Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.OneWayClutchDisengaged.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.OneWayClutchDisengaged,fileNamePrefix="Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_OneWayClutchDisengaged",fmuType="me",version="2.0",platforms={"static"}) "" <> buildModelFMU(Modelica.Mechanics.Rotational.Examples.OneWayClutchDisengaged,fileNamePrefix="Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_OneWayClutchDisengaged",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 0.001365/0.001365, allocations: 113.3 kB / 17.28 MB, free: 6.312 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001517/0.001518, allocations: 189.3 kB / 18.19 MB, free: 5.395 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.251/1.251, allocations: 205.1 MB / 224 MB, free: 12.43 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 0.001175/0.001175, allocations: 52.14 kB / 280.2 MB, free: 3.391 MB / 222.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.08795/0.08913, allocations: 46.63 MB / 326.9 MB, free: 4.691 MB / 270.1 MB Notification: Performance of NFInst.instantiate(Modelica.Mechanics.Rotational.Examples.OneWayClutchDisengaged): time 0.003322/0.09249, allocations: 2.255 MB / 329.1 MB, free: 2.414 MB / 270.1 MB Notification: Performance of NFInst.instExpressions: time 0.00109/0.0936, allocations: 0.7255 MB / 329.9 MB, free: 1.68 MB / 270.1 MB Notification: Performance of NFInst.updateImplicitVariability: time 9.17e-05/0.09372, allocations: 0 / 329.9 MB, free: 1.68 MB / 270.1 MB Notification: Performance of NFTyping.typeComponents: time 0.000193/0.09392, allocations: 27.78 kB / 329.9 MB, free: 1.652 MB / 270.1 MB Notification: Performance of NFTyping.typeBindings: time 0.0001512/0.09408, allocations: 55.61 kB / 329.9 MB, free: 1.598 MB / 270.1 MB Notification: Performance of NFTyping.typeClassSections: time 0.0002805/0.09437, allocations: 87.84 kB / 330 MB, free: 1.512 MB / 270.1 MB Notification: Performance of NFFlatten.flatten: time 0.0002547/0.09463, allocations: 263.4 kB / 330.3 MB, free: 1.254 MB / 270.1 MB Notification: Performance of NFFlatten.resolveConnections: time 0.0001483/0.09479, allocations: 72.27 kB / 330.4 MB, free: 1.184 MB / 270.1 MB Notification: Performance of NFEvalConstants.evaluate: time 0.0001501/0.09495, allocations: 111.6 kB / 330.5 MB, free: 1.074 MB / 270.1 MB Notification: Performance of NFSimplifyModel.simplify: time 0.0001641/0.09512, allocations: 111.5 kB / 330.6 MB, free: 0.9648 MB / 270.1 MB Notification: Performance of NFPackage.collectConstants: time 3.326e-05/0.09516, allocations: 23.98 kB / 330.6 MB, free: 0.9414 MB / 270.1 MB Notification: Performance of NFFlatten.collectFunctions: time 0.0001301/0.09529, allocations: 63.95 kB / 330.7 MB, free: 0.8789 MB / 270.1 MB Notification: Performance of NFScalarize.scalarize: time 7.313e-05/0.09538, allocations: 47.84 kB / 330.7 MB, free: 0.832 MB / 270.1 MB Notification: Performance of NFVerifyModel.verify: time 9.433e-05/0.09548, allocations: 115.5 kB / 330.8 MB, free: 0.7188 MB / 270.1 MB Notification: Performance of NFConvertDAE.convert: time 0.00032/0.0958, allocations: 275.3 kB / 331.1 MB, free: 460 kB / 270.1 MB Notification: Performance of FrontEnd - DAE generated: time 4.218e-06/0.09582, allocations: 0 / 331.1 MB, free: 460 kB / 270.1 MB Notification: Performance of FrontEnd: time 1.372e-06/0.09583, allocations: 4 kB / 331.1 MB, free: 456 kB / 270.1 MB Notification: Performance of Transformations before backend: time 6.653e-06/0.09584, allocations: 0 / 331.1 MB, free: 456 kB / 270.1 MB Notification: Model statistics after passing the front-end and creating the data structures used by the back-end: * Number of equations: 47 * Number of variables: 47 Notification: Performance of Generate backend data structure: time 0.000801/0.09664, allocations: 0.5069 MB / 331.6 MB, free: 15.89 MB / 286.1 MB Notification: Performance of prepare preOptimizeDAE: time 3.76e-05/0.09669, allocations: 8.031 kB / 331.6 MB, free: 15.88 MB / 286.1 MB Notification: Performance of preOpt introduceOutputAliases (simulation): time 5.543e-05/0.09675, allocations: 54.73 kB / 331.7 MB, free: 15.82 MB / 286.1 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 4.923e-05/0.09681, allocations: 28.59 kB / 331.7 MB, free: 15.79 MB / 286.1 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.0002367/0.09705, allocations: 239.9 kB / 331.9 MB, free: 15.52 MB / 286.1 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 2.137e-05/0.09708, allocations: 16.81 kB / 331.9 MB, free: 15.5 MB / 286.1 MB Notification: Performance of preOpt expandDerOperator (simulation): time 4.789e-05/0.09713, allocations: 32.2 kB / 332 MB, free: 15.47 MB / 286.1 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.000385/0.09752, allocations: 229.8 kB / 332.2 MB, free: 15.23 MB / 286.1 MB Notification: Performance of preOpt findStateOrder (simulation): time 1.563e-05/0.09755, allocations: 0 / 332.2 MB, free: 15.23 MB / 286.1 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 2.244e-05/0.09758, allocations: 8 kB / 332.2 MB, free: 15.22 MB / 286.1 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 9.368e-06/0.09759, allocations: 8 kB / 332.2 MB, free: 15.21 MB / 286.1 MB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.0003032/0.0979, allocations: 157 kB / 332.4 MB, free: 15.06 MB / 286.1 MB Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.001013/0.09892, allocations: 0.7836 MB / 333.1 MB, free: 14.21 MB / 286.1 MB Notification: Performance of preOpt comSubExp (simulation): time 0.0003262/0.09926, allocations: 130.5 kB / 333.3 MB, free: 14.07 MB / 286.1 MB Notification: Performance of preOpt resolveLoops (simulation): time 0.0001422/0.09941, allocations: 72.83 kB / 333.3 MB, free: 14 MB / 286.1 MB Notification: Performance of preOpt evalFunc (simulation): time 1.978e-05/0.09944, allocations: 0 / 333.3 MB, free: 14 MB / 286.1 MB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 2.117e-05/0.09947, allocations: 38.56 kB / 333.4 MB, free: 13.95 MB / 286.1 MB Notification: Performance of pre-optimization done (n=18): time 9.42e-07/0.09948, allocations: 0 / 333.4 MB, free: 13.95 MB / 286.1 MB Notification: Performance of matching and sorting (n=20): time 0.001707/0.1012, allocations: 0.9783 MB / 334.4 MB, free: 12.86 MB / 286.1 MB Notification: Performance of inlineWhenForInitialization (initialization): time 3.033e-05/0.1012, allocations: 55.41 kB / 334.4 MB, free: 12.8 MB / 286.1 MB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.000187/0.1014, allocations: 206.6 kB / 334.6 MB, free: 12.59 MB / 286.1 MB Notification: Performance of collectPreVariables (initialization): time 2.275e-05/0.1015, allocations: 33.7 kB / 334.6 MB, free: 12.55 MB / 286.1 MB Notification: Performance of collectInitialEqns (initialization): time 7.903e-05/0.1015, allocations: 136.2 kB / 334.8 MB, free: 12.41 MB / 286.1 MB Notification: Performance of collectInitialBindings (initialization): time 5.57e-05/0.1016, allocations: 74.98 kB / 334.9 MB, free: 12.34 MB / 286.1 MB Notification: Performance of simplifyInitialFunctions (initialization): time 7.828e-05/0.1017, allocations: 53.61 kB / 334.9 MB, free: 12.28 MB / 286.1 MB Notification: Performance of setup shared object (initialization): time 0.0001161/0.1018, allocations: 334.8 kB / 335.2 MB, free: 11.94 MB / 286.1 MB Notification: Performance of preBalanceInitialSystem (initialization): time 0.0001544/0.102, allocations: 75.97 kB / 335.3 MB, free: 11.87 MB / 286.1 MB Notification: Performance of partitionIndependentBlocks (initialization): time 0.0001767/0.1022, allocations: 119.6 kB / 335.4 MB, free: 11.74 MB / 286.1 MB Notification: Performance of analyzeInitialSystem (initialization): time 0.0002653/0.1024, allocations: 168.8 kB / 335.6 MB, free: 11.56 MB / 286.1 MB Notification: Performance of solveInitialSystemEqSystem (initialization): time 1.202e-06/0.1024, allocations: 3.938 kB / 335.6 MB, free: 11.56 MB / 286.1 MB Notification: Performance of matching and sorting (n=32) (initialization): time 0.0004549/0.1029, allocations: 287.9 kB / 335.9 MB, free: 11.27 MB / 286.1 MB Notification: Performance of prepare postOptimizeDAE: time 1.405e-05/0.1029, allocations: 4 kB / 335.9 MB, free: 11.27 MB / 286.1 MB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 4.779e-06/0.1029, allocations: 0 / 335.9 MB, free: 11.27 MB / 286.1 MB Notification: Performance of postOpt tearingSystem (initialization): time 0.0002755/0.1032, allocations: 68.81 kB / 335.9 MB, free: 11.2 MB / 286.1 MB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.0001579/0.1034, allocations: 43.92 kB / 336 MB, free: 11.15 MB / 286.1 MB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.0004567/0.1038, allocations: 0.6225 MB / 336.6 MB, free: 10.5 MB / 286.1 MB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.0001772/0.104, allocations: 20.02 kB / 336.6 MB, free: 10.48 MB / 286.1 MB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 1.912e-05/0.1041, allocations: 12 kB / 336.6 MB, free: 10.47 MB / 286.1 MB Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 4 * Number of states: 0 () * Number of discrete variables: 6 (oneWayClutch.free,oneWayClutch.stuck,$PRE.oneWayClutch.stuck,oneWayClutch.locked,oneWayClutch.startForward,$PRE.oneWayClutch.startForward) * Number of discrete states: 0 () * Number of clocked states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for initialization (26): * Single equations (assignments): 25 * 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 {(1,6)} Notification: Performance of prepare postOptimizeDAE: time 0.0001173/0.1042, allocations: 141.4 kB / 336.8 MB, free: 10.33 MB / 286.1 MB Notification: Performance of postOpt lateInlineFunction (simulation): time 4.214e-05/0.1042, allocations: 19.75 kB / 336.8 MB, free: 10.31 MB / 286.1 MB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 5.608e-05/0.1043, allocations: 25.81 kB / 336.8 MB, free: 10.28 MB / 286.1 MB Notification: Performance of postOpt inlineArrayEqn (simulation): time 3.306e-06/0.1043, allocations: 12 kB / 336.8 MB, free: 10.27 MB / 286.1 MB Notification: Performance of postOpt constantLinearSystem (simulation): time 3.768e-06/0.1043, allocations: 0 / 336.8 MB, free: 10.27 MB / 286.1 MB Notification: Performance of postOpt simplifysemiLinear (simulation): time 4.83e-06/0.1043, allocations: 3.984 kB / 336.8 MB, free: 10.27 MB / 286.1 MB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.000773/0.1051, allocations: 0.602 MB / 337.4 MB, free: 9.598 MB / 286.1 MB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.517e-06/0.1051, allocations: 4 kB / 337.4 MB, free: 9.594 MB / 286.1 MB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.0001528/0.1053, allocations: 28.05 kB / 337.5 MB, free: 9.566 MB / 286.1 MB Notification: Performance of postOpt tearingSystem (simulation): time 0.0001627/0.1055, allocations: 76.75 kB / 337.5 MB, free: 9.488 MB / 286.1 MB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 1.828e-05/0.1055, allocations: 4 kB / 337.5 MB, free: 9.484 MB / 286.1 MB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.0003959/0.1059, allocations: 0.611 MB / 338.2 MB, free: 8.848 MB / 286.1 MB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 1.153e-06/0.1059, allocations: 8.094 kB / 338.2 MB, free: 8.84 MB / 286.1 MB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.0005473/0.1064, allocations: 413.7 kB / 338.6 MB, free: 8.41 MB / 286.1 MB Notification: Performance of postOpt removeConstants (simulation): time 8.335e-05/0.1065, allocations: 116.8 kB / 338.7 MB, free: 8.277 MB / 286.1 MB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 3.478e-05/0.1066, allocations: 12 kB / 338.7 MB, free: 8.266 MB / 286.1 MB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.0001772/0.1068, allocations: 19.97 kB / 338.7 MB, free: 8.246 MB / 286.1 MB Notification: Performance of postOpt findZeroCrossings (simulation): time 6.863e-05/0.1068, allocations: 19.97 kB / 338.7 MB, free: 8.227 MB / 286.1 MB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 1.418e-05/0.1069, allocations: 12 kB / 338.7 MB, free: 8.215 MB / 286.1 MB Notification: Performance of sorting global known variables: time 0.0001153/0.107, allocations: 159.9 kB / 338.9 MB, free: 8.059 MB / 286.1 MB Notification: Performance of sort global known variables: time 1.31e-07/0.107, allocations: 4 kB / 338.9 MB, free: 8.055 MB / 286.1 MB Notification: Performance of remove unused functions: time 0.000343/0.1073, allocations: 63.98 kB / 339 MB, free: 7.992 MB / 286.1 MB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 3 * Number of states: 4 (inertiaOut.w,oneWayClutch.phi_rel,oneWayClutch.w_rel,torqueLoad.phi) * Number of discrete variables: 3 (oneWayClutch.startForward,oneWayClutch.locked,oneWayClutch.stuck) * Number of discrete states: 2 (oneWayClutch.stuck,oneWayClutch.startForward) * Number of clocked states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for simulation (14): * Single equations (assignments): 13 * 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 {(1,6)} Notification: Performance of Backend phase and start with SimCode phase: time 0.0008661/0.1082, allocations: 0.9608 MB / 339.9 MB, free: 6.996 MB / 286.1 MB Notification: Performance of simCode: created initialization part: time 0.0004508/0.1087, allocations: 219.9 kB / 340.1 MB, free: 6.781 MB / 286.1 MB Notification: Performance of simCode: created event and clocks part: time 2.034e-06/0.1087, allocations: 0 / 340.1 MB, free: 6.781 MB / 286.1 MB Notification: Performance of simCode: created simulation system equations: time 0.0002123/0.1089, allocations: 95.89 kB / 340.2 MB, free: 6.688 MB / 286.1 MB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.0003665/0.1093, allocations: 31.77 kB / 340.3 MB, free: 6.656 MB / 286.1 MB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.0031/0.1124, allocations: 2.732 MB / 343 MB, free: 3.816 MB / 286.1 MB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0002657/0.1127, allocations: 0.7323 MB / 343.7 MB, free: 3.059 MB / 286.1 MB Notification: Performance of simCode: alias equations: time 8.461e-05/0.1128, allocations: 21.95 kB / 343.8 MB, free: 3.035 MB / 286.1 MB Notification: Performance of simCode: all other stuff during SimCode phase: time 7.993e-05/0.1129, allocations: 55.42 kB / 343.8 MB, free: 2.98 MB / 286.1 MB Notification: Performance of SimCode: time 4.21e-07/0.1129, allocations: 0 / 343.8 MB, free: 2.98 MB / 286.1 MB Notification: Performance of buildModelFMU: Generate the FMI files: time 0.2881/0.4009, allocations: 5.226 MB / 349 MB, free: 13.74 MB / 302.1 MB Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0002666/0.4012, allocations: 251.6 kB / 349.3 MB, free: 13.48 MB / 302.1 MB Notification: Performance of buildModelFMU: Generate platform static: time 2.036/2.437, allocations: 3.938 kB / 349.3 MB, free: 13.47 MB / 302.1 MB (rm -f Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.OneWayClutchDisengaged.pipe ; mkfifo Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.OneWayClutchDisengaged.pipe ; head -c 1048576 < Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.OneWayClutchDisengaged.pipe >> ../files/Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.OneWayClutchDisengaged.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.OneWayClutchDisengaged_res.mat --tempDir=temp_Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_OneWayClutchDisengaged_fmu --startTime=0 --stopTime=2 --timeout=50 --tolerance=1e-06 Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_OneWayClutchDisengaged.fmu > Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.OneWayClutchDisengaged.pipe 2>&1) diffSimulationResults("Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.OneWayClutchDisengaged_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v3.2.3+build.4/Modelica/Mechanics/Rotational/Examples/OneWayClutchDisengaged/OneWayClutchDisengaged.csv","../files/Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.OneWayClutchDisengaged.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001) "" Variables in the reference:time,inertiaIn.phi,inertiaIn.w,oneWayClutch.phi_rel,oneWayClutch.w_rel Variables in the result:der(inertiaIn.phi),der(inertiaIn.w),der(inertiaOut.w),der(oneWayClutch.phi_rel),der(oneWayClutch.w_rel),der(torqueLoad.phi),inertiaIn.J,inertiaIn.a,inertiaIn.flange_a.phi,inertiaIn.flange_a.tau,inertiaIn.flange_b.phi,inertiaIn.flange_b.tau,inertiaIn.phi,inertiaIn.stateSelect,inertiaIn.w,inertiaOut.J,inertiaOut.a,inertiaOut.flange_a.phi,inertiaOut.flange_a.tau,inertiaOut.flange_b.phi,inertiaOut.flange_b.tau,inertiaOut.phi,inertiaOut.stateSelect,inertiaOut.w,oneWayClutch.a_rel,oneWayClutch.cgeo,oneWayClutch.f_normalized,oneWayClutch.flange_a.phi,oneWayClutch.flange_a.tau,oneWayClutch.flange_b.phi,oneWayClutch.flange_b.tau,oneWayClutch.fn,oneWayClutch.fn_max,oneWayClutch.locked,oneWayClutch.lossPower,oneWayClutch.mue_pos[1,1],oneWayClutch.mue_pos[1,2],oneWayClutch.peak,oneWayClutch.phi_nominal,oneWayClutch.phi_rel,oneWayClutch.startForward,oneWayClutch.stateSelect,oneWayClutch.stuck,oneWayClutch.tau,oneWayClutch.u,oneWayClutch.useHeatPort,oneWayClutch.w_rel,oneWayClutch.w_small,signalEngagement.k,signalEngagement.y,signalTorque.amplitude,signalTorque.freqHz,signalTorque.offset,signalTorque.phase,signalTorque.startTime,signalTorque.y,time,torque.flange.phi,torque.flange.tau,torque.tau,torque.useSupport,torqueLoad.flange.phi,torqueLoad.flange.tau,torqueLoad.phi,torqueLoad.tau,torqueLoad.tau_constant,torqueLoad.useSupport,torqueLoad.w