Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr Modelica_trunk_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.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)
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(Modelica.Mechanics.Rotational.Examples.LossyGearDemo3,fileNamePrefix="Modelica_trunk_Modelica_Mechanics_Rotational_Examples_LossyGearDemo3",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(Modelica.Mechanics.Rotational.Examples.LossyGearDemo3,fileNamePrefix="Modelica_trunk_Modelica_Mechanics_Rotational_Examples_LossyGearDemo3",fmuType="me",version="2.0",platforms={"static"})
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo): time 0.001224/0.001224, allocations: 101 kB / 17.2 MB, free: 6.289 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo): time 0.001247/0.001247, allocations: 209.8 kB / 18.14 MB, free: 5.371 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo): time 1.225/1.225, allocations: 227.4 MB / 246.3 MB, free: 10.74 MB / 206.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.001069/0.001069, allocations: 64.36 kB / 306.3 MB, free: 0.9727 MB / 238.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.08357/0.08465, allocations: 50.53 MB / 356.9 MB, free: 14.43 MB / 302.1 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.Rotational.Examples.LossyGearDemo3): time 0.003412/0.0881, allocations: 2.496 MB / 359.4 MB, free: 11.92 MB / 302.1 MB
Notification: Performance of NFInst.instExpressions: time 0.001429/0.08954, allocations: 1.057 MB / 360.4 MB, free: 10.86 MB / 302.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.0001001/0.08966, allocations: 8 kB / 360.4 MB, free: 10.85 MB / 302.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.000229/0.0899, allocations: 55.69 kB / 360.5 MB, free: 10.8 MB / 302.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.0003041/0.09021, allocations: 126.5 kB / 360.6 MB, free: 10.67 MB / 302.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.0002748/0.09049, allocations: 135.8 kB / 360.8 MB, free: 10.54 MB / 302.1 MB
Notification: Performance of NFFlatten.flatten: time 0.000369/0.09087, allocations: 450.7 kB / 361.2 MB, free: 10.1 MB / 302.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.0001296/0.09101, allocations: 60.69 kB / 361.3 MB, free: 10.04 MB / 302.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.0001853/0.0912, allocations: 187.4 kB / 361.4 MB, free: 9.855 MB / 302.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.000236/0.09144, allocations: 227.2 kB / 361.7 MB, free: 9.633 MB / 302.1 MB
Notification: Performance of NFPackage.collectConstants: time 5.444e-05/0.0915, allocations: 24 kB / 361.7 MB, free: 9.609 MB / 302.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.0001996/0.09171, allocations: 111.9 kB / 361.8 MB, free: 9.5 MB / 302.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.0001087/0.09183, allocations: 87.7 kB / 361.9 MB, free: 9.414 MB / 302.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.0001557/0.09199, allocations: 167.2 kB / 362 MB, free: 9.25 MB / 302.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.0004229/0.09242, allocations: 474.8 kB / 362.5 MB, free: 8.785 MB / 302.1 MB
Notification: Performance of FrontEnd - DAE generated: time 4.589e-06/0.09243, allocations: 0 / 362.5 MB, free: 8.785 MB / 302.1 MB
Notification: Performance of FrontEnd: time 1.162e-06/0.09244, allocations: 0 / 362.5 MB, free: 8.785 MB / 302.1 MB
Notification: Performance of Transformations before backend: time 6.462e-06/0.09245, allocations: 0 / 362.5 MB, free: 8.785 MB / 302.1 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 67
 * Number of variables: 67
Notification: Performance of Generate backend data structure: time 0.001113/0.09357, allocations: 0.6628 MB / 363.2 MB, free: 8.074 MB / 302.1 MB
Notification: Performance of prepare preOptimizeDAE: time 3.227e-05/0.09361, allocations: 8.031 kB / 363.2 MB, free: 8.066 MB / 302.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 6.979e-05/0.09368, allocations: 66.72 kB / 363.2 MB, free: 7.992 MB / 302.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.0002973/0.09399, allocations: 52.55 kB / 363.3 MB, free: 7.941 MB / 302.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.000367/0.09436, allocations: 301.4 kB / 363.6 MB, free: 7.605 MB / 302.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0001056/0.09448, allocations: 88.52 kB / 363.7 MB, free: 7.508 MB / 302.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 5.904e-05/0.09454, allocations: 32.28 kB / 363.7 MB, free: 7.477 MB / 302.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.0006471/0.0952, allocations: 381.2 kB / 364.1 MB, free: 7.086 MB / 302.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 1.54e-05/0.09522, allocations: 3.984 kB / 364.1 MB, free: 7.082 MB / 302.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 3.504e-05/0.09526, allocations: 20 kB / 364.1 MB, free: 7.062 MB / 302.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 7.123e-06/0.09527, allocations: 4 kB / 364.1 MB, free: 7.059 MB / 302.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.000782/0.09606, allocations: 417.9 kB / 364.5 MB, free: 6.648 MB / 302.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.00182/0.09789, allocations: 1.268 MB / 365.8 MB, free: 5.305 MB / 302.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.0006241/0.09853, allocations: 338.5 kB / 366.1 MB, free: 4.965 MB / 302.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.0003508/0.09889, allocations: 184.8 kB / 366.3 MB, free: 4.781 MB / 302.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 3.326e-05/0.09893, allocations: 7.938 kB / 366.3 MB, free: 4.773 MB / 302.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 3.378e-05/0.09897, allocations: 38.56 kB / 366.3 MB, free: 4.727 MB / 302.1 MB
Notification: Performance of pre-optimization done (n=43): time 2.605e-06/0.09898, allocations: 0 / 366.3 MB, free: 4.727 MB / 302.1 MB
Notification: Performance of matching and sorting (n=45): time 0.004345/0.1033, allocations: 1.91 MB / 368.2 MB, free: 2.703 MB / 302.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 5.512e-05/0.1034, allocations: 84.86 kB / 368.3 MB, free: 2.602 MB / 302.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.0002853/0.1037, allocations: 250.1 kB / 368.6 MB, free: 2.344 MB / 302.1 MB
Notification: Performance of collectPreVariables (initialization): time 3.912e-05/0.1037, allocations: 37.7 kB / 368.6 MB, free: 2.301 MB / 302.1 MB
Notification: Performance of collectInitialEqns (initialization): time 8.148e-05/0.1038, allocations: 136.6 kB / 368.7 MB, free: 2.164 MB / 302.1 MB
Notification: Performance of collectInitialBindings (initialization): time 0.0001017/0.1039, allocations: 146.1 kB / 368.9 MB, free: 2.02 MB / 302.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0001363/0.1041, allocations: 82.11 kB / 369 MB, free: 1.934 MB / 302.1 MB
Notification: Performance of setup shared object (initialization): time 0.0001065/0.1042, allocations: 338.8 kB / 369.3 MB, free: 1.594 MB / 302.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.0003558/0.1046, allocations: 168.8 kB / 369.5 MB, free: 1.43 MB / 302.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.0003829/0.1049, allocations: 225.9 kB / 369.7 MB, free: 1.191 MB / 302.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.0006318/0.1056, allocations: 339.2 kB / 370 MB, free: 0.8477 MB / 302.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 1.383e-06/0.1056, allocations: 0 / 370 MB, free: 0.8477 MB / 302.1 MB
Notification: Performance of matching and sorting (n=52) (initialization): time 0.001052/0.1067, allocations: 0.5589 MB / 370.6 MB, free: 284 kB / 302.1 MB
Notification: Performance of prepare postOptimizeDAE: time 1.503e-05/0.1067, allocations: 4 kB / 370.6 MB, free: 280 kB / 302.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 5.099e-06/0.1067, allocations: 4.125 kB / 370.6 MB, free: 276 kB / 302.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.1353/0.242, allocations: 290 kB / 370.9 MB, free: 20.36 MB / 302.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.0003443/0.2424, allocations: 57.05 kB / 370.9 MB, free: 20.36 MB / 302.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.003292/0.2457, allocations: 2.647 MB / 373.6 MB, free: 18.98 MB / 302.1 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.0002711/0.246, allocations: 27.36 kB / 373.6 MB, free: 18.98 MB / 302.1 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 5.022e-05/0.2461, allocations: 20.55 kB / 373.6 MB, free: 18.97 MB / 302.1 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 5
 * Number of states: 0 ()
 * Number of discrete variables: 7 (gear.ideal,gear.mode,$PRE.gear.mode,gear.locked,gear.startBackward,gear.startForward,gear.tau_aPos)
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (27):
 * Single equations (assignments): 26
 * 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): 0 systems
 * Non-linear torn systems (#iteration vars, #inner vars): 1 system
   {(2,24)}
Notification: Performance of prepare postOptimizeDAE: time 0.0001526/0.2462, allocations: 157.6 kB / 373.8 MB, free: 18.83 MB / 302.1 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 8.1e-05/0.2463, allocations: 31.64 kB / 373.8 MB, free: 18.83 MB / 302.1 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 7.575e-05/0.2464, allocations: 46.62 kB / 373.8 MB, free: 18.79 MB / 302.1 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 4.238e-06/0.2464, allocations: 5.438 kB / 373.8 MB, free: 18.79 MB / 302.1 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 3.166e-06/0.2464, allocations: 1.609 kB / 373.8 MB, free: 18.79 MB / 302.1 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 5.08e-06/0.2464, allocations: 2.344 kB / 373.9 MB, free: 18.79 MB / 302.1 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.001687/0.2481, allocations: 1.112 MB / 375 MB, free: 18.18 MB / 302.1 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.086e-06/0.2481, allocations: 0.75 kB / 375 MB, free: 18.18 MB / 302.1 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.0002151/0.2483, allocations: 51.61 kB / 375 MB, free: 18.17 MB / 302.1 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.0007229/0.2491, allocations: 283.6 kB / 375.3 MB, free: 18.11 MB / 302.1 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 3.287e-05/0.2491, allocations: 12.41 kB / 375.3 MB, free: 18.1 MB / 302.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.002831/0.252, allocations: 2.613 MB / 377.9 MB, free: 16.15 MB / 302.1 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 1.462e-06/0.252, allocations: 0 / 377.9 MB, free: 16.15 MB / 302.1 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.001334/0.2533, allocations: 0.8043 MB / 378.7 MB, free: 15.75 MB / 302.1 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.000128/0.2534, allocations: 149 kB / 378.9 MB, free: 15.62 MB / 302.1 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 5.696e-05/0.2535, allocations: 11.14 kB / 378.9 MB, free: 15.61 MB / 302.1 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.0002486/0.2538, allocations: 30.05 kB / 378.9 MB, free: 15.61 MB / 302.1 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0001659/0.2539, allocations: 68.38 kB / 379 MB, free: 15.59 MB / 302.1 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 3.347e-05/0.254, allocations: 18.33 kB / 379 MB, free: 15.59 MB / 302.1 MB
Notification: Performance of sorting global known variables: time 0.0001941/0.2542, allocations: 183.4 kB / 379.2 MB, free: 15.49 MB / 302.1 MB
Notification: Performance of sort global known variables: time 1.71e-07/0.2542, allocations: 0 / 379.2 MB, free: 15.49 MB / 302.1 MB
Notification: Performance of remove unused functions: time 0.0005552/0.2548, allocations: 134 kB / 379.3 MB, free: 15.47 MB / 302.1 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 1
 * Number of states: 2 (Inertia2.phi,Inertia2.w)
 * Number of discrete variables: 5 (gear.tau_aPos,gear.startForward,gear.startBackward,gear.locked,gear.mode)
 * Number of discrete states: 1 (gear.mode)
 * 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): 0 systems
 * Non-linear torn systems (#iteration vars, #inner vars): 1 system
   {(2,23)}
Notification: Performance of Backend phase and start with SimCode phase: time 0.002367/0.2571, allocations: 1.644 MB / 380.9 MB, free: 14.47 MB / 302.1 MB
Notification: Performance of simCode: created initialization part: time 0.001128/0.2583, allocations: 0.6209 MB / 381.6 MB, free: 14.17 MB / 302.1 MB
Notification: Performance of simCode: created event and clocks part: time 2.434e-06/0.2583, allocations: 3.938 kB / 381.6 MB, free: 14.17 MB / 302.1 MB
Notification: Performance of simCode: created simulation system equations: time 0.0006/0.2589, allocations: 425.9 kB / 382 MB, free: 13.93 MB / 302.1 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.0004395/0.2593, allocations: 38.78 kB / 382 MB, free: 13.91 MB / 302.1 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.004364/0.2637, allocations: 3.537 MB / 385.6 MB, free: 11.66 MB / 302.1 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0002254/0.2639, allocations: 0.775 MB / 386.3 MB, free: 10.96 MB / 302.1 MB
Notification: Performance of simCode: alias equations: time 0.0002238/0.2642, allocations: 77 kB / 386.4 MB, free: 10.93 MB / 302.1 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.0001537/0.2643, allocations: 90.47 kB / 386.5 MB, free: 10.88 MB / 302.1 MB
Notification: Performance of SimCode: time 5.41e-07/0.2643, allocations: 0 / 386.5 MB, free: 10.88 MB / 302.1 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.6335/0.8978, allocations: 9.811 MB / 396.3 MB, free: 7.219 MB / 302.1 MB
Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0001723/0.898, allocations: 281.4 kB / 396.6 MB, free: 6.84 MB / 302.1 MB
Notification: Performance of buildModelFMU: Generate platform static: time 2.068/2.966, allocations: 0 / 396.6 MB, free: 6.84 MB / 302.1 MB
(rm -f Modelica_trunk_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.pipe ; mkfifo Modelica_trunk_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.pipe ; head -c 1048576 < Modelica_trunk_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.pipe >> ../files/Modelica_trunk_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=Modelica_trunk_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3_res.mat --tempDir=temp_Modelica_trunk_Modelica_Mechanics_Rotational_Examples_LossyGearDemo3_fmu --startTime=0 --stopTime=1 --timeout=50 --tolerance=1e-06 Modelica_trunk_Modelica_Mechanics_Rotational_Examples_LossyGearDemo3.fmu > Modelica_trunk_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.pipe 2>&1)
diffSimulationResults("Modelica_trunk_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/Modelica/Mechanics/Rotational/Examples/LossyGearDemo3/LossyGearDemo3.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/Modelica_trunk_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
""

Variables in the reference:time,Inertia2.phi,Inertia2.w,gear.mode

Variables in the result: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,der(Inertia1.w),der(Inertia2.phi),der(Inertia2.w),der(gear.phi_a),gear.a_a,gear.eta_mf1,gear.eta_mf2,gear.flange_a.phi,gear.flange_a.tau,gear.flange_b.phi,gear.flange_b.tau,gear.ideal,gear.interpolation_result[1,1],gear.interpolation_result[1,2],gear.interpolation_result[1,3],gear.interpolation_result[1,4],gear.locked,gear.lossPower,gear.lossTable[1,1],gear.lossTable[1,2],gear.lossTable[1,3],gear.lossTable[1,4],gear.lossTable[1,5],gear.mode,gear.phi_a,gear.phi_b,gear.quadrant1,gear.quadrant1_p,gear.quadrant2,gear.quadrant2_p,gear.quadrant3,gear.quadrant3_m,gear.quadrant4,gear.quadrant4_m,gear.ratio,gear.sa,gear.smoothness,gear.startBackward,gear.startForward,gear.tauLoss,gear.tauLossMax,gear.tauLossMax_p,gear.tauLossMin,gear.tauLossMin_m,gear.tau_aPos,gear.tau_bf1,gear.tau_bf2,gear.tau_bf_a,gear.tau_eta,gear.tau_etaPos,gear.tau_eta_m,gear.tau_eta_p,gear.useHeatPort,gear.useSupport,gear.w_a,step.height,step.offset,step.startTime,step.y,step1.height,step1.offset,step1.startTime,step1.y,time,torque1.flange.phi,torque1.flange.tau,torque1.tau,torque1.useSupport,torque2.flange.phi,torque2.flange.tau,torque2.tau,torque2.useSupport