Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2.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)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/package.mo", uses=false)
Using package ModelicaTest with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/package.mo)
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(ModelicaTest.MultiBody.Joints.JointUSP2,fileNamePrefix="ModelicaTest_4_0_0_ModelicaTest_MultiBody_Joints_JointUSP2",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(ModelicaTest.MultiBody.Joints.JointUSP2,fileNamePrefix="ModelicaTest_4_0_0_ModelicaTest_MultiBody_Joints_JointUSP2",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 0.001292/0.001292, allocations: 112.8 kB / 17.78 MB, free: 5.277 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001249/0.00125, allocations: 184.8 kB / 18.71 MB, free: 4.363 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo): time 1.423/1.423, allocations: 222.9 MB / 242.4 MB, free: 15.14 MB / 206.1 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/package.mo): time 0.2182/0.2182, allocations: 44.19 MB / 336.8 MB, free: 2.688 MB / 270.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.002046/0.002046, allocations: 68.03 kB / 470.1 MB, free: 13.68 MB / 350.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.378/0.3801, allocations: 60.83 MB / 0.5184 GB, free: 3.297 MB / 382.1 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.JointUSP2): time 0.01499/0.3951, allocations: 13.26 MB / 0.5314 GB, free: 9.871 MB / 398.1 MB
Notification: Performance of NFInst.instExpressions: time 0.01136/0.4065, allocations: 4.84 MB / 0.5361 GB, free: 6.113 MB / 398.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.002382/0.4089, allocations: 81.28 kB / 0.5362 GB, free: 6.102 MB / 398.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.008048/0.417, allocations: 3.986 MB / 0.5401 GB, free: 3.434 MB / 398.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.006584/0.4236, allocations: 2.203 MB / 0.5422 GB, free: 1.852 MB / 398.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.003136/0.4268, allocations: 1.179 MB / 0.5434 GB, free: 1.055 MB / 398.1 MB
Notification: Performance of NFFlatten.flatten: time 0.00885/0.4356, allocations: 5.738 MB / 0.549 GB, free: 12.77 MB / 414.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.006738/0.4424, allocations: 5.181 MB / 0.5541 GB, free: 7.523 MB / 414.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.004253/0.4467, allocations: 2.185 MB / 0.5562 GB, free: 5.332 MB / 414.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.005085/0.4518, allocations: 2.956 MB / 0.5591 GB, free: 2.367 MB / 414.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.001346/0.4532, allocations: 0.5 MB / 0.5596 GB, free: 1.867 MB / 414.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.00419/0.4574, allocations: 1.658 MB / 0.5612 GB, free: 212 kB / 414.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.004569/0.462, allocations: 2.654 MB / 0.5638 GB, free: 13.55 MB / 430.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.005853/0.4678, allocations: 3.096 MB / 0.5668 GB, free: 10.43 MB / 430.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.01295/0.4808, allocations: 10.16 MB / 0.5767 GB, free: 240 kB / 430.1 MB
Notification: Performance of FrontEnd - DAE generated: time 9.888e-06/0.4808, allocations: 4 kB / 0.5767 GB, free: 236 kB / 430.1 MB
Notification: Performance of FrontEnd: time 2.014e-06/0.4809, allocations: 7.938 kB / 0.5767 GB, free: 228 kB / 430.1 MB
Notification: Performance of Transformations before backend: time 0.0002284/0.4811, allocations: 0 / 0.5767 GB, free: 228 kB / 430.1 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 1932
 * Number of variables: 1932
Notification: Performance of Generate backend data structure: time 0.0151/0.4962, allocations: 6.829 MB / 0.5834 GB, free: 9.305 MB / 446.1 MB
Notification: Performance of prepare preOptimizeDAE: time 3.965e-05/0.4963, allocations: 15.97 kB / 0.5834 GB, free: 9.289 MB / 446.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.001413/0.4977, allocations: 0.9216 MB / 0.5843 GB, free: 8.355 MB / 446.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.09303/0.5907, allocations: 7.444 MB / 0.5916 GB, free: 0.8984 MB / 446.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.009279/0.6, allocations: 4.37 MB / 0.5959 GB, free: 12.46 MB / 462.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0003257/0.6004, allocations: 350 kB / 0.5962 GB, free: 12.11 MB / 462.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.001334/0.6017, allocations: 427.8 kB / 0.5966 GB, free: 11.7 MB / 462.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.02792/0.6297, allocations: 13.77 MB / 0.61 GB, free: 13.07 MB / 478.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0001531/0.6299, allocations: 55.56 kB / 0.6101 GB, free: 13.02 MB / 478.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0005956/0.6305, allocations: 199.8 kB / 0.6103 GB, free: 12.82 MB / 478.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.004252/0.6347, allocations: 2.41 MB / 0.6126 GB, free: 10.41 MB / 478.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02515/0.6599, allocations: 11.61 MB / 0.624 GB, free: 14.79 MB / 494.1 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 0.07002/0.73, allocations: 51.19 MB / 0.674 GB, free: 10.11 MB / 0.5294 GB
Notification: Performance of preOpt comSubExp (simulation): time 0.01307/0.7431, allocations: 4.657 MB / 0.6785 GB, free: 5.301 MB / 0.5294 GB
Notification: Performance of preOpt resolveLoops (simulation): time 0.004165/0.7473, allocations: 2.768 MB / 0.6812 GB, free: 2.523 MB / 0.5294 GB
Notification: Performance of preOpt evalFunc (simulation): time 0.01986/0.7672, allocations: 12.36 MB / 0.6933 GB, free: 5.609 MB / 0.545 GB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 5.978e-05/0.7673, allocations: 55.86 kB / 0.6933 GB, free: 5.547 MB / 0.545 GB
Notification: Performance of pre-optimization done (n=191): time 4.929e-06/0.7673, allocations: 0 / 0.6933 GB, free: 5.547 MB / 0.545 GB
Notification: Performance of matching and sorting (n=242): time 0.4504/1.218, allocations: 42.81 MB / 0.7351 GB, free: 162.8 MB / 0.5606 GB
Notification: Performance of inlineWhenForInitialization (initialization): time 8.027e-05/1.218, allocations: 231.3 kB / 0.7354 GB, free: 162.5 MB / 0.5606 GB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.006144/1.224, allocations: 4.811 MB / 0.7401 GB, free: 160.9 MB / 0.5606 GB
Notification: Performance of collectPreVariables (initialization): time 0.0005615/1.225, allocations: 64.95 kB / 0.7401 GB, free: 160.8 MB / 0.5606 GB
Notification: Performance of collectInitialEqns (initialization): time 0.001958/1.227, allocations: 4.057 MB / 0.7441 GB, free: 158.1 MB / 0.5606 GB
Notification: Performance of collectInitialBindings (initialization): time 0.0009401/1.227, allocations: 0.9487 MB / 0.745 GB, free: 157.4 MB / 0.5606 GB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.001707/1.229, allocations: 1.477 MB / 0.7464 GB, free: 156.5 MB / 0.5606 GB
Notification: Performance of setup shared object (initialization): time 3.958e-05/1.229, allocations: 305.1 kB / 0.7467 GB, free: 156.2 MB / 0.5606 GB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.003857/1.233, allocations: 3.258 MB / 0.7499 GB, free: 154.6 MB / 0.5606 GB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.005324/1.238, allocations: 7.543 MB / 0.7573 GB, free: 146.3 MB / 0.5606 GB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01018/1.249, allocations: 11.59 MB / 0.7686 GB, free: 132.6 MB / 0.5606 GB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 9.344e-05/1.249, allocations: 44 kB / 0.7687 GB, free: 132.6 MB / 0.5606 GB
Notification: Performance of matching and sorting (n=940) (initialization): time 0.02414/1.273, allocations: 13.87 MB / 0.7822 GB, free: 118.7 MB / 0.5606 GB
Notification: Performance of prepare postOptimizeDAE: time 8.43e-05/1.273, allocations: 68 kB / 0.7823 GB, free: 118.6 MB / 0.5606 GB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0001186/1.273, allocations: 152.9 kB / 0.7824 GB, free: 118.5 MB / 0.5606 GB
Notification: Performance of postOpt tearingSystem (initialization): time 0.01109/1.284, allocations: 3.771 MB / 0.7861 GB, free: 114.7 MB / 0.5606 GB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.005114/1.289, allocations: 1.599 MB / 0.7877 GB, free: 113.1 MB / 0.5606 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.02265/1.312, allocations: 19.18 MB / 0.8064 GB, free: 93.8 MB / 0.5606 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.005835/1.318, allocations: 444.5 kB / 0.8068 GB, free: 93.36 MB / 0.5606 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.0009927/1.319, allocations: 432 kB / 0.8072 GB, free: 92.94 MB / 0.5606 GB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 687
 * Number of states: 0 ()
 * Number of discrete variables: 37 (jointUSP.prismatic.positiveBranch,bodyBox.color[3],bodyBox.color[2],bodyBox.color[1],bodyBox.body.sphereColor[3],bodyBox.body.sphereColor[2],bodyBox.body.sphereColor[1],revolute.cylinderColor[3],revolute.cylinderColor[2],revolute.cylinderColor[1],fixedTranslation.color[3],fixedTranslation.color[2],fixedTranslation.color[1],body.sphereColor[3],body.sphereColor[2],body.sphereColor[1],jointUSP.rod1Color[3],jointUSP.rod1Color[2],jointUSP.rod1Color[1],jointUSP.cylinderColor[3],jointUSP.cylinderColor[2],jointUSP.cylinderColor[1],jointUSP.sphereColor[3],jointUSP.sphereColor[2],jointUSP.sphereColor[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])
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (857):
 * Single equations (assignments): 853
 * Array equations: 3
 * 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
   {(2,58,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of prepare postOptimizeDAE: time 0.004162/1.323, allocations: 2.659 MB / 0.8098 GB, free: 90.27 MB / 0.5606 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001167/1.324, allocations: 453 kB / 0.8102 GB, free: 89.82 MB / 0.5606 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01725/1.342, allocations: 8.138 MB / 0.8182 GB, free: 81.66 MB / 0.5606 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 5.364e-05/1.342, allocations: 31.91 kB / 0.8182 GB, free: 81.64 MB / 0.5606 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 4.546e-05/1.342, allocations: 15.94 kB / 0.8182 GB, free: 81.62 MB / 0.5606 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 6.36e-05/1.342, allocations: 11.95 kB / 0.8183 GB, free: 81.61 MB / 0.5606 GB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.03293/1.375, allocations: 17.29 MB / 0.8351 GB, free: 64.29 MB / 0.5606 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.245e-05/1.375, allocations: 0 / 0.8351 GB, free: 64.29 MB / 0.5606 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002104/1.377, allocations: 393.8 kB / 0.8355 GB, free: 63.91 MB / 0.5606 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.01101/1.388, allocations: 3.831 MB / 0.8393 GB, free: 60.07 MB / 0.5606 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0006398/1.389, allocations: 43.98 kB / 0.8393 GB, free: 60.03 MB / 0.5606 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.02156/1.41, allocations: 17.54 MB / 0.8564 GB, free: 42.34 MB / 0.5606 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 3.767e-06/1.41, allocations: 3.203 kB / 0.8564 GB, free: 42.34 MB / 0.5606 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.02134/1.432, allocations: 12.55 MB / 0.8687 GB, free: 29.76 MB / 0.5606 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.001767/1.434, allocations: 489.9 kB / 0.8692 GB, free: 29.26 MB / 0.5606 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001442/1.435, allocations: 39.83 kB / 0.8692 GB, free: 29.23 MB / 0.5606 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002813/1.438, allocations: 203.7 kB / 0.8694 GB, free: 29.03 MB / 0.5606 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0006462/1.438, allocations: 146.3 kB / 0.8695 GB, free: 28.88 MB / 0.5606 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002907/1.439, allocations: 63.98 kB / 0.8696 GB, free: 28.82 MB / 0.5606 GB
Notification: Performance of sorting global known variables: time 0.004668/1.443, allocations: 3.007 MB / 0.8725 GB, free: 25.82 MB / 0.5606 GB
Notification: Performance of sort global known variables: time 1.9e-07/1.443, allocations: 0 / 0.8725 GB, free: 25.82 MB / 0.5606 GB
Notification: Performance of remove unused functions: time 0.007622/1.451, allocations: 1.445 MB / 0.8739 GB, free: 24.38 MB / 0.5606 GB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 5
 * Number of states: 2 (revolute.phi,revolute.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 (167):
 * Single equations (assignments): 163
 * Array equations: 3
 * 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
   {(2,52,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of Backend phase and start with SimCode phase: time 0.02244/1.474, allocations: 13.25 MB / 0.8869 GB, free: 11.09 MB / 0.5606 GB
Notification: Performance of simCode: created initialization part: time 0.01094/1.485, allocations: 7.92 MB / 0.8946 GB, free: 3.188 MB / 0.5606 GB
Notification: Performance of simCode: created event and clocks part: time 7.554e-06/1.485, allocations: 0 / 0.8946 GB, free: 3.188 MB / 0.5606 GB
Notification: Performance of simCode: created simulation system equations: time 0.004058/1.489, allocations: 2.979 MB / 0.8975 GB, free: 192 kB / 0.5606 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.004906/1.494, allocations: 0.5466 MB / 0.8981 GB, free: 15.64 MB / 0.5762 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.3993/1.893, allocations: 66.01 MB / 0.9625 GB, free: 191.9 MB / 0.6075 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.004682/1.898, allocations: 4.096 MB / 0.9665 GB, free: 190.5 MB / 0.6075 GB
Notification: Performance of simCode: alias equations: time 0.004385/1.902, allocations: 2.173 MB / 0.9686 GB, free: 190.3 MB / 0.6075 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.003024/1.905, allocations: 2.479 MB / 0.9711 GB, free: 188.2 MB / 0.6075 GB
Notification: Performance of SimCode: time 9.52e-07/1.905, allocations: 4 kB / 0.9711 GB, free: 188.2 MB / 0.6075 GB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.1499/2.055, allocations: 103 MB / 1.072 GB, free: 91.06 MB / 0.6075 GB
Notification: Performance of buildModelFMU: Generate platform static: time 30.71/32.77, allocations: 0 / 1.072 GB, free: 91.06 MB / 0.6075 GB
(rm -f ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2.pipe ; mkfifo ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2.pipe ; head -c 1048576 < ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2.pipe >> ../files/ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2_res.mat --tempDir=temp_ModelicaTest_4_0_0_ModelicaTest_MultiBody_Joints_JointUSP2_fmu --startTime=0 --stopTime=4 --timeout=50 --tolerance=1e-06 ModelicaTest_4_0_0_ModelicaTest_MultiBody_Joints_JointUSP2.fmu > ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2.pipe 2>&1)
diffSimulationResults("ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/ModelicaTest/MultiBody/Joints/JointUSP2/JointUSP2.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.JointUSP2.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
""

Variables in the reference:time,revolute.phi,revolute.w

Variables in the result:body.I[1,1],body.I[1,2],body.I[1,3],body.I[2,1],body.I[2,2],body.I[2,3],body.I[3,1],body.I[3,2],body.I[3,3],body.I_11,body.I_21,body.I_22,body.I_31,body.I_32,body.I_33,body.R_start.T[1,1],body.R_start.T[1,2],body.R_start.T[1,3],body.R_start.T[2,1],body.R_start.T[2,2],body.R_start.T[2,3],body.R_start.T[3,1],body.R_start.T[3,2],body.R_start.T[3,3],body.R_start.w[1],body.R_start.w[2],body.R_start.w[3],body.a_0[1],body.a_0[2],body.a_0[3],body.angles_fixed,body.angles_start[1],body.angles_start[2],body.angles_start[3],body.animation,body.cylinderColor[1],body.cylinderColor[2],body.cylinderColor[3],body.cylinderDiameter,body.enforceStates,body.frame_a.R.T[1,1],body.frame_a.R.T[1,2],body.frame_a.R.T[1,3],body.frame_a.R.T[2,1],body.frame_a.R.T[2,2],body.frame_a.R.T[2,3],body.frame_a.R.T[3,1],body.frame_a.R.T[3,2],body.frame_a.R.T[3,3],body.frame_a.R.w[1],body.frame_a.R.w[2],body.frame_a.R.w[3],body.frame_a.f[1],body.frame_a.f[2],body.frame_a.f[3],body.frame_a.r_0[1],body.frame_a.r_0[2],body.frame_a.r_0[3],body.frame_a.t[1],body.frame_a.t[2],body.frame_a.t[3],body.g_0[1],body.g_0[2],body.g_0[3],body.m,body.r_0[1],body.r_0[2],body.r_0[3],body.r_CM[1],body.r_CM[2],body.r_CM[3],body.sequence_angleStates[1],body.sequence_angleStates[2],body.sequence_angleStates[3],body.sequence_start[1],body.sequence_start[2],body.sequence_start[3],body.specularCoefficient,body.sphereColor[1],body.sphereColor[2],body.sphereColor[3],body.sphereDiameter,body.useQuaternions,body.v_0[1],body.v_0[2],body.v_0[3],body.w_0_fixed,body.w_0_start[1],body.w_0_start[2],body.w_0_start[3],body.w_a[1],body.w_a[2],body.w_a[3],body.z_0_fixed,body.z_0_start[1],body.z_0_start[2],body.z_0_start[3],body.z_a[1],body.z_a[2],body.z_a[3],bodyBox.I[1,1],bodyBox.I[1,2],bodyBox.I[1,3],bodyBox.I[2,1],bodyBox.I[2,2],bodyBox.I[2,3],bodyBox.I[3,1],bodyBox.I[3,2],bodyBox.I[3,3],bodyBox.R.T[1,1],bodyBox.R.T[1,2],bodyBox.R.T[1,3],bodyBox.R.T[2,1],bodyBox.R.T[2,2],bodyBox.R.T[2,3],bodyBox.R.T[3,1],bodyBox.R.T[3,2],bodyBox.R.T[3,3],bodyBox.R.w[1],bodyBox.R.w[2],bodyBox.R.w[3],bodyBox.a_0[1],bodyBox.a_0[2],bodyBox.a_0[3],bodyBox.angles_fixed,bodyBox.angles_start[1],bodyBox.angles_start[2],bodyBox.angles_start[3],bodyBox.animation,bodyBox.body.I[1,1],bodyBox.body.I[1,2],bodyBox.body.I[1,3],bodyBox.body.I[2,1],bodyBox.body.I[2,2],bodyBox.body.I[2,3],bodyBox.body.I[3,1],bodyBox.body.I[3,2],bodyBox.body.I[3,3],bodyBox.body.I_11,bodyBox.body.I_21,bodyBox.body.I_22,bodyBox.body.I_31,bodyBox.body.I_32,bodyBox.body.I_33,bodyBox.body.R_start.T[1,1],bodyBox.body.R_start.T[1,2],bodyBox.body.R_start.T[1,3],bodyBox.body.R_start.T[2,1],bodyBox.body.R_start.T[2,2],bodyBox.body.R_start.T[2,3],bodyBox.body.R_start.T[3,1],bodyBox.body.R_start.T[3,2],bodyBox.body.R_start.T[3,3],bodyBox.body.R_start.w[1],bodyBox.body.R_start.w[2],bodyBox.body.R_start.w[3],bodyBox.body.a_0[1],bodyBox.body.a_0[2],bodyBox.body.a_0[3],bodyBox.body.angles_fixed,bodyBox.body.angles_start[1],bodyBox.body.angles_start[2],bodyBox.body.angles_start[3],bodyBox.body.animation,bodyBox.body.cylinderColor[1],bodyBox.body.cylinderColor[2],bodyBox.body.cylinderColor[3],bodyBox.body.cylinderDiameter,bodyBox.body.enforceStates,bodyBox.body.frame_a.R.T[1,1],bodyBox.body.frame_a.R.T[1,2],bodyBox.body.frame_a.R.T[1,3],bodyBox.body.frame_a.R.T[2,1],bodyBox.body.frame_a.R.T[2,2],bodyBox.body.frame_a.R.T[2,3],bodyBox.body.frame_a.R.T[3,1],bodyBox.body.frame_a.R.T[3,2],bodyBox.body.frame_a.R.T[3,3],bodyBox.body.frame_a.R.w[1],bodyBox.body.frame_a.R.w[2],bodyBox.body.frame_a.R.w[3],bodyBox.body.frame_a.f[1],bodyBox.body.frame_a.f[2],bodyBox.body.frame_a.f[3],bodyBox.body.frame_a.r_0[1],bodyBox.body.frame_a.r_0[2],bodyBox.body.frame_a.r_0[3],bodyBox.body.frame_a.t[1],bodyBox.body.frame_a.t[2],bodyBox.body.frame_a.t[3],bodyBox.body.g_0[1],bodyBox.body.g_0[2],bodyBox.body.g_0[3],bodyBox.body.m,bodyBox.body.r_0[1],bodyBox.body.r_0[2],bodyBox.body.r_0[3],bodyBox.body.r_CM[1],bodyBox.body.r_CM[2],bodyBox.body.r_CM[3],bodyBox.body.sequence_angleStates[1],bodyBox.body.sequence_angleStates[2],bodyBox.body.sequence_angleStates[3],bodyBox.body.sequence_start[1],bodyBox.body.sequence_start[2],bodyBox.body.sequence_start[3],bodyBox.body.specularCoefficient,bodyBox.body.sphereColor[1],bodyBox.body.sphereColor[2],bodyBox.body.sphereColor[3],bodyBox.body.sphereDiameter,bodyBox.body.useQuaternions,bodyBox.body.v_0[1],bodyBox.body.v_0[2],bodyBox.body.v_0[3],bodyBox.body.w_0_fixed,bodyBox.body.w_0_start[1],bodyBox.body.w_0_start[2],bodyBox.body.w_0_start[3],bodyBox.body.w_a[1],bodyBox.body.w_a[2],bodyBox.body.w_a[3],bodyBox.body.z_0_fixed,bodyBox.body.z_0_start[1],bodyBox.body.z_0_start[2],bodyBox.body.z_0_start[3],bodyBox.body.z_a[1],bodyBox.body.z_a[2],bodyBox.body.z_a[3],bodyBox.color[1],bodyBox.color[2],bodyBox.color[3],bodyBox.density,bodyBox.enforceStates,bodyBox.frameTranslation.animation,bodyBox.frameTranslation.color[1],bodyBox.frameTranslation.color[2],bodyBox.frameTranslation.color[3],bodyBox.frameTranslation.extra,bodyBox.frameTranslation.frame_a.R.T[1,1],bodyBox.frameTranslation.frame_a.R.T[1,2],bodyBox.frameTranslation.frame_a.R.T[1,3],bodyBox.frameTranslation.frame_a.R.T[2,1],bodyBox.frameTranslation.frame_a.R.T[2,2],bodyBox.frameTranslation.frame_a.R.T[2,3],bodyBox.frameTranslation.frame_a.R.T[3,1],bodyBox.frameTranslation.frame_a.R.T[3,2],bodyBox.frameTranslation.frame_a.R.T[3,3],bodyBox.frameTranslation.frame_a.R.w[1],bodyBox.frameTranslation.frame_a.R.w[2],bodyBox.frameTranslation.frame_a.R.w[3],bodyBox.frameTranslation.frame_a.f[1],bodyBox.frameTranslation.frame_a.f[2],bodyBox.frameTranslation.frame_a.f[3],bodyBox.frameTranslation.frame_a.r_0[1],bodyBox.frameTranslation.frame_a.r_0[2],bodyBox.frameTranslation.frame_a.r_0[3],bodyBox.frameTranslation.frame_a.t[1],bodyBox.frameTranslation.frame_a.t[2],bodyBox.frameTranslation.frame_a.t[3],bodyBox.frameTranslation.frame_b.R.T[1,1],bodyBox.frameTranslation.frame_b.R.T[1,2],bodyBox.frameTranslation.frame_b.R.T[1,3],bodyBox.frameTranslation.frame_b.R.T[2,1],bodyBox.frameTranslation.frame_b.R.T[2,2],bodyBox.frameTranslation.frame_b.R.T[2,3],bodyBox.frameTranslation.frame_b.R.T[3,1],bodyBox.frameTranslation.frame_b.R.T[3,2],bodyBox.frameTranslation.frame_b.R.T[3,3],bodyBox.frameTranslation.frame_b.R.w[1],bodyBox.frameTranslation.frame_b.R.w[2],bodyBox.frameTranslation.frame_b.R.w[3],bodyBox.frameTranslation.frame_b.f[1],bodyBox.frameTranslation.frame_b.f[2],bodyBox.frameTranslation.frame_b.f[3],bodyBox.frameTranslation.frame_b.r_0[1],bodyBox.frameTranslation.frame_b.r_0[2],bodyBox.frameTranslation.frame_b.r_0[3],bodyBox.frameTranslation.frame_b.t[1],bodyBox.frameTranslation.frame_b.t[2],bodyBox.frameTranslation.frame_b.t[3],bodyBox.frameTranslation.height,bodyBox.frameTranslation.length,bodyBox.frameTranslation.lengthDirection[1],bodyBox.frameTranslation.lengthDirection[2],bodyBox.frameTranslation.lengthDirection[3],bodyBox.frameTranslation.r[1],bodyBox.frameTranslation.r[2],bodyBox.frameTranslation.r[3],bodyBox.frameTranslation.r_shape[1],bodyBox.frameTranslation.r_shape[2],bodyBox.frameTranslation.r_shape[3],bodyBox.frameTranslation.specularCoefficient,bodyBox.frameTranslation.width,bodyBox.frameTranslation.widthDirection[1],bodyBox.frameTranslation.widthDirection[2],bodyBox.frameTranslation.widthDirection[3],bodyBox.frame_a.R.T[1,1],bodyBox.frame_a.R.T[1,2],bodyBox.frame_a.R.T[1,3],bodyBox.frame_a.R.T[2,1],bodyBox.frame_a.R.T[2,2],bodyBox.frame_a.R.T[2,3],bodyBox.frame_a.R.T[3,1],bodyBox.frame_a.R.T[3,2],bodyBox.frame_a.R.T[3,3],bodyBox.frame_a.R.w[1],bodyBox.frame_a.R.w[2],bodyBox.frame_a.R.w[3],bodyBox.frame_a.f[1],bodyBox.frame_a.f[2],bodyBox.frame_a.f[3],bodyBox.frame_a.r_0[1],bodyBox.frame_a.r_0[2],bodyBox.frame_a.r_0[3],bodyBox.frame_a.t[1],bodyBox.frame_a.t[2],bodyBox.frame_a.t[3],bodyBox.frame_b.R.T[1,1],bodyBox.frame_b.R.T[1,2],bodyBox.frame_b.R.T[1,3],bodyBox.frame_b.R.T[2,1],bodyBox.frame_b.R.T[2,2],bodyBox.frame_b.R.T[2,3],bodyBox.frame_b.R.T[3,1],bodyBox.frame_b.R.T[3,2],bodyBox.frame_b.R.T[3,3],bodyBox.frame_b.R.w[1],bodyBox.frame_b.R.w[2],bodyBox.frame_b.R.w[3],bodyBox.frame_b.f[1],bodyBox.frame_b.f[2],bodyBox.frame_b.f[3],bodyBox.frame_b.r_0[1],bodyBox.frame_b.r_0[2],bodyBox.frame_b.r_0[3],bodyBox.frame_b.t[1],bodyBox.frame_b.t[2],bodyBox.frame_b.t[3],bodyBox.height,bodyBox.innerHeight,bodyBox.innerWidth,bodyBox.length,bodyBox.lengthDirection[1],bodyBox.lengthDirection[2],bodyBox.lengthDirection[3],bodyBox.m,bodyBox.mi,bodyBox.mo,bodyBox.r[1],bodyBox.r[2],bodyBox.r[3],bodyBox.r_0[1],bodyBox.r_0[2],bodyBox.r_0[3],bodyBox.r_CM[1],bodyBox.r_CM[2],bodyBox.r_CM[3],bodyBox.r_shape[1],bodyBox.r_shape[2],bodyBox.r_shape[3],bodyBox.sequence_angleStates[1],bodyBox.sequence_angleStates[2],bodyBox.sequence_angleStates[3],bodyBox.sequence_start[1],bodyBox.sequence_start[2],bodyBox.sequence_start[3],bodyBox.specularCoefficient,bodyBox.useQuaternions,bodyBox.v_0[1],bodyBox.v_0[2],bodyBox.v_0[3],bodyBox.w_0_fixed,bodyBox.w_0_start[1],bodyBox.w_0_start[2],bodyBox.w_0_start[3],bodyBox.width,bodyBox.widthDirection[1],bodyBox.widthDirection[2],bodyBox.widthDirection[3],bodyBox.z_0_fixed,bodyBox.z_0_start[1],bodyBox.z_0_start[2],bodyBox.z_0_start[3],der(body.frame_a.r_0[1]),der(body.frame_a.r_0[2]),der(body.frame_a.r_0[3]),der(body.v_0[1]),der(body.v_0[2]),der(body.v_0[3]),der(body.w_a[1]),der(body.w_a[2]),der(body.w_a[3]),der(bodyBox.frame_b.R.T[1,2]),der(der(jointUSP.frame_b.r_0[1])),der(der(jointUSP.frame_b.r_0[2])),der(der(jointUSP.frame_b.r_0[3])),der(der(jointUSP.frame_ib.r_0[1])),der(der(jointUSP.frame_ib.r_0[2])),der(der(jointUSP.frame_ib.r_0[3])),der(der(jointUSP.prismatic.r_rel_a[3])),der(jointUSP.frame_b.r_0[1]),der(jointUSP.frame_b.r_0[2]),der(jointUSP.frame_b.r_0[3]),der(jointUSP.frame_ib.r_0[1]),der(jointUSP.frame_ib.r_0[2]),der(jointUSP.frame_ib.r_0[3]),der(jointUSP.prismatic.r_rel_a[3]),der(revolute.phi),der(revolute.w),fixedTranslation.animation,fixedTranslation.color[1],fixedTranslation.color[2],fixedTranslation.color[3],fixedTranslation.extra,fixedTranslation.frame_a.R.T[1,1],fixedTranslation.frame_a.R.T[1,2],fixedTranslation.frame_a.R.T[1,3],fixedTranslation.frame_a.R.T[2,1],fixedTranslation.frame_a.R.T[2,2],fixedTranslation.frame_a.R.T[2,3],fixedTranslation.frame_a.R.T[3,1],fixedTranslation.frame_a.R.T[3,2],fixedTranslation.frame_a.R.T[3,3],fixedTranslation.frame_a.R.w[1],fixedTranslation.frame_a.R.w[2],fixedTranslation.frame_a.R.w[3],fixedTranslation.frame_a.f[1],fixedTranslation.frame_a.f[2],fixedTranslation.frame_a.f[3],fixedTranslation.frame_a.r_0[1],fixedTranslation.frame_a.r_0[2],fixedTranslation.frame_a.r_0[3],fixedTranslation.frame_a.t[1],fixedTranslation.frame_a.t[2],fixedTranslation.frame_a.t[3],fixedTranslation.frame_b.R.T[1,1],fixedTranslation.frame_b.R.T[1,2],fixedTranslation.frame_b.R.T[1,3],fixedTranslation.frame_b.R.T[2,1],fixedTranslation.frame_b.R.T[2,2],fixedTranslation.frame_b.R.T[2,3],fixedTranslation.frame_b.R.T[3,1],fixedTranslation.frame_b.R.T[3,2],fixedTranslation.frame_b.R.T[3,3],fixedTranslation.frame_b.R.w[1],fixedTranslation.frame_b.R.w[2],fixedTranslation.frame_b.R.w[3],fixedTranslation.frame_b.f[1],fixedTranslation.frame_b.f[2],fixedTranslation.frame_b.f[3],fixedTranslation.frame_b.r_0[1],fixedTranslation.frame_b.r_0[2],fixedTranslation.frame_b.r_0[3],fixedTranslation.frame_b.t[1],fixedTranslation.frame_b.t[2],fixedTranslation.frame_b.t[3],fixedTranslation.height,fixedTranslation.length,fixedTranslation.lengthDirection[1],fixedTranslation.lengthDirection[2],fixedTranslation.lengthDirection[3],fixedTranslation.r[1],fixedTranslation.r[2],fixedTranslation.r[3],fixedTranslation.r_shape[1],fixedTranslation.r_shape[2],fixedTranslation.r_shape[3],fixedTranslation.specularCoefficient,fixedTranslation.width,fixedTranslation.widthDirection[1],fixedTranslation.widthDirection[2],fixedTranslation.widthDirection[3],jointUSP.animation,jointUSP.axis.f,jointUSP.axis.s,jointUSP.bearing.f,jointUSP.bearing.s,jointUSP.boxColor[1],jointUSP.boxColor[2],jointUSP.boxColor[3],jointUSP.boxHeight,jointUSP.boxWidth,jointUSP.boxWidthDirection[1],jointUSP.boxWidthDirection[2],jointUSP.boxWidthDirection[3],jointUSP.checkTotalPower,jointUSP.cylinderColor[1],jointUSP.cylinderColor[2],jointUSP.cylinderColor[3],jointUSP.cylinderDiameter,jointUSP.cylinderLength,jointUSP.e2_ia[1],jointUSP.e2_ia[2],jointUSP.e2_ia[3],jointUSP.eRod1_ia[1],jointUSP.eRod1_ia[2],jointUSP.eRod1_ia[3],jointUSP.f_rod,jointUSP.frame_a.R.T[1,1],jointUSP.frame_a.R.T[1,2],jointUSP.frame_a.R.T[1,3],jointUSP.frame_a.R.T[2,1],jointUSP.frame_a.R.T[2,2],jointUSP.frame_a.R.T[2,3],jointUSP.frame_a.R.T[3,1],jointUSP.frame_a.R.T[3,2],jointUSP.frame_a.R.T[3,3],jointUSP.frame_a.R.w[1],jointUSP.frame_a.R.w[2],jointUSP.frame_a.R.w[3],jointUSP.frame_a.f[1],jointUSP.frame_a.f[2],jointUSP.frame_a.f[3],jointUSP.frame_a.r_0[1],jointUSP.frame_a.r_0[2],jointUSP.frame_a.r_0[3],jointUSP.frame_a.t[1],jointUSP.frame_a.t[2],jointUSP.frame_a.t[3],jointUSP.frame_b.R.T[1,1],jointUSP.frame_b.R.T[1,2],jointUSP.frame_b.R.T[1,3],jointUSP.frame_b.R.T[2,1],jointUSP.frame_b.R.T[2,2],jointUSP.frame_b.R.T[2,3],jointUSP.frame_b.R.T[3,1],jointUSP.frame_b.R.T[3,2],jointUSP.frame_b.R.T[3,3],jointUSP.frame_b.R.w[1],jointUSP.frame_b.R.w[2],jointUSP.frame_b.R.w[3],jointUSP.frame_b.f[1],jointUSP.frame_b.f[2],jointUSP.frame_b.f[3],jointUSP.frame_b.r_0[1],jointUSP.frame_b.r_0[2],jointUSP.frame_b.r_0[3],jointUSP.frame_b.t[1],jointUSP.frame_b.t[2],jointUSP.frame_b.t[3],jointUSP.frame_ia.R.T[1,1],jointUSP.frame_ia.R.T[1,2],jointUSP.frame_ia.R.T[1,3],jointUSP.frame_ia.R.T[2,1],jointUSP.frame_ia.R.T[2,2],jointUSP.frame_ia.R.T[2,3],jointUSP.frame_ia.R.T[3,1],jointUSP.frame_ia.R.T[3,2],jointUSP.frame_ia.R.T[3,3],jointUSP.frame_ia.R.w[1],jointUSP.frame_ia.R.w[2],jointUSP.frame_ia.R.w[3],jointUSP.frame_ia.f[1],jointUSP.frame_ia.f[2],jointUSP.frame_ia.f[3],jointUSP.frame_ia.r_0[1],jointUSP.frame_ia.r_0[2],jointUSP.frame_ia.r_0[3],jointUSP.frame_ia.t[1],jointUSP.frame_ia.t[2],jointUSP.frame_ia.t[3],jointUSP.frame_ib.R.T[1,1],jointUSP.frame_ib.R.T[1,2],jointUSP.frame_ib.R.T[1,3],jointUSP.frame_ib.R.T[2,1],jointUSP.frame_ib.R.T[2,2],jointUSP.frame_ib.R.T[2,3],jointUSP.frame_ib.R.T[3,1],jointUSP.frame_ib.R.T[3,2],jointUSP.frame_ib.R.T[3,3],jointUSP.frame_ib.R.w[1],jointUSP.frame_ib.R.w[2],jointUSP.frame_ib.R.w[3],jointUSP.frame_ib.f[1],jointUSP.frame_ib.f[2],jointUSP.frame_ib.f[3],jointUSP.frame_ib.r_0[1],jointUSP.frame_ib.r_0[2],jointUSP.frame_ib.r_0[3],jointUSP.frame_ib.t[1],jointUSP.frame_ib.t[2],jointUSP.frame_ib.t[3],jointUSP.frame_im.R.T[1,1],jointUSP.frame_im.R.T[1,2],jointUSP.frame_im.R.T[1,3],jointUSP.frame_im.R.T[2,1],jointUSP.frame_im.R.T[2,2],jointUSP.frame_im.R.T[2,3],jointUSP.frame_im.R.T[3,1],jointUSP.frame_im.R.T[3,2],jointUSP.frame_im.R.T[3,3],jointUSP.frame_im.R.w[1],jointUSP.frame_im.R.w[2],jointUSP.frame_im.R.w[3],jointUSP.frame_im.f[1],jointUSP.frame_im.f[2],jointUSP.frame_im.f[3],jointUSP.frame_im.r_0[1],jointUSP.frame_im.r_0[2],jointUSP.frame_im.r_0[3],jointUSP.frame_im.t[1],jointUSP.frame_im.t[2],jointUSP.frame_im.t[3],jointUSP.n1_a[1],jointUSP.n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