0
 * 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
   {(1,3,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of Backend phase and start with SimCode phase: time 0.0007721/0.09768, allocations: 0.9454 MB / 342.7 MB, free: 5.164 MB / 286.1 MB
Notification: Performance of simCode: created initialization part: time 0.0004788/0.09817, allocations: 294.8 kB / 343 MB, free: 4.863 MB / 286.1 MB
Notification: Performance of simCode: created event and clocks part: time 2.665e-06/0.09819, allocations: 4.25 kB / 343 MB, free: 4.859 MB / 286.1 MB
Notification: Performance of simCode: created simulation system equations: time 0.0003236/0.09852, allocations: 214.5 kB / 343.2 MB, free: 4.637 MB / 286.1 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.0004259/0.09895, allocations: 39.95 kB / 343.3 MB, free: 4.598 MB / 286.1 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.002923/0.1019, allocations: 2.697 MB / 346 MB, free: 1.789 MB / 286.1 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.000273/0.1022, allocations: 0.748 MB / 346.7 MB, free: 1.016 MB / 286.1 MB
Notification: Performance of simCode: alias equations: time 7.108e-05/0.1023, allocations: 21.94 kB / 346.7 MB, free: 0.9922 MB / 286.1 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 9.299e-05/0.1024, allocations: 71.34 kB / 346.8 MB, free: 0.9219 MB / 286.1 MB
Notification: Performance of SimCode: time 3.31e-07/0.1024, allocations: 4 kB / 346.8 MB, free: 0.918 MB / 286.1 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.01446/0.1168, allocations: 4.302 MB / 351.1 MB, free: 12.62 MB / 302.1 MB
Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0002162/0.1171, allocations: 227.4 kB / 351.3 MB, free: 12.36 MB / 302.1 MB
Notification: Performance of buildModelFMU: Generate platform static: time 1.77/1.887, allocations: 0 / 351.3 MB, free: 12.36 MB / 302.1 MB
(rm -f Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.pipe ; mkfifo Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.pipe ; head -c 1048576 < Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.pipe >> ../files/Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded_res.mat --tempDir=temp_Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_FirstGrounded_fmu --startTime=0 --stopTime=1 --timeout=50 --tolerance=1e-06 Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_FirstGrounded.fmu > Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.pipe 2>&1)
diffSimulationResults("Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v3.2.3+build.4/Modelica/Mechanics/Rotational/Examples/FirstGrounded/FirstGrounded.csv","../files/Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
""

Variables in the reference:time,damper.phi_rel,damper.w_rel,inertia3.phi,inertia3.w

Variables in the result:Jload,Jmotor,amplitude,damper.a_rel,damper.d,damper.flange_a.phi,damper.flange_a.tau,damper.flange_b.phi,damper.flange_b.tau,damper.lossPower,damper.phi_nominal,damper.phi_rel,damper.stateSelect,damper.tau,damper.useHeatPort,damper.w_rel,damping,der(damper.phi_rel),der(damper.w_rel),der(inertia1.phi),der(inertia1.w),der(inertia2.phi),der(inertia2.w),der(inertia3.phi),der(inertia3.w),fixed.flange.phi,fixed.flange.tau,fixed.phi0,freqHz,idealGear.flange_a.phi,idealGear.flange_a.tau,idealGear.flange_b.phi,idealGear.flange_b.tau,idealGear.phi_a,idealGear.phi_b,idealGear.ratio,idealGear.useSupport,inertia1.J,inertia1.a,inertia1.flange_a.phi,inertia1.flange_a.tau,inertia1.flange_b.phi,inertia1.flange_b.tau,inertia1.phi,inertia1.stateSelect,inertia1.w,inertia2.J,inertia2.a,inertia2.flange_a.phi,inertia2.flange_a.tau,inertia2.flange_b.phi,inertia2.flange_b.tau,inertia2.phi,inertia2.stateSelect,inertia2.w,inertia3.J,inertia3.a,inertia3.flange_a.phi,inertia3.flange_a.tau,inertia3.flange_b.phi,inertia3.flange_b.tau,inertia3.phi,inertia3.stateSelect,inertia3.w,ratio,sine.amplitude,sine.freqHz,sine.offset,sine.phase,sine.startTime,sine.y,spring.c,spring.flange_a.phi,spring.flange_a.tau,spring.flange_b.phi,spring.flange_b.tau,spring.phi_rel,spring.phi_rel0,spring.tau,time,torque.flange.phi,torque.flange.tau,torque.tau,torque.useSupport