Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.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 4.0.0+maint.om/package.mo", uses=false) Using package Modelica with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+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: translateModel(Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|bodyOfConstraint.body.w_a.1.|bodyOfConstraint.body.w_a.2.|bodyOfConstraint.body.w_a.3.|bodyOfJoint.body.w_a.2.|joint.phi",fileNamePrefix="Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint") translateModel(Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|bodyOfConstraint.body.w_a.1.|bodyOfConstraint.body.w_a.2.|bodyOfConstraint.body.w_a.3.|bodyOfJoint.body.w_a.2.|joint.phi",fileNamePrefix="Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint") Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo): time 0.001285/0.001285, allocations: 107.9 kB / 17.16 MB, free: 6.082 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001429/0.001429, allocations: 194.9 kB / 18.08 MB, free: 5.285 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo): time 1.355/1.355, allocations: 222.9 MB / 241.8 MB, free: 13.77 MB / 206.1 MB Notification: Performance of FrontEnd - loaded program: time 0.001031/0.001031, allocations: 42.73 kB / 300.6 MB, free: 6.082 MB / 238.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.106/0.1071, allocations: 49.45 MB / 350.1 MB, free: 4.621 MB / 286.1 MB Notification: Performance of NFInst.instantiate(Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint): time 0.2866/0.3937, allocations: 85.29 MB / 435.4 MB, free: 15.41 MB / 350.1 MB Notification: Performance of NFInst.instExpressions: time 0.04557/0.4393, allocations: 17.25 MB / 452.6 MB, free: 14.11 MB / 366.1 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.02064/0.46, allocations: 394.9 kB / 453 MB, free: 13.72 MB / 366.1 MB Notification: Performance of NFTyping.typeComponents: time 0.0114/0.4715, allocations: 6.072 MB / 459.1 MB, free: 7.637 MB / 366.1 MB Notification: Performance of NFTyping.typeBindings: time 0.007669/0.4792, allocations: 2.445 MB / 461.5 MB, free: 5.188 MB / 366.1 MB Notification: Performance of NFTyping.typeClassSections: time 0.005227/0.4845, allocations: 2.339 MB / 463.9 MB, free: 2.844 MB / 366.1 MB Notification: Performance of NFFlatten.flatten: time 0.01223/0.4967, allocations: 9.566 MB / 473.4 MB, free: 9.27 MB / 382.1 MB Notification: Performance of NFFlatten.resolveConnections: time 0.01075/0.5075, allocations: 8.089 MB / 481.5 MB, free: 1.102 MB / 382.1 MB Notification: Performance of NFEvalConstants.evaluate: time 0.005572/0.5131, allocations: 2.566 MB / 484.1 MB, free: 14.53 MB / 398.1 MB Notification: Performance of NFSimplifyModel.simplify: time 0.006212/0.5194, allocations: 3.77 MB / 487.8 MB, free: 10.75 MB / 398.1 MB Notification: Performance of NFPackage.collectConstants: time 0.00232/0.5218, allocations: 479.9 kB / 488.3 MB, free: 10.28 MB / 398.1 MB Notification: Performance of NFFlatten.collectFunctions: time 0.004432/0.5262, allocations: 1.783 MB / 490.1 MB, free: 8.492 MB / 398.1 MB Notification: Performance of NFScalarize.scalarize: time 0.004583/0.5308, allocations: 3.187 MB / 493.3 MB, free: 5.297 MB / 398.1 MB Notification: Performance of NFVerifyModel.verify: time 0.007313/0.5382, allocations: 3.608 MB / 496.9 MB, free: 1.668 MB / 398.1 MB Notification: Performance of NFConvertDAE.convert: time 0.01383/0.552, allocations: 9.589 MB / 0.4946 GB, free: 8.059 MB / 414.1 MB Notification: Performance of FrontEnd - DAE generated: time 1.518e-05/0.5521, allocations: 4 kB / 0.4946 GB, free: 8.055 MB / 414.1 MB Notification: Performance of FrontEnd: time 2.535e-06/0.5521, allocations: 0 / 0.4946 GB, free: 8.055 MB / 414.1 MB Notification: Performance of Transformations before backend: time 0.0004937/0.5526, allocations: 0 / 0.4946 GB, free: 8.055 MB / 414.1 MB Notification: Model statistics after passing the front-end and creating the data structures used by the back-end: * Number of equations: 2341 * Number of variables: 2341 Notification: Performance of Generate backend data structure: time 0.0251/0.5777, allocations: 8.216 MB / 0.5026 GB, free: 15.75 MB / 430.1 MB Notification: Performance of prepare preOptimizeDAE: time 5.98e-05/0.5778, allocations: 11.97 kB / 0.5026 GB, free: 15.74 MB / 430.1 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.009243/0.5871, allocations: 2.249 MB / 0.5048 GB, free: 13.48 MB / 430.1 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.01051/0.5976, allocations: 4.04 MB / 0.5088 GB, free: 9.359 MB / 430.1 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0005738/0.5983, allocations: 435.4 kB / 0.5092 GB, free: 8.934 MB / 430.1 MB Notification: Performance of preOpt expandDerOperator (simulation): time 0.003555/0.6019, allocations: 0.5777 MB / 0.5098 GB, free: 8.355 MB / 430.1 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.04275/0.6446, allocations: 16.49 MB / 0.5259 GB, free: 6.969 MB / 446.1 MB Notification: Performance of preOpt findStateOrder (simulation): time 0.0003978/0.6451, allocations: 67.36 kB / 0.5259 GB, free: 6.902 MB / 446.1 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.002208/0.6473, allocations: 259.8 kB / 0.5262 GB, free: 6.648 MB / 446.1 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.004254/0.6516, allocations: 2.576 MB / 0.5287 GB, free: 4.066 MB / 446.1 MB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.412/1.064, allocations: 14.09 MB / 0.5425 GB, free: 145.4 MB / 446.1 MB 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 0.07406/1.138, allocations: 62.44 MB / 0.6034 GB, free: 93.71 MB / 446.1 MB Notification: Performance of preOpt comSubExp (simulation): time 0.01981/1.158, allocations: 7.552 MB / 0.6108 GB, free: 86.02 MB / 446.1 MB Notification: Performance of preOpt resolveLoops (simulation): time 0.004533/1.162, allocations: 3.94 MB / 0.6147 GB, free: 82.07 MB / 446.1 MB Notification: Performance of preOpt evalFunc (simulation): time 0.02291/1.185, allocations: 16.59 MB / 0.6309 GB, free: 65.03 MB / 446.1 MB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 5.299e-05/1.185, allocations: 60.5 kB / 0.6309 GB, free: 64.96 MB / 446.1 MB Notification: Performance of pre-optimization done (n=265): time 6.943e-06/1.185, allocations: 0 / 0.6309 GB, free: 64.96 MB / 446.1 MB Notification: Performance of matching and sorting (n=331): time 0.1106/1.296, allocations: 42.46 MB / 0.6724 GB, free: 22.16 MB / 446.1 MB Notification: Performance of inlineWhenForInitialization (initialization): time 0.01937/1.315, allocations: 16.31 MB / 0.6883 GB, free: 5.289 MB / 446.1 MB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.007018/1.322, allocations: 5.634 MB / 0.6938 GB, free: 15.68 MB / 462.1 MB Notification: Performance of collectPreVariables (initialization): time 0.0008721/1.323, allocations: 69.7 kB / 0.6939 GB, free: 15.6 MB / 462.1 MB Notification: Performance of collectInitialEqns (initialization): time 0.003335/1.327, allocations: 4.67 MB / 0.6984 GB, free: 10.86 MB / 462.1 MB Notification: Performance of collectInitialBindings (initialization): time 0.002062/1.329, allocations: 1.23 MB / 0.6996 GB, free: 9.617 MB / 462.1 MB Notification: Performance of simplifyInitialFunctions (initialization): time 0.00316/1.332, allocations: 1.891 MB / 0.7015 GB, free: 7.711 MB / 462.1 MB Notification: Performance of setup shared object (initialization): time 9.338e-05/1.332, allocations: 305.1 kB / 0.7018 GB, free: 7.41 MB / 462.1 MB Notification: Performance of preBalanceInitialSystem (initialization): time 0.006057/1.338, allocations: 4.054 MB / 0.7057 GB, free: 3.348 MB / 462.1 MB Notification: Performance of partitionIndependentBlocks (initialization): time 0.2234/1.561, allocations: 9.226 MB / 0.7147 GB, free: 144.2 MB / 462.1 MB Notification: Performance of analyzeInitialSystem (initialization): time 0.01909/1.58, allocations: 14.38 MB / 0.7288 GB, free: 134.6 MB / 462.1 MB Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0003693/1.581, allocations: 51.97 kB / 0.7288 GB, free: 134.6 MB / 462.1 MB Notification: Performance of matching and sorting (n=1183) (initialization): time 0.0381/1.619, allocations: 17.4 MB / 0.7458 GB, free: 128.6 MB / 462.1 MB Notification: Performance of prepare postOptimizeDAE: time 0.0001729/1.619, allocations: 81.19 kB / 0.7459 GB, free: 128.6 MB / 462.1 MB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0002464/1.619, allocations: 179 kB / 0.7461 GB, free: 128.6 MB / 462.1 MB Notification: Performance of postOpt tearingSystem (initialization): time 0.01413/1.634, allocations: 4.562 MB / 0.7505 GB, free: 127.8 MB / 462.1 MB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.006679/1.64, allocations: 1.991 MB / 0.7525 GB, free: 127.5 MB / 462.1 MB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.03677/1.677, allocations: 34.11 MB / 0.7858 GB, free: 96.59 MB / 462.1 MB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.00858/1.686, allocations: 0.5295 MB / 0.7863 GB, free: 96.08 MB / 462.1 MB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001957/1.688, allocations: 0.5581 MB / 0.7868 GB, free: 95.52 MB / 462.1 MB Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 826 * Number of states: 0 () * Number of discrete variables: 62 (sensorConstraintRelative.arrow.arrowLine.twoHeadedArrow,sensorConstraintRelative.arrow.headAtOrigin,freeMotionScalarInit.arrowColor[3],freeMotionScalarInit.arrowColor[2],freeMotionScalarInit.arrowColor[1],fixedTranslation.color[3],fixedTranslation.color[2],fixedTranslation.color[1],fixedRotation.color[3],fixedRotation.color[2],fixedRotation.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],springOfConstraint.color[3],springOfConstraint.color[2],springOfConstraint.color[1],springOfConstraint.massColor[3],springOfConstraint.massColor[2],springOfConstraint.massColor[1],springOfJoint.color[3],springOfJoint.color[2],springOfJoint.color[1],springOfJoint.massColor[3],springOfJoint.massColor[2],springOfJoint.massColor[1],bodyOfConstraint.color[3],bodyOfConstraint.color[2],bodyOfConstraint.color[1],bodyOfConstraint.body.sphereColor[3],bodyOfConstraint.body.sphereColor[2],bodyOfConstraint.body.sphereColor[1],bodyOfConstraint.frameTranslation.color[3],bodyOfConstraint.frameTranslation.color[2],bodyOfConstraint.frameTranslation.color[1],bodyOfJoint.color[3],bodyOfJoint.color[2],bodyOfJoint.color[1],bodyOfJoint.body.sphereColor[3],bodyOfJoint.body.sphereColor[2],bodyOfJoint.body.sphereColor[1],bodyOfJoint.frameTranslation.color[3],bodyOfJoint.frameTranslation.color[2],bodyOfJoint.frameTranslation.color[1],sensorConstraintRelative.arrowColor[3],sensorConstraintRelative.arrowColor[2],sensorConstraintRelative.arrowColor[1],constraint.sphereColor[3],constraint.sphereColor[2],constraint.sphereColor[1],joint.cylinderColor[3],joint.cylinderColor[2],joint.cylinderColor[1]) * Number of discrete states: 0 () * Number of clocked states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for initialization (1052): * Single equations (assignments): 1039 * Array equations: 6 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 0 * Torn equation systems: 7 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems (#iteration vars, #inner vars, density): 6 systems {(3,33,100.0%), (2,19,100.0%), (2,13,100.0%), (2,1,100.0%), (2,1,100.0%), (2,1,100.0%)} * Non-linear torn systems (#iteration vars, #inner vars): 1 system {(2,19)} Notification: Performance of prepare postOptimizeDAE: time 0.006393/1.694, allocations: 3.219 MB / 0.79 GB, free: 92.41 MB / 462.1 MB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001245/1.695, allocations: 0.5215 MB / 0.7905 GB, free: 92.16 MB / 462.1 MB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01796/1.713, allocations: 9.809 MB / 0.8001 GB, free: 82.22 MB / 462.1 MB Notification: Performance of postOpt inlineArrayEqn (simulation): time 8.39e-05/1.714, allocations: 40 kB / 0.8001 GB, free: 82.18 MB / 462.1 MB Notification: Performance of postOpt constantLinearSystem (simulation): time 0.01581/1.729, allocations: 8.388 MB / 0.8083 GB, free: 73.66 MB / 462.1 MB Notification: Performance of postOpt simplifysemiLinear (simulation): time 8.575e-05/1.729, allocations: 23.88 kB / 0.8083 GB, free: 73.64 MB / 462.1 MB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.03778/1.767, allocations: 22.13 MB / 0.8299 GB, free: 51.46 MB / 462.1 MB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.95e-05/1.767, allocations: 7.984 kB / 0.83 GB, free: 51.46 MB / 462.1 MB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002485/1.77, allocations: 459.7 kB / 0.8304 GB, free: 51.01 MB / 462.1 MB Notification: Performance of postOpt tearingSystem (simulation): time 0.01033/1.78, allocations: 3.289 MB / 0.8336 GB, free: 47.71 MB / 462.1 MB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0008272/1.781, allocations: 55.98 kB / 0.8337 GB, free: 47.66 MB / 462.1 MB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.02858/1.81, allocations: 24.42 MB / 0.8575 GB, free: 22.89 MB / 462.1 MB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.01264/1.822, allocations: 10.64 MB / 0.8679 GB, free: 11.97 MB / 462.1 MB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.2682/2.091, allocations: 13.63 MB / 0.8812 GB, free: 133.5 MB / 462.1 MB Notification: Performance of postOpt removeConstants (simulation): time 0.001688/2.092, allocations: 0.5461 MB / 0.8817 GB, free: 133.4 MB / 462.1 MB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001454/2.094, allocations: 54.81 kB / 0.8818 GB, free: 133.4 MB / 462.1 MB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.003243/2.097, allocations: 210.1 kB / 0.882 GB, free: 133.4 MB / 462.1 MB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.001015/2.098, allocations: 226 kB / 0.8822 GB, free: 133.4 MB / 462.1 MB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002912/2.098, allocations: 86.47 kB / 0.8823 GB, free: 133.4 MB / 462.1 MB Notification: Performance of sorting global known variables: time 0.00608/2.104, allocations: 3.509 MB / 0.8857 GB, free: 133.3 MB / 462.1 MB Notification: Performance of sort global known variables: time 3.91e-07/2.104, allocations: 0 / 0.8857 GB, free: 133.3 MB / 462.1 MB Notification: Performance of remove unused functions: time 0.01154/2.116, allocations: 1.971 MB / 0.8876 GB, free: 133.3 MB / 462.1 MB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 16 * Number of states: 4 ($STATESET2.x,$STATESET1.x,joint.phi,joint.w) * 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 (210): * Single equations (assignments): 202 * Array equations: 4 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 0 * Torn equation systems: 4 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems (#iteration vars, #inner vars, density): 3 systems {(1,11,100.0%), (3,30,100.0%), (3,21,100.0%)} * Non-linear torn systems (#iteration vars, #inner vars): 1 system {(3,25)} Notification: Performance of Backend phase and start with SimCode phase: time 0.001136/2.117, allocations: 262 kB / 0.8879 GB, free: 133.2 MB / 462.1 MB Notification: Performance of simCode: created initialization part: time 0.01755/2.135, allocations: 10.6 MB / 0.8982 GB, free: 129.1 MB / 462.1 MB Notification: Performance of simCode: created event and clocks part: time 9.969e-06/2.135, allocations: 0 / 0.8982 GB, free: 129.1 MB / 462.1 MB Notification: Performance of simCode: created simulation system equations: time 0.00557/2.14, allocations: 4.094 MB / 0.9022 GB, free: 127.2 MB / 462.1 MB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.005323/2.146, allocations: 0.7856 MB / 0.903 GB, free: 126.9 MB / 462.1 MB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.03182/2.178, allocations: 19.97 MB / 0.9225 GB, free: 115.4 MB / 462.1 MB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.007164/2.185, allocations: 4.903 MB / 0.9273 GB, free: 111.7 MB / 462.1 MB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.002022/2.187, allocations: 419.4 kB / 0.9277 GB, free: 111.3 MB / 462.1 MB Notification: Performance of SimCode: time 1.152e-06/2.187, allocations: 0 / 0.9277 GB, free: 111.3 MB / 462.1 MB Notification: Performance of Templates: time 0.4732/2.66, allocations: 257.1 MB / 1.179 GB, free: 33.95 MB / 478.1 MB make -j1 -f Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.makefile (rm -f Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.pipe ; mkfifo Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.pipe ; head -c 1048576 < Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.pipe >> ../files/Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.sim & ./Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint -abortSlowSimulation -alarm=480 -emit_protected -lv LOG_STATS > Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.pipe 2>&1) diffSimulationResults("Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/Modelica/Mechanics/MultiBody/Examples/Constraints/RevoluteConstraint/RevoluteConstraint.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001) "" Variables in the reference:time,bodyOfConstraint.body.w_a[1],bodyOfConstraint.body.w_a[2],bodyOfConstraint.body.w_a[3],bodyOfJoint.body.w_a[2],joint.phi Variables in the result:bodyOfConstraint.body.w_a[1],bodyOfConstraint.body.w_a[2],bodyOfConstraint.body.w_a[3],bodyOfJoint.body.w_a[2],joint.phi,time