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 0.001391/0.001391, allocations: 104.2 kB / 17.59 MB, free: 5.559 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.00149/0.00149, allocations: 191.4 kB / 18.51 MB, free: 4.641 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo): time 1.391/1.391, allocations: 222.9 MB / 242.2 MB, free: 15.2 MB / 206.1 MB Notification: Performance of FrontEnd - loaded program: time 0.001133/0.001133, allocations: 51.67 kB / 301.3 MB, free: 5.867 MB / 238.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.1065/0.1076, allocations: 49.44 MB / 350.7 MB, free: 4.418 MB / 286.1 MB Notification: Performance of NFInst.instantiate(Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint): time 0.0215/0.1292, allocations: 18.93 MB / 369.7 MB, free: 1.387 MB / 302.1 MB Notification: Performance of NFInst.instExpressions: time 0.2078/0.3371, allocations: 6.175 MB / 375.8 MB, free: 9.004 MB / 302.1 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.004511/0.3416, allocations: 148 kB / 376 MB, free: 9.004 MB / 302.1 MB Notification: Performance of NFTyping.typeComponents: time 0.01167/0.3533, allocations: 6.054 MB / 382 MB, free: 8.043 MB / 302.1 MB Notification: Performance of NFTyping.typeBindings: time 0.009583/0.363, allocations: 2.593 MB / 384.6 MB, free: 7.109 MB / 302.1 MB Notification: Performance of NFTyping.typeClassSections: time 0.006871/0.3699, allocations: 2.413 MB / 387 MB, free: 6.207 MB / 302.1 MB Notification: Performance of NFFlatten.flatten: time 0.01367/0.3836, allocations: 6.554 MB / 393.6 MB, free: 3.309 MB / 302.1 MB Notification: Performance of NFFlatten.resolveConnections: time 0.01612/0.3997, allocations: 8.121 MB / 401.7 MB, free: 14.37 MB / 318.1 MB Notification: Performance of NFEvalConstants.evaluate: time 0.005271/0.4051, allocations: 2.862 MB / 404.6 MB, free: 11.66 MB / 318.1 MB Notification: Performance of NFSimplifyModel.simplify: time 0.005335/0.4104, allocations: 3.526 MB / 408.1 MB, free: 8.34 MB / 318.1 MB Notification: Performance of NFPackage.collectConstants: time 0.002132/0.4126, allocations: 0.6367 MB / 408.7 MB, free: 7.703 MB / 318.1 MB Notification: Performance of NFFlatten.collectFunctions: time 0.004649/0.4173, allocations: 1.848 MB / 410.6 MB, free: 5.926 MB / 318.1 MB Notification: Performance of NFScalarize.scalarize: time 0.004456/0.4217, allocations: 3.312 MB / 413.9 MB, free: 2.617 MB / 318.1 MB Notification: Performance of NFVerifyModel.verify: time 0.007317/0.4291, allocations: 3.787 MB / 417.7 MB, free: 14.82 MB / 334.1 MB Notification: Performance of NFConvertDAE.convert: time 0.01504/0.4442, allocations: 11.71 MB / 429.4 MB, free: 3.363 MB / 334.1 MB Notification: Performance of FrontEnd - DAE generated: time 1.005e-05/0.4442, allocations: 0 / 429.4 MB, free: 3.363 MB / 334.1 MB Notification: Performance of FrontEnd: time 2.215e-06/0.4442, allocations: 0 / 429.4 MB, free: 3.363 MB / 334.1 MB Notification: Performance of Transformations before backend: time 0.0004783/0.4447, allocations: 4 kB / 429.4 MB, free: 3.359 MB / 334.1 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 0.02234/0.4671, allocations: 8.226 MB / 437.6 MB, free: 11.18 MB / 350.1 MB Notification: Performance of prepare preOptimizeDAE: time 4.707e-05/0.4671, allocations: 8.031 kB / 437.6 MB, free: 11.17 MB / 350.1 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.008931/0.4761, allocations: 2.256 MB / 439.9 MB, free: 8.906 MB / 350.1 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.008245/0.4844, allocations: 4.036 MB / 443.9 MB, free: 4.84 MB / 350.1 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.000338/0.4848, allocations: 428.8 kB / 444.3 MB, free: 4.465 MB / 350.1 MB Notification: Performance of preOpt expandDerOperator (simulation): time 0.002201/0.487, allocations: 0.5762 MB / 444.9 MB, free: 3.934 MB / 350.1 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.03262/0.5196, allocations: 16.5 MB / 461.4 MB, free: 2.676 MB / 366.1 MB Notification: Performance of preOpt findStateOrder (simulation): time 0.0002363/0.5199, allocations: 59.47 kB / 461.5 MB, free: 2.617 MB / 366.1 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.00135/0.5212, allocations: 260.2 kB / 461.7 MB, free: 2.406 MB / 366.1 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.004062/0.5253, allocations: 2.575 MB / 464.3 MB, free: 15.84 MB / 382.1 MB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.03002/0.5554, allocations: 14.11 MB / 478.4 MB, free: 1.711 MB / 382.1 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 0.09508/0.6505, allocations: 62.42 MB / 0.5282 GB, free: 1.992 MB / 446.1 MB Notification: Performance of preOpt comSubExp (simulation): time 0.3933/1.044, allocations: 7.545 MB / 0.5355 GB, free: 142.7 MB / 446.1 MB Notification: Performance of preOpt resolveLoops (simulation): time 0.00571/1.05, allocations: 3.942 MB / 0.5394 GB, free: 141 MB / 446.1 MB Notification: Performance of preOpt evalFunc (simulation): time 0.02454/1.074, allocations: 16.6 MB / 0.5556 GB, free: 132.6 MB / 446.1 MB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 4.579e-05/1.074, allocations: 63.03 kB / 0.5556 GB, free: 132.6 MB / 446.1 MB Notification: Performance of pre-optimization done (n=265): time 5.651e-06/1.074, allocations: 2.469 kB / 0.5556 GB, free: 132.6 MB / 446.1 MB Notification: Performance of matching and sorting (n=331): time 0.1127/1.187, allocations: 42.48 MB / 0.5971 GB, free: 99.51 MB / 446.1 MB Notification: Performance of inlineWhenForInitialization (initialization): time 0.0198/1.207, allocations: 16.72 MB / 0.6135 GB, free: 82.26 MB / 446.1 MB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.008125/1.215, allocations: 5.626 MB / 0.619 GB, free: 76.65 MB / 446.1 MB Notification: Performance of collectPreVariables (initialization): time 0.0009038/1.216, allocations: 77.7 kB / 0.619 GB, free: 76.57 MB / 446.1 MB Notification: Performance of collectInitialEqns (initialization): time 0.002615/1.218, allocations: 4.657 MB / 0.6236 GB, free: 71.91 MB / 446.1 MB Notification: Performance of collectInitialBindings (initialization): time 0.001912/1.22, allocations: 1.246 MB / 0.6248 GB, free: 70.68 MB / 446.1 MB Notification: Performance of simplifyInitialFunctions (initialization): time 0.003121/1.224, allocations: 1.887 MB / 0.6266 GB, free: 68.78 MB / 446.1 MB Notification: Performance of setup shared object (initialization): time 4.936e-05/1.224, allocations: 305.1 kB / 0.6269 GB, free: 68.48 MB / 446.1 MB Notification: Performance of preBalanceInitialSystem (initialization): time 0.005345/1.229, allocations: 4.054 MB / 0.6309 GB, free: 64.42 MB / 446.1 MB Notification: Performance of partitionIndependentBlocks (initialization): time 0.008056/1.237, allocations: 9.227 MB / 0.6399 GB, free: 52.65 MB / 446.1 MB Notification: Performance of analyzeInitialSystem (initialization): time 0.01446/1.252, allocations: 14.38 MB / 0.6539 GB, free: 35.7 MB / 446.1 MB Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001545/1.252, allocations: 52 kB / 0.654 GB, free: 35.64 MB / 446.1 MB Notification: Performance of matching and sorting (n=1183) (initialization): time 0.03597/1.288, allocations: 17.39 MB / 0.671 GB, free: 18.18 MB / 446.1 MB Notification: Performance of prepare postOptimizeDAE: time 0.0001216/1.288, allocations: 87.12 kB / 0.6711 GB, free: 18.1 MB / 446.1 MB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0002418/1.288, allocations: 184 kB / 0.6712 GB, free: 17.92 MB / 446.1 MB Notification: Performance of postOpt tearingSystem (initialization): time 0.01402/1.302, allocations: 4.566 MB / 0.6757 GB, free: 13.36 MB / 446.1 MB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.006679/1.309, allocations: 2 MB / 0.6776 GB, free: 11.36 MB / 446.1 MB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.2686/1.578, allocations: 36.39 MB / 0.7132 GB, free: 128.6 MB / 462.1 MB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.008617/1.586, allocations: 0.5343 MB / 0.7137 GB, free: 128.5 MB / 462.1 MB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.002476/1.589, allocations: 0.5531 MB / 0.7142 GB, free: 128.4 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 0.00801/1.597, allocations: 3.223 MB / 0.7174 GB, free: 127.2 MB / 462.1 MB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001566/1.598, allocations: 0.5154 MB / 0.7179 GB, free: 127.2 MB / 462.1 MB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.0215/1.62, allocations: 9.807 MB / 0.7275 GB, free: 123.7 MB / 462.1 MB Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.0001337/1.62, allocations: 55.73 kB / 0.7275 GB, free: 123.7 MB / 462.1 MB Notification: Performance of postOpt constantLinearSystem (simulation): time 0.01839/1.638, allocations: 8.39 MB / 0.7357 GB, free: 120.8 MB / 462.1 MB Notification: Performance of postOpt simplifysemiLinear (simulation): time 7.956e-05/1.639, allocations: 18.38 kB / 0.7357 GB, free: 120.8 MB / 462.1 MB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.04049/1.679, allocations: 22.13 MB / 0.7573 GB, free: 109.2 MB / 462.1 MB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 4.242e-05/1.679, allocations: 4 kB / 0.7573 GB, free: 109.2 MB / 462.1 MB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002691/1.682, allocations: 455.3 kB / 0.7578 GB, free: 108.8 MB / 462.1 MB Notification: Performance of postOpt tearingSystem (simulation): time 0.0105/1.692, allocations: 3.251 MB / 0.761 GB, free: 105.6 MB / 462.1 MB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0008552/1.693, allocations: 59.98 kB / 0.761 GB, free: 105.5 MB / 462.1 MB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.03144/1.725, allocations: 26.39 MB / 0.7868 GB, free: 78.83 MB / 462.1 MB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.01278/1.738, allocations: 10.78 MB / 0.7973 GB, free: 67.89 MB / 462.1 MB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.02358/1.761, allocations: 13.61 MB / 0.8106 GB, free: 54.45 MB / 462.1 MB Notification: Performance of postOpt removeConstants (simulation): time 0.001577/1.763, allocations: 0.5526 MB / 0.8112 GB, free: 53.95 MB / 462.1 MB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001513/1.764, allocations: 63.92 kB / 0.8112 GB, free: 53.88 MB / 462.1 MB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.003855/1.768, allocations: 207.7 kB / 0.8114 GB, free: 53.68 MB / 462.1 MB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.001138/1.769, allocations: 225 kB / 0.8116 GB, free: 53.46 MB / 462.1 MB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0003068/1.77, allocations: 94.02 kB / 0.8117 GB, free: 53.37 MB / 462.1 MB Notification: Performance of sorting global known variables: time 0.005491/1.775, allocations: 3.51 MB / 0.8151 GB, free: 49.89 MB / 462.1 MB Notification: Performance of sort global known variables: time 6.52e-07/1.775, allocations: 0 / 0.8151 GB, free: 49.89 MB / 462.1 MB Notification: Performance of remove unused functions: time 0.009651/1.785, allocations: 1.957 MB / 0.8171 GB, free: 47.94 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 0.001197/1.786, allocations: 272.3 kB / 0.8173 GB, free: 47.69 MB / 462.1 MB Notification: Performance of simCode: created initialization part: time 0.02117/1.807, allocations: 14.16 MB / 0.8311 GB, free: 33.52 MB / 462.1 MB Notification: Performance of simCode: created event and clocks part: time 9.728e-06/1.807, allocations: 0 / 0.8311 GB, free: 33.52 MB / 462.1 MB Notification: Performance of simCode: created simulation system equations: time 0.006102/1.813, allocations: 4.091 MB / 0.8351 GB, free: 29.38 MB / 462.1 MB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.006049/1.82, allocations: 0.8409 MB / 0.836 GB, free: 28.56 MB / 462.1 MB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.02763/1.847, allocations: 16.76 MB / 0.8523 GB, free: 11.72 MB / 462.1 MB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.007671/1.855, allocations: 4.901 MB / 0.8571 GB, free: 6.785 MB / 462.1 MB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.001923/1.857, allocations: 415.4 kB / 0.8575 GB, free: 6.379 MB / 462.1 MB Notification: Performance of SimCode: time 1.001e-06/1.857, allocations: 0 / 0.8575 GB, free: 6.379 MB / 462.1 MB Notification: Performance of Templates: time 0.7354/2.592, allocations: 257.1 MB / 1.109 GB, free: 124.6 MB / 494.1 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