Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr Modelica_4.0.0_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.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: "" <> buildModelFMU(Modelica.Mechanics.Rotational.Examples.LossyGearDemo3,fileNamePrefix="Modelica_4_0_0_Modelica_Mechanics_Rotational_Examples_LossyGearDemo3",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(Modelica.Mechanics.Rotational.Examples.LossyGearDemo3,fileNamePrefix="Modelica_4_0_0_Modelica_Mechanics_Rotational_Examples_LossyGearDemo3",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 0.0011/0.0011, allocations: 114.3 kB / 16.63 MB, free: 6.812 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001076/0.001076, allocations: 190 kB / 17.55 MB, free: 5.934 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo): time 1.288/1.288, allocations: 222.9 MB / 241.2 MB, free: 15.42 MB / 206.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.001133/0.001133, allocations: 53.91 kB / 300.2 MB, free: 6.094 MB / 238.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.09647/0.09762, allocations: 49.44 MB / 349.7 MB, free: 4.645 MB / 286.1 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.Rotational.Examples.LossyGearDemo3): time 0.003918/0.1016, allocations: 2.372 MB / 352 MB, free: 2.254 MB / 286.1 MB
Notification: Performance of NFInst.instExpressions: time 0.001854/0.1035, allocations: 0.9247 MB / 353 MB, free: 1.32 MB / 286.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.0002284/0.1037, allocations: 4 kB / 353 MB, free: 1.316 MB / 286.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.0002516/0.104, allocations: 35.77 kB / 353 MB, free: 1.281 MB / 286.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.0005774/0.1046, allocations: 125.2 kB / 353.1 MB, free: 1.16 MB / 286.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.0003996/0.105, allocations: 151.8 kB / 353.3 MB, free: 1.012 MB / 286.1 MB
Notification: Performance of NFFlatten.flatten: time 0.0004929/0.1055, allocations: 418.8 kB / 353.7 MB, free: 0.6016 MB / 286.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.0001751/0.1057, allocations: 68.7 kB / 353.8 MB, free: 0.5312 MB / 286.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.0002888/0.106, allocations: 183.4 kB / 353.9 MB, free: 360 kB / 286.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.0003444/0.1063, allocations: 211.3 kB / 354.1 MB, free: 148 kB / 286.1 MB
Notification: Performance of NFPackage.collectConstants: time 8.326e-05/0.1064, allocations: 36 kB / 354.2 MB, free: 112 kB / 286.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.0002447/0.1067, allocations: 115.9 kB / 354.3 MB, free: 15.99 MB / 302.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.000146/0.1068, allocations: 95.67 kB / 354.4 MB, free: 15.9 MB / 302.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.0002025/0.1071, allocations: 167.2 kB / 354.6 MB, free: 15.74 MB / 302.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.0005503/0.1076, allocations: 450.9 kB / 355 MB, free: 15.3 MB / 302.1 MB
Notification: Performance of FrontEnd - DAE generated: time 4.227e-06/0.1076, allocations: 0 / 355 MB, free: 15.3 MB / 302.1 MB
Notification: Performance of FrontEnd: time 1.382e-06/0.1076, allocations: 0 / 355 MB, free: 15.3 MB / 302.1 MB
Notification: Performance of Transformations before backend: time 1.203e-05/0.1077, allocations: 0 / 355 MB, free: 15.3 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 0.001269/0.1089, allocations: 0.6239 MB / 355.6 MB, free: 14.62 MB / 302.1 MB
Notification: Performance of prepare preOptimizeDAE: time 4.216e-05/0.109, allocations: 15.97 kB / 355.6 MB, free: 14.61 MB / 302.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 8.799e-05/0.1091, allocations: 66.72 kB / 355.7 MB, free: 14.54 MB / 302.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.0003284/0.1094, allocations: 48.55 kB / 355.7 MB, free: 14.49 MB / 302.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.0004318/0.1099, allocations: 303.7 kB / 356 MB, free: 14.15 MB / 302.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0001262/0.11, allocations: 88.52 kB / 356.1 MB, free: 14.05 MB / 302.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 5.939e-05/0.1101, allocations: 28.38 kB / 356.2 MB, free: 14.03 MB / 302.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.0007196/0.1108, allocations: 381.2 kB / 356.5 MB, free: 13.64 MB / 302.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 1.969e-05/0.1108, allocations: 3.906 kB / 356.5 MB, free: 13.64 MB / 302.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 3.893e-05/0.1109, allocations: 12 kB / 356.5 MB, free: 13.62 MB / 302.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 8.015e-06/0.1109, allocations: 4 kB / 356.5 MB, free: 13.62 MB / 302.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.000935/0.1118, allocations: 421.9 kB / 357 MB, free: 13.21 MB / 302.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.002016/0.1138, allocations: 1.245 MB / 358.2 MB, free: 11.89 MB / 302.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.0006692/0.1145, allocations: 351.1 kB / 358.5 MB, free: 11.54 MB / 302.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.0003669/0.1149, allocations: 188.8 kB / 358.7 MB, free: 11.35 MB / 302.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 4.093e-05/0.115, allocations: 16.14 kB / 358.7 MB, free: 11.34 MB / 302.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 2.684e-05/0.115, allocations: 34.56 kB / 358.8 MB, free: 11.29 MB / 302.1 MB
Notification: Performance of pre-optimization done (n=43): time 2.054e-06/0.115, allocations: 0 / 358.8 MB, free: 11.29 MB / 302.1 MB
Notification: Performance of matching and sorting (n=45): time 0.004771/0.1198, allocations: 1.918 MB / 360.7 MB, free: 9.262 MB / 302.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 6.291e-05/0.1199, allocations: 100.7 kB / 360.8 MB, free: 9.145 MB / 302.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.0002998/0.1202, allocations: 238.1 kB / 361 MB, free: 8.898 MB / 302.1 MB
Notification: Performance of collectPreVariables (initialization): time 4.465e-05/0.1202, allocations: 37.7 kB / 361.1 MB, free: 8.855 MB / 302.1 MB
Notification: Performance of collectInitialEqns (initialization): time 8.85e-05/0.1203, allocations: 136.6 kB / 361.2 MB, free: 8.719 MB / 302.1 MB
Notification: Performance of collectInitialBindings (initialization): time 0.0001201/0.1205, allocations: 141.9 kB / 361.3 MB, free: 8.578 MB / 302.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0001423/0.1206, allocations: 98.02 kB / 361.4 MB, free: 8.477 MB / 302.1 MB
Notification: Performance of setup shared object (initialization): time 0.0001109/0.1207, allocations: 330.8 kB / 361.8 MB, free: 8.145 MB / 302.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.0003668/0.1211, allocations: 164.8 kB / 361.9 MB, free: 7.984 MB / 302.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.0004022/0.1215, allocations: 229.9 kB / 362.1 MB, free: 7.742 MB / 302.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.0006735/0.1222, allocations: 347.2 kB / 362.5 MB, free: 7.387 MB / 302.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 2.034e-06/0.1222, allocations: 0 / 362.5 MB, free: 7.387 MB / 302.1 MB
Notification: Performance of matching and sorting (n=52) (initialization): time 0.001117/0.1233, allocations: 0.559 MB / 363 MB, free: 6.816 MB / 302.1 MB
Notification: Performance of prepare postOptimizeDAE: time 2.104e-05/0.1234, allocations: 10.66 kB / 363 MB, free: 6.809 MB / 302.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 7.895e-06/0.1234, allocations: 0 / 363 MB, free: 6.809 MB / 302.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.0007241/0.1241, allocations: 248.8 kB / 363.3 MB, free: 6.562 MB / 302.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.0002426/0.1244, allocations: 51.91 kB / 363.3 MB, free: 6.512 MB / 302.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.003861/0.1282, allocations: 2.894 MB / 366.2 MB, free: 3.484 MB / 302.1 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.0002679/0.1285, allocations: 27.98 kB / 366.3 MB, free: 3.457 MB / 302.1 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 4.743e-05/0.1286, allocations: 19.98 kB / 366.3 MB, free: 3.438 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 0.0001853/0.1288, allocations: 153.7 kB / 366.4 MB, free: 3.277 MB / 302.1 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 7.516e-05/0.1289, allocations: 27.72 kB / 366.5 MB, free: 3.25 MB / 302.1 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 9.687e-05/0.129, allocations: 42.98 kB / 366.5 MB, free: 3.207 MB / 302.1 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 5.751e-06/0.129, allocations: 4 kB / 366.5 MB, free: 3.203 MB / 302.1 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 4.077e-06/0.129, allocations: 4 kB / 366.5 MB, free: 3.199 MB / 302.1 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 5.911e-06/0.129, allocations: 7.984 kB / 366.5 MB, free: 3.191 MB / 302.1 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.001844/0.1308, allocations: 1.081 MB / 367.6 MB, free: 2.051 MB / 302.1 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 4.639e-06/0.1309, allocations: 0 / 367.6 MB, free: 2.051 MB / 302.1 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.0002216/0.1311, allocations: 51.89 kB / 367.7 MB, free: 2 MB / 302.1 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.0006728/0.1318, allocations: 232.7 kB / 367.9 MB, free: 1.77 MB / 302.1 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 4.118e-05/0.1318, allocations: 15.94 kB / 367.9 MB, free: 1.754 MB / 302.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.1587/0.2905, allocations: 2.834 MB / 370.7 MB, free: 24.44 MB / 302.1 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 4.308e-06/0.2905, allocations: 4.266 kB / 370.7 MB, free: 24.44 MB / 302.1 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.001534/0.2921, allocations: 0.8139 MB / 371.5 MB, free: 24.3 MB / 302.1 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.0001387/0.2922, allocations: 143.5 kB / 371.7 MB, free: 24.21 MB / 302.1 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 5.253e-05/0.2923, allocations: 12.22 kB / 371.7 MB, free: 24.21 MB / 302.1 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.0002648/0.2926, allocations: 24.48 kB / 371.7 MB, free: 24.21 MB / 302.1 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0001696/0.2927, allocations: 64.39 kB / 371.8 MB, free: 24.21 MB / 302.1 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 3.587e-05/0.2928, allocations: 19.09 kB / 371.8 MB, free: 24.21 MB / 302.1 MB
Notification: Performance of sorting global known variables: time 0.0002202/0.293, allocations: 179.9 kB / 372 MB, free: 24.13 MB / 302.1 MB
Notification: Performance of sort global known variables: time 1.4e-07/0.293, allocations: 0 / 372 MB, free: 24.13 MB / 302.1 MB
Notification: Performance of remove unused functions: time 0.0006352/0.2937, allocations: 137.2 kB / 372.1 MB, free: 24.13 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 0.001925/0.2956, allocations: 1.428 MB / 373.5 MB, free: 23.44 MB / 302.1 MB
Notification: Performance of simCode: created initialization part: time 0.001253/0.2969, allocations: 0.6449 MB / 374.2 MB, free: 23.16 MB / 302.1 MB
Notification: Performance of simCode: created event and clocks part: time 2.534e-06/0.2969, allocations: 0 / 374.2 MB, free: 23.16 MB / 302.1 MB
Notification: Performance of simCode: created simulation system equations: time 0.0006497/0.2975, allocations: 436.9 kB / 374.6 MB, free: 22.94 MB / 302.1 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.0004026/0.298, allocations: 33.39 kB / 374.6 MB, free: 22.92 MB / 302.1 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.004581/0.3025, allocations: 3.54 MB / 378.2 MB, free: 20.75 MB / 302.1 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0002222/0.3028, allocations: 0.7822 MB / 379 MB, free: 20.04 MB / 302.1 MB
Notification: Performance of simCode: alias equations: time 0.0001949/0.303, allocations: 68.12 kB / 379 MB, free: 20.03 MB / 302.1 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.0001465/0.3031, allocations: 86.5 kB / 379.1 MB, free: 19.97 MB / 302.1 MB
Notification: Performance of SimCode: time 4.41e-07/0.3031, allocations: 0 / 379.1 MB, free: 19.97 MB / 302.1 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.0256/0.3287, allocations: 9.586 MB / 388.7 MB, free: 17 MB / 302.1 MB
Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0001422/0.3289, allocations: 242.9 kB / 388.9 MB, free: 16.75 MB / 302.1 MB
Notification: Performance of buildModelFMU: Generate platform static: time 2.042/2.371, allocations: 5.594 kB / 388.9 MB, free: 16.74 MB / 302.1 MB
(rm -f Modelica_4.0.0_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.pipe ; mkfifo Modelica_4.0.0_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.pipe ; head -c 1048576 < Modelica_4.0.0_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.pipe >> ../files/Modelica_4.0.0_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=Modelica_4.0.0_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3_res.mat --tempDir=temp_Modelica_4_0_0_Modelica_Mechanics_Rotational_Examples_LossyGearDemo3_fmu --startTime=0 --stopTime=1 --timeout=50 --tolerance=1e-06 Modelica_4_0_0_Modelica_Mechanics_Rotational_Examples_LossyGearDemo3.fmu > Modelica_4.0.0_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.pipe 2>&1)
diffSimulationResults("Modelica_4.0.0_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_4.0.0_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.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