Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.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.FirstGrounded,fileNamePrefix="Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_FirstGrounded",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(Modelica.Mechanics.Rotational.Examples.FirstGrounded,fileNamePrefix="Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_FirstGrounded",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 0.001307/0.001307, allocations: 103.9 kB / 17.58 MB, free: 5.422 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001231/0.001231, allocations: 192.2 kB / 18.51 MB, free: 4.508 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.206/1.206, allocations: 205.1 MB / 224.4 MB, free: 12.29 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 0.001192/0.001192, allocations: 48.14 kB / 280.8 MB, free: 3.078 MB / 222.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.07395/0.07516, allocations: 46.63 MB / 327.4 MB, free: 4.379 MB / 270.1 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.Rotational.Examples.FirstGrounded): time 0.003304/0.07848, allocations: 2.337 MB / 329.7 MB, free: 2.016 MB / 270.1 MB
Notification: Performance of NFInst.instExpressions: time 0.0009761/0.07948, allocations: 0.6319 MB / 330.3 MB, free: 1.375 MB / 270.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.0001552/0.07965, allocations: 7.938 kB / 330.4 MB, free: 1.367 MB / 270.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.0001411/0.07982, allocations: 31.66 kB / 330.4 MB, free: 1.336 MB / 270.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.0001475/0.07997, allocations: 67.36 kB / 330.5 MB, free: 1.27 MB / 270.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.0001834/0.08016, allocations: 47.92 kB / 330.5 MB, free: 1.223 MB / 270.1 MB
Notification: Performance of NFFlatten.flatten: time 0.0002693/0.08044, allocations: 258.8 kB / 330.8 MB, free: 0.9688 MB / 270.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.0001698/0.08062, allocations: 92.3 kB / 330.8 MB, free: 0.8789 MB / 270.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.0001412/0.08077, allocations: 99.59 kB / 330.9 MB, free: 0.7812 MB / 270.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.000139/0.08091, allocations: 107.5 kB / 331 MB, free: 0.6758 MB / 270.1 MB
Notification: Performance of NFPackage.collectConstants: time 3.292e-05/0.08095, allocations: 20 kB / 331.1 MB, free: 0.6562 MB / 270.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 3.618e-05/0.081, allocations: 20 kB / 331.1 MB, free: 0.6367 MB / 270.1 MB
Notification: Performance of NFScalarize.scalarize: time 3.97e-05/0.08104, allocations: 43.78 kB / 331.1 MB, free: 0.5938 MB / 270.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.0001069/0.08115, allocations: 119.4 kB / 331.2 MB, free: 488 kB / 270.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.0002183/0.08138, allocations: 235.4 kB / 331.5 MB, free: 252 kB / 270.1 MB
Notification: Performance of FrontEnd - DAE generated: time 4.919e-06/0.08139, allocations: 8 kB / 331.5 MB, free: 244 kB / 270.1 MB
Notification: Performance of FrontEnd: time 1.163e-06/0.0814, allocations: 7.938 kB / 331.5 MB, free: 236 kB / 270.1 MB
Notification: Performance of Transformations before backend: time 6.933e-06/0.08141, allocations: 0 / 331.5 MB, free: 236 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: 50
 * Number of variables: 50
Notification: Performance of Generate backend data structure: time 0.0006267/0.08204, allocations: 0.5068 MB / 332 MB, free: 15.68 MB / 286.1 MB
Notification: Performance of prepare preOptimizeDAE: time 3.24e-05/0.08208, allocations: 8.031 kB / 332 MB, free: 15.67 MB / 286.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 4.858e-05/0.08214, allocations: 58.67 kB / 332.1 MB, free: 15.6 MB / 286.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 5.127e-05/0.08219, allocations: 24.66 kB / 332.1 MB, free: 15.58 MB / 286.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.0002248/0.08242, allocations: 232.6 kB / 332.3 MB, free: 15.31 MB / 286.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 1.8e-05/0.08245, allocations: 20.81 kB / 332.3 MB, free: 15.29 MB / 286.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 3.728e-05/0.08249, allocations: 24.38 kB / 332.4 MB, free: 15.27 MB / 286.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.0003177/0.08282, allocations: 214 kB / 332.6 MB, free: 15.04 MB / 286.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 1.663e-05/0.08284, allocations: 3.906 kB / 332.6 MB, free: 15.04 MB / 286.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 1.712e-05/0.08287, allocations: 8 kB / 332.6 MB, free: 15.03 MB / 286.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 7.204e-06/0.08288, allocations: 4 kB / 332.6 MB, free: 15.03 MB / 286.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.0002349/0.08312, allocations: 129.6 kB / 332.7 MB, free: 14.9 MB / 286.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.0008919/0.08402, allocations: 0.7016 MB / 333.4 MB, free: 14.15 MB / 286.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.0002301/0.08426, allocations: 150.5 kB / 333.6 MB, free: 13.99 MB / 286.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.0001241/0.0844, allocations: 72.83 kB / 333.6 MB, free: 13.92 MB / 286.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 1.548e-05/0.08442, allocations: 3.938 kB / 333.6 MB, free: 13.91 MB / 286.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 2.145e-05/0.08445, allocations: 34.56 kB / 333.7 MB, free: 13.87 MB / 286.1 MB
Notification: Performance of pre-optimization done (n=20): time 1.543e-06/0.08445, allocations: 0 / 333.7 MB, free: 13.87 MB / 286.1 MB
Notification: Performance of matching and sorting (n=24): time 0.001383/0.08584, allocations: 0.8893 MB / 334.6 MB, free: 12.89 MB / 286.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 2.803e-05/0.08588, allocations: 51.41 kB / 334.6 MB, free: 12.82 MB / 286.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.0001414/0.08603, allocations: 174.7 kB / 334.8 MB, free: 12.64 MB / 286.1 MB
Notification: Performance of collectPreVariables (initialization): time 1.676e-05/0.08605, allocations: 33.7 kB / 334.8 MB, free: 12.61 MB / 286.1 MB
Notification: Performance of collectInitialEqns (initialization): time 7.966e-05/0.08614, allocations: 144.2 kB / 334.9 MB, free: 12.46 MB / 286.1 MB
Notification: Performance of collectInitialBindings (initialization): time 5.394e-05/0.0862, allocations: 86.66 kB / 335 MB, free: 12.38 MB / 286.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 7.1e-05/0.08628, allocations: 49.7 kB / 335.1 MB, free: 12.32 MB / 286.1 MB
Notification: Performance of setup shared object (initialization): time 0.0001013/0.08638, allocations: 334.8 kB / 335.4 MB, free: 11.98 MB / 286.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.0001113/0.0865, allocations: 55.97 kB / 335.5 MB, free: 11.93 MB / 286.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.0001315/0.08664, allocations: 100.2 kB / 335.6 MB, free: 11.82 MB / 286.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.0002491/0.0869, allocations: 168.1 kB / 335.7 MB, free: 11.64 MB / 286.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 1.082e-06/0.08691, allocations: 4 kB / 335.7 MB, free: 11.63 MB / 286.1 MB
Notification: Performance of matching and sorting (n=31) (initialization): time 0.0004085/0.08732, allocations: 250 kB / 336 MB, free: 11.38 MB / 286.1 MB
Notification: Performance of prepare postOptimizeDAE: time 1.491e-05/0.08735, allocations: 4 kB / 336 MB, free: 11.38 MB / 286.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 5.972e-06/0.08736, allocations: 7.938 kB / 336 MB, free: 11.37 MB / 286.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.0001362/0.0875, allocations: 28.84 kB / 336 MB, free: 11.34 MB / 286.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.0001895/0.0877, allocations: 55.91 kB / 336.1 MB, free: 11.28 MB / 286.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.001094/0.0888, allocations: 1.488 MB / 337.6 MB, free: 9.648 MB / 286.1 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.0001068/0.08892, allocations: 8.031 kB / 337.6 MB, free: 9.641 MB / 286.1 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 1.485e-05/0.08895, allocations: 15.98 kB / 337.6 MB, free: 9.625 MB / 286.1 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 5
 * Number of states: 0 ()
 * Number of discrete variables: 0 ()
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (28):
 * Single equations (assignments): 27
 * 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): 1 system
   {(1,3,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of prepare postOptimizeDAE: time 0.0001/0.08905, allocations: 133.8 kB / 337.7 MB, free: 9.484 MB / 286.1 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 3.837e-05/0.0891, allocations: 15.81 kB / 337.7 MB, free: 9.469 MB / 286.1 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 4.294e-05/0.08914, allocations: 25.88 kB / 337.8 MB, free: 9.445 MB / 286.1 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 2.915e-06/0.08915, allocations: 8 kB / 337.8 MB, free: 9.438 MB / 286.1 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 5.159e-06/0.08916, allocations: 4 kB / 337.8 MB, free: 9.434 MB / 286.1 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 4.839e-06/0.08917, allocations: 3.984 kB / 337.8 MB, free: 9.43 MB / 286.1 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.0007754/0.08995, allocations: 0.652 MB / 338.4 MB, free: 8.703 MB / 286.1 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 2.174e-06/0.08997, allocations: 0 / 338.4 MB, free: 8.703 MB / 286.1 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.0001928/0.09017, allocations: 39.92 kB / 338.5 MB, free: 8.664 MB / 286.1 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.0001059/0.09028, allocations: 40.83 kB / 338.5 MB, free: 8.621 MB / 286.1 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 1.458e-05/0.0903, allocations: 4 kB / 338.5 MB, free: 8.617 MB / 286.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.001008/0.09132, allocations: 1.485 MB / 340 MB, free: 6.992 MB / 286.1 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 2.735e-06/0.09133, allocations: 3.984 kB / 340 MB, free: 6.988 MB / 286.1 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.0005009/0.09184, allocations: 398 kB / 340.4 MB, free: 6.574 MB / 286.1 MB
Notification: Performance of postOpt removeConstants (simulation): time 5.152e-05/0.0919, allocations: 92.95 kB / 340.5 MB, free: 6.465 MB / 286.1 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 2.329e-05/0.09193, allocations: 12.06 kB / 340.5 MB, free: 6.453 MB / 286.1 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.000116/0.09205, allocations: 8 kB / 340.5 MB, free: 6.445 MB / 286.1 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 4.693e-05/0.09211, allocations: 19.91 kB / 340.5 MB, free: 6.426 MB / 286.1 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 1.066e-05/0.09212, allocations: 8 kB / 340.5 MB, free: 6.418 MB / 286.1 MB
Notification: Performance of sorting global known variables: time 8.574e-05/0.09222, allocations: 128.8 kB / 340.6 MB, free: 6.293 MB / 286.1 MB
Notification: Performance of sort global known variables: time 1.1e-07/0.09222, allocations: 0 / 340.6 MB, free: 6.293 MB / 286.1 MB
Notification: Performance of remove unused functions: time 0.0002957/0.09252, allocations: 56 kB / 340.7 MB, free: 6.238 MB / 286.1 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 3
 * Number of states: 4 (inertia3.phi,inertia3.w,damper.phi_rel,damper.w_rel)
 * 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 (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): 1 system
   {(1,3,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of Backend phase and start with SimCode phase: time 0.0007665/0.0933, allocations: 0.9532 MB / 341.7 MB, free: 5.246 MB / 286.1 MB
Notification: Performance of simCode: created initialization part: time 0.0004928/0.0938, allocations: 302.4 kB / 341.9 MB, free: 4.938 MB / 286.1 MB
Notification: Performance of simCode: created event and clocks part: time 2.154e-06/0.09381, allocations: 4 kB / 341.9 MB, free: 4.934 MB / 286.1 MB
Notification: Performance of simCode: created simulation system equations: time 0.0002733/0.09409, allocations: 214.8 kB / 342.2 MB, free: 4.711 MB / 286.1 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.0004178/0.09452, allocations: 48.59 kB / 342.2 MB, free: 4.664 MB / 286.1 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.002775/0.09731, allocations: 2.527 MB / 344.7 MB, free: 2.02 MB / 286.1 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.00028/0.0976, allocations: 0.752 MB / 345.5 MB, free: 1.242 MB / 286.1 MB
Notification: Performance of simCode: alias equations: time 6.981e-05/0.09768, allocations: 17.95 kB / 345.5 MB, free: 1.227 MB / 286.1 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 8.588e-05/0.09777, allocations: 67.41 kB / 345.6 MB, free: 1.16 MB / 286.1 MB
Notification: Performance of SimCode: time 1.9e-07/0.09777, allocations: 0 / 345.6 MB, free: 1.16 MB / 286.1 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 1.711/1.809, allocations: 4.616 MB / 350.2 MB, free: 12.48 MB / 302.1 MB
Notification: Performance of buildModelFMU: Generate platform static: time 10.53/12.33, allocations: 12.3 kB / 350.2 MB, free: 12.47 MB / 302.1 MB
(rm -f Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.pipe ; mkfifo Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.pipe ; head -c 1048576 < Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.pipe >> ../files/Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded_res.mat --tempDir=temp_Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_FirstGrounded_fmu --startTime=0 --stopTime=1 --timeout=50 --tolerance=1e-06 Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_FirstGrounded.fmu > Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.pipe 2>&1)
diffSimulationResults("Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v3.2.3+build.4/Modelica/Mechanics/Rotational/Examples/FirstGrounded/FirstGrounded.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.FirstGrounded.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
""

Variables in the reference:time,damper.phi_rel,damper.w_rel,inertia3.phi,inertia3.w

Variables in the result:Jload,Jmotor,amplitude,damper.a_rel,damper.d,damper.flange_a.phi,damper.flange_a.tau,damper.flange_b.phi,damper.flange_b.tau,damper.lossPower,damper.phi_nominal,damper.phi_rel,damper.stateSelect,damper.tau,damper.useHeatPort,damper.w_rel,damping,der(damper.phi_rel),der(damper.w_rel),der(inertia1.phi),der(inertia1.w),der(inertia2.phi),der(inertia2.w),der(inertia3.phi),der(inertia3.w),fixed.flange.phi,fixed.flange.tau,fixed.phi0,freqHz,idealGear.flange_a.phi,idealGear.flange_a.tau,idealGear.flange_b.phi,idealGear.flange_b.tau,idealGear.phi_a,idealGear.phi_b,idealGear.ratio,idealGear.useSupport,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,inertia3.J,inertia3.a,inertia3.flange_a.phi,inertia3.flange_a.tau,inertia3.flange_b.phi,inertia3.flange_b.tau,inertia3.phi,inertia3.stateSelect,inertia3.w,ratio,sine.amplitude,sine.freqHz,sine.offset,sine.phase,sine.startTime,sine.y,spring.c,spring.flange_a.phi,spring.flange_a.tau,spring.flange_b.phi,spring.flange_b.tau,spring.phi_rel,spring.phi_rel0,spring.tau,time,torque.flange.phi,torque.flange.tau,torque.tau,torque.useSupport