Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.JointUSP2.conf.json
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo", uses=false)
Using package ModelicaTest with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo)
Using package Modelica with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo)
Using package Complex with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo)
Using package ModelicaServices with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo)
Running command: "" <> buildModelFMU(ModelicaTest.MultiBody.Joints.JointUSP2,fileNamePrefix="ModelicaTest_trunk_ModelicaTest_MultiBody_Joints_JointUSP2",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(ModelicaTest.MultiBody.Joints.JointUSP2,fileNamePrefix="ModelicaTest_trunk_ModelicaTest_MultiBody_Joints_JointUSP2",fmuType="me",version="2.0",platforms={"static"})
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo): time 0.001771/0.001771, allocations: 122.2 kB / 17.79 MB, free: 5.273 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo): time 0.002127/0.002127, allocations: 202 kB / 18.74 MB, free: 4.332 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo): time 1.558/1.558, allocations: 227.4 MB / 247 MB, free: 10.41 MB / 206.1 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo): time 0.236/0.236, allocations: 46.12 MB / 344.4 MB, free: 11.41 MB / 286.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.002261/0.002261, allocations: 79.88 kB / 480.9 MB, free: 4.473 MB / 350.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.3878/0.3901, allocations: 62.46 MB / 0.5306 GB, free: 13.35 MB / 398.1 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.JointUSP2): time 0.01659/0.4067, allocations: 13.24 MB / 0.5436 GB, free: 2.945 MB / 398.1 MB
Notification: Performance of NFInst.instExpressions: time 0.01284/0.4196, allocations: 4.854 MB / 0.5483 GB, free: 15.13 MB / 414.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.003866/0.4235, allocations: 79.91 kB / 0.5484 GB, free: 15.12 MB / 414.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.008344/0.4319, allocations: 3.967 MB / 0.5523 GB, free: 11.47 MB / 414.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.006762/0.4388, allocations: 2.171 MB / 0.5544 GB, free: 9.289 MB / 414.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.003222/0.442, allocations: 1.185 MB / 0.5555 GB, free: 8.102 MB / 414.1 MB
Notification: Performance of NFFlatten.flatten: time 0.01169/0.4537, allocations: 5.815 MB / 0.5612 GB, free: 2.277 MB / 414.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.007503/0.4613, allocations: 5.173 MB / 0.5663 GB, free: 13.04 MB / 430.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.005087/0.4664, allocations: 2.165 MB / 0.5684 GB, free: 10.87 MB / 430.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.005722/0.4721, allocations: 2.96 MB / 0.5713 GB, free: 7.898 MB / 430.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.002212/0.4744, allocations: 0.5 MB / 0.5718 GB, free: 7.398 MB / 430.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.004929/0.4794, allocations: 1.646 MB / 0.5734 GB, free: 5.75 MB / 430.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.004197/0.4836, allocations: 2.626 MB / 0.5759 GB, free: 3.117 MB / 430.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.005956/0.4896, allocations: 3.077 MB / 0.5789 GB, free: 24 kB / 430.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.01571/0.5053, allocations: 10.1 MB / 0.5888 GB, free: 5.883 MB / 446.1 MB
Notification: Performance of FrontEnd - DAE generated: time 6.793e-06/0.5054, allocations: 0 / 0.5888 GB, free: 5.883 MB / 446.1 MB
Notification: Performance of FrontEnd: time 4.428e-06/0.5054, allocations: 0 / 0.5888 GB, free: 5.883 MB / 446.1 MB
Notification: Performance of Transformations before backend: time 0.000368/0.5058, allocations: 3.938 kB / 0.5888 GB, free: 5.879 MB / 446.1 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 0.02039/0.5261, allocations: 6.806 MB / 0.5955 GB, free: 14.98 MB / 462.1 MB
Notification: Performance of prepare preOptimizeDAE: time 5.033e-05/0.5262, allocations: 8.031 kB / 0.5955 GB, free: 14.97 MB / 462.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.002829/0.5291, allocations: 0.9216 MB / 0.5964 GB, free: 14.04 MB / 462.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.09648/0.6256, allocations: 7.441 MB / 0.6036 GB, free: 6.586 MB / 462.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.009607/0.6352, allocations: 4.155 MB / 0.6077 GB, free: 2.371 MB / 462.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0003705/0.6356, allocations: 350 kB / 0.608 GB, free: 2.02 MB / 462.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.001434/0.637, allocations: 439.7 kB / 0.6084 GB, free: 1.59 MB / 462.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.02904/0.6661, allocations: 13.77 MB / 0.6219 GB, free: 2.961 MB / 478.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0001754/0.6663, allocations: 59.56 kB / 0.6219 GB, free: 2.902 MB / 478.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0006839/0.667, allocations: 195.8 kB / 0.6221 GB, free: 2.711 MB / 478.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.003986/0.671, allocations: 2.41 MB / 0.6245 GB, free: 308 kB / 478.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02569/0.6967, allocations: 11.62 MB / 0.6358 GB, free: 4.672 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 0.07338/0.7701, allocations: 51.17 MB / 0.6858 GB, free: 16 kB / 0.5294 GB
Notification: Performance of preOpt comSubExp (simulation): time 0.013/0.7831, allocations: 4.688 MB / 0.6904 GB, free: 11.18 MB / 0.545 GB
Notification: Performance of preOpt resolveLoops (simulation): time 0.004279/0.7875, allocations: 2.776 MB / 0.6931 GB, free: 8.391 MB / 0.545 GB
Notification: Performance of preOpt evalFunc (simulation): time 0.01931/0.8068, allocations: 12.44 MB / 0.7052 GB, free: 11.38 MB / 0.5606 GB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 6.193e-05/0.8069, allocations: 59.81 kB / 0.7053 GB, free: 11.31 MB / 0.5606 GB
Notification: Performance of pre-optimization done (n=191): time 5.04e-06/0.8069, allocations: 0 / 0.7053 GB, free: 11.31 MB / 0.5606 GB
Notification: Performance of matching and sorting (n=242): time 0.394/1.201, allocations: 42.58 MB / 0.7469 GB, free: 150.8 MB / 0.5606 GB
Notification: Performance of inlineWhenForInitialization (initialization): time 8.989e-05/1.201, allocations: 237.6 kB / 0.7471 GB, free: 150.5 MB / 0.5606 GB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.005635/1.207, allocations: 4.805 MB / 0.7518 GB, free: 145.8 MB / 0.5606 GB
Notification: Performance of collectPreVariables (initialization): time 0.0004929/1.207, allocations: 61.7 kB / 0.7518 GB, free: 145.8 MB / 0.5606 GB
Notification: Performance of collectInitialEqns (initialization): time 0.001713/1.209, allocations: 4.049 MB / 0.7558 GB, free: 142.1 MB / 0.5606 GB
Notification: Performance of collectInitialBindings (initialization): time 0.001011/1.21, allocations: 0.959 MB / 0.7567 GB, free: 141.2 MB / 0.5606 GB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.001699/1.212, allocations: 1.469 MB / 0.7582 GB, free: 139.7 MB / 0.5606 GB
Notification: Performance of setup shared object (initialization): time 5.202e-05/1.212, allocations: 301.1 kB / 0.7585 GB, free: 139.4 MB / 0.5606 GB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.003646/1.215, allocations: 3.266 MB / 0.7616 GB, free: 136.1 MB / 0.5606 GB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.005023/1.22, allocations: 7.552 MB / 0.769 GB, free: 126.5 MB / 0.5606 GB
Notification: Performance of analyzeInitialSystem (initialization): time 0.0102/1.231, allocations: 11.6 MB / 0.7803 GB, free: 112.8 MB / 0.5606 GB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001091/1.231, allocations: 48 kB / 0.7804 GB, free: 112.7 MB / 0.5606 GB
Notification: Performance of matching and sorting (n=940) (initialization): time 0.0251/1.256, allocations: 13.89 MB / 0.794 GB, free: 98.82 MB / 0.5606 GB
Notification: Performance of prepare postOptimizeDAE: time 8.342e-05/1.256, allocations: 68 kB / 0.794 GB, free: 98.76 MB / 0.5606 GB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0001209/1.256, allocations: 152 kB / 0.7942 GB, free: 98.61 MB / 0.5606 GB
Notification: Performance of postOpt tearingSystem (initialization): time 0.01099/1.267, allocations: 3.776 MB / 0.7979 GB, free: 94.82 MB / 0.5606 GB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.005164/1.272, allocations: 1.595 MB / 0.7994 GB, free: 93.23 MB / 0.5606 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.02388/1.296, allocations: 19.16 MB / 0.8181 GB, free: 73.92 MB / 0.5606 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.006239/1.303, allocations: 455.5 kB / 0.8186 GB, free: 73.48 MB / 0.5606 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001518/1.304, allocations: 435.9 kB / 0.819 GB, free: 73.05 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 0.005162/1.309, allocations: 2.655 MB / 0.8216 GB, free: 70.38 MB / 0.5606 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001313/1.311, allocations: 457 kB / 0.822 GB, free: 69.93 MB / 0.5606 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01722/1.328, allocations: 8.138 MB / 0.8299 GB, free: 61.77 MB / 0.5606 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 5.589e-05/1.328, allocations: 24 kB / 0.83 GB, free: 61.74 MB / 0.5606 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 4.39e-05/1.328, allocations: 14.06 kB / 0.83 GB, free: 61.73 MB / 0.5606 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 6.018e-05/1.328, allocations: 15.95 kB / 0.83 GB, free: 61.71 MB / 0.5606 GB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.03484/1.363, allocations: 17.31 MB / 0.8469 GB, free: 44.38 MB / 0.5606 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.179e-05/1.363, allocations: 0 / 0.8469 GB, free: 44.38 MB / 0.5606 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.001946/1.365, allocations: 391.4 kB / 0.8473 GB, free: 44 MB / 0.5606 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.01087/1.376, allocations: 3.839 MB / 0.851 GB, free: 40.15 MB / 0.5606 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0005189/1.376, allocations: 40 kB / 0.8511 GB, free: 40.11 MB / 0.5606 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.0198/1.396, allocations: 17.53 MB / 0.8682 GB, free: 22.44 MB / 0.5606 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 2.645e-06/1.396, allocations: 0 / 0.8682 GB, free: 22.44 MB / 0.5606 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.0206/1.417, allocations: 12.57 MB / 0.8805 GB, free: 9.84 MB / 0.5606 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.001402/1.418, allocations: 486 kB / 0.8809 GB, free: 9.344 MB / 0.5606 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0008761/1.419, allocations: 36 kB / 0.881 GB, free: 9.309 MB / 0.5606 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002229/1.421, allocations: 211.7 kB / 0.8812 GB, free: 9.102 MB / 0.5606 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0006032/1.422, allocations: 150.1 kB / 0.8813 GB, free: 8.953 MB / 0.5606 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0001953/1.422, allocations: 60 kB / 0.8814 GB, free: 8.895 MB / 0.5606 GB
Notification: Performance of sorting global known variables: time 0.00392/1.426, allocations: 2.998 MB / 0.8843 GB, free: 5.902 MB / 0.5606 GB
Notification: Performance of sort global known variables: time 1.91e-07/1.426, allocations: 0 / 0.8843 GB, free: 5.902 MB / 0.5606 GB
Notification: Performance of remove unused functions: time 0.006318/1.433, allocations: 1.426 MB / 0.8857 GB, free: 4.477 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 0.02424/1.457, allocations: 13.27 MB / 0.8986 GB, free: 7.176 MB / 0.5762 GB
Notification: Performance of simCode: created initialization part: time 0.01369/1.471, allocations: 7.936 MB / 0.9064 GB, free: 15.25 MB / 0.5919 GB
Notification: Performance of simCode: created event and clocks part: time 6.021e-06/1.471, allocations: 3.938 kB / 0.9064 GB, free: 15.25 MB / 0.5919 GB
Notification: Performance of simCode: created simulation system equations: time 0.005066/1.476, allocations: 2.987 MB / 0.9093 GB, free: 12.25 MB / 0.5919 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.003807/1.479, allocations: 0.5366 MB / 0.9098 GB, free: 11.72 MB / 0.5919 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.3848/1.864, allocations: 66 MB / 0.9743 GB, free: 198.3 MB / 0.6231 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.004571/1.869, allocations: 4.091 MB / 0.9783 GB, free: 196.8 MB / 0.6231 GB
Notification: Performance of simCode: alias equations: time 0.004366/1.873, allocations: 2.171 MB / 0.9804 GB, free: 196.3 MB / 0.6231 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.003028/1.876, allocations: 2.478 MB / 0.9828 GB, free: 194.1 MB / 0.6231 GB
Notification: Performance of SimCode: time 1.002e-06/1.876, allocations: 0 / 0.9828 GB, free: 194.1 MB / 0.6231 GB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.1427/2.019, allocations: 102.8 MB / 1.083 GB, free: 93.55 MB / 0.6231 GB
Notification: Performance of buildModelFMU: Generate platform static: time 32.12/34.14, allocations: 4.062 kB / 1.083 GB, free: 93.55 MB / 0.6231 GB
(rm -f ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.JointUSP2.pipe ; mkfifo ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.JointUSP2.pipe ; head -c 1048576 < ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.JointUSP2.pipe >> ../files/ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.JointUSP2.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.JointUSP2_res.mat --tempDir=temp_ModelicaTest_trunk_ModelicaTest_MultiBody_Joints_JointUSP2_fmu --startTime=0 --stopTime=4 --timeout=50 --tolerance=1e-06 ModelicaTest_trunk_ModelicaTest_MultiBody_Joints_JointUSP2.fmu > ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.JointUSP2.pipe 2>&1)
diffSimulationResults("ModelicaTest_trunk_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_trunk_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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