Adapted to corresponding Modia3D version/branch (Modia3D 0.5.1-dev, branch otter_splitSettingOfJointVariables)

Author: MartinOtter

Manifest.toml

@@ -57,9 +57,9 @@ version = "0.4.1"
 
 [[CSTParser]]
 deps = ["Tokenize"]
-git-tree-sha1 = "9723e1c07c1727082e169ca50789644a552fb023"
+git-tree-sha1 = "b2667530e42347b10c10ba6623cfebc09ac5c7b6"
 uuid = "00ebfdb7-1f24-5e51-bd34-a7502290713f"
-version = "3.2.3"
+version = "3.2.4"
 
 [[Calculus]]
 deps = ["LinearAlgebra"]
@@ -75,9 +75,9 @@ version = "0.9.7"
 
 [[ChainRulesCore]]
 deps = ["Compat", "LinearAlgebra", "SparseArrays"]
-git-tree-sha1 = "f53ca8d41e4753c41cdafa6ec5f7ce914b34be54"
+git-tree-sha1 = "bdc0937269321858ab2a4f288486cb258b9a0af7"
 uuid = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
-version = "0.10.13"
+version = "1.3.0"
 
 [[ColorTypes]]
 deps = ["FixedPointNumbers", "Random"]
@@ -115,9 +115,9 @@ version = "0.3.0"
 
 [[Compat]]
 deps = ["Base64", "Dates", "DelimitedFiles", "Distributed", "InteractiveUtils", "LibGit2", "Libdl", "LinearAlgebra", "Markdown", "Mmap", "Pkg", "Printf", "REPL", "Random", "SHA", "Serialization", "SharedArrays", "Sockets", "SparseArrays", "Statistics", "Test", "UUIDs", "Unicode"]
-git-tree-sha1 = "dc7dedc2c2aa9faf59a55c622760a25cbefbe941"
+git-tree-sha1 = "344f143fa0ec67e47917848795ab19c6a455f32c"
 uuid = "34da2185-b29b-5c13-b0c7-acf172513d20"
-version = "3.31.0"
+version = "3.32.0"
 
 [[CompilerSupportLibraries_jll]]
 deps = ["Artifacts", "Libdl"]
@@ -176,10 +176,10 @@ deps = ["Mmap"]
 uuid = "8bb1440f-4735-579b-a4ab-409b98df4dab"
 
 [[DiffEqBase]]
-deps = ["ArrayInterface", "ChainRulesCore", "DataStructures", "DocStringExtensions", "FastBroadcast", "FunctionWrappers", "IterativeSolvers", "LabelledArrays", "LinearAlgebra", "Logging", "MuladdMacro", "NonlinearSolve", "Parameters", "Printf", "RecursiveArrayTools", "RecursiveFactorization", "Reexport", "Requires", "SciMLBase", "Setfield", "SparseArrays", "StaticArrays", "Statistics", "SuiteSparse", "ZygoteRules"]
-git-tree-sha1 = "9d312bb0b7c8ace440a71c64330cf1bea0ade0c8"
+deps = ["ArrayInterface", "ChainRulesCore", "DataStructures", "Distributions", "DocStringExtensions", "FastBroadcast", "ForwardDiff", "FunctionWrappers", "IterativeSolvers", "LabelledArrays", "LinearAlgebra", "Logging", "MuladdMacro", "NonlinearSolve", "Parameters", "PreallocationTools", "Printf", "RecursiveArrayTools", "RecursiveFactorization", "Reexport", "Requires", "SciMLBase", "Setfield", "SparseArrays", "StaticArrays", "Statistics", "SuiteSparse", "ZygoteRules"]
+git-tree-sha1 = "ad27076f769f812e64310fcaf03658b68259cb85"
 uuid = "2b5f629d-d688-5b77-993f-72d75c75574e"
-version = "6.70.0"
+version = "6.71.0"
 
 [[DiffEqCallbacks]]
 deps = ["DataStructures", "DiffEqBase", "ForwardDiff", "LinearAlgebra", "NLsolve", "OrdinaryDiffEq", "RecipesBase", "RecursiveArrayTools", "StaticArrays"]
@@ -195,9 +195,9 @@ version = "2.4.0"
 
 [[DiffEqJump]]
 deps = ["ArrayInterface", "Compat", "DataStructures", "DiffEqBase", "FunctionWrappers", "LightGraphs", "LinearAlgebra", "PoissonRandom", "Random", "RandomNumbers", "RecursiveArrayTools", "Reexport", "StaticArrays", "TreeViews", "UnPack"]
-git-tree-sha1 = "51441835fed64ebc8ed52e43a9734bfb58d5ecd7"
+git-tree-sha1 = "19f26e1984fbc8a79705c6df50c319c7d2cb89e9"
 uuid = "c894b116-72e5-5b58-be3c-e6d8d4ac2b12"
-version = "7.0.0"
+version = "7.1.0"
 
 [[DiffEqNoiseProcess]]
 deps = ["DiffEqBase", "Distributions", "LinearAlgebra", "Optim", "PoissonRandom", "QuadGK", "Random", "Random123", "RandomNumbers", "RecipesBase", "RecursiveArrayTools", "Requires", "ResettableStacks", "SciMLBase", "StaticArrays", "Statistics"]
@@ -219,9 +219,9 @@ version = "1.0.3"
 
 [[DiffRules]]
 deps = ["NaNMath", "Random", "SpecialFunctions"]
-git-tree-sha1 = "214c3fcac57755cfda163d91c58893a8723f93e9"
+git-tree-sha1 = "85d2d9e2524da988bffaf2a381864e20d2dae08d"
 uuid = "b552c78f-8df3-52c6-915a-8e097449b14b"
-version = "1.0.2"
+version = "1.2.1"
 
 [[DifferentialEquations]]
 deps = ["BoundaryValueDiffEq", "DelayDiffEq", "DiffEqBase", "DiffEqCallbacks", "DiffEqFinancial", "DiffEqJump", "DiffEqNoiseProcess", "DiffEqPhysics", "DimensionalPlotRecipes", "LinearAlgebra", "MultiScaleArrays", "OrdinaryDiffEq", "ParameterizedFunctions", "Random", "RecursiveArrayTools", "Reexport", "SteadyStateDiffEq", "StochasticDiffEq", "Sundials"]
@@ -327,9 +327,9 @@ version = "0.4.2"
 
 [[ForwardDiff]]
 deps = ["CommonSubexpressions", "DiffResults", "DiffRules", "LinearAlgebra", "NaNMath", "Printf", "Random", "SpecialFunctions", "StaticArrays"]
-git-tree-sha1 = "e2af66012e08966366a43251e1fd421522908be6"
+git-tree-sha1 = "b5e930ac60b613ef3406da6d4f42c35d8dc51419"
 uuid = "f6369f11-7733-5829-9624-2563aa707210"
-version = "0.10.18"
+version = "0.10.19"
 
 [[FunctionWrappers]]
 git-tree-sha1 = "241552bc2209f0fa068b6415b1942cc0aa486bcc"
@@ -403,9 +403,9 @@ version = "0.21.1"
 
 [[JuliaFormatter]]
 deps = ["CSTParser", "CommonMark", "DataStructures", "Pkg", "Tokenize"]
-git-tree-sha1 = "03d48b801c3d497c301a137ad32be7a70f1a64cb"
+git-tree-sha1 = "55e195fe3e9f8db7a68ff41ce83c87d42771ec97"
 uuid = "98e50ef6-434e-11e9-1051-2b60c6c9e899"
-version = "0.15.2"
+version = "0.15.4"
 
 [[LaTeXStrings]]
 git-tree-sha1 = "c7f1c695e06c01b95a67f0cd1d34994f3e7db104"
@@ -470,15 +470,15 @@ uuid = "56ddb016-857b-54e1-b83d-db4d58db5568"
 
 [[LoopVectorization]]
 deps = ["ArrayInterface", "DocStringExtensions", "IfElse", "LinearAlgebra", "OffsetArrays", "Polyester", "Requires", "SLEEFPirates", "Static", "StrideArraysCore", "ThreadingUtilities", "UnPack", "VectorizationBase"]
-git-tree-sha1 = "1578cc856a165170a9572602e885c8511d81da1e"
+git-tree-sha1 = "c04222b22ac72faa19a396c14dc1cc1506434cd8"
 uuid = "bdcacae8-1622-11e9-2a5c-532679323890"
-version = "0.12.56"
+version = "0.12.62"
 
 [[MacroTools]]
 deps = ["Markdown", "Random"]
-git-tree-sha1 = "6a8a2a625ab0dea913aba95c11370589e0239ff0"
+git-tree-sha1 = "0fb723cd8c45858c22169b2e42269e53271a6df7"
 uuid = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09"
-version = "0.5.6"
+version = "0.5.7"
 
 [[ManualMemory]]
 git-tree-sha1 = "71c64ebe61a12bad0911f8fc4f91df8a448c604c"
@@ -522,9 +522,9 @@ version = "0.5.0"
 
 [[ModiaBase]]
 deps = ["DataFrames", "DiffRules", "LinearAlgebra", "Measurements", "MonteCarloMeasurements", "OrderedCollections", "TimerOutputs", "Unitful"]
-git-tree-sha1 = "36df1afcd6f4967406476ca5292dbc097f2bc1b9"
+git-tree-sha1 = "fbe8e06087e2409004e409a633783341e595477a"
 uuid = "ec7bf1ca-419d-4510-bbab-199861c55244"
-version = "0.7.3"
+version = "0.7.4"
 
 [[ModiaLang]]
 deps = ["DataFrames", "DifferentialEquations", "FiniteDiff", "ForwardDiff", "InteractiveUtils", "JSON", "Measurements", "ModiaBase", "ModiaResult", "MonteCarloMeasurements", "OrderedCollections", "Reexport", "Sundials", "Test", "TimerOutputs", "Unitful"]
@@ -533,10 +533,10 @@ uuid = "34b37210-eaa3-4b48-8781-0b87bf559981"
 version = "0.8.1"
 
 [[ModiaResult]]
-deps = ["DataFrames", "DataStructures", "Measurements", "MonteCarloMeasurements", "Pkg", "Tables", "Unitful"]
-git-tree-sha1 = "c1adedaf482b1a189d24617e6d5fbc83898e2928"
+deps = ["DataFrames", "Measurements", "MonteCarloMeasurements", "OrderedCollections", "Pkg", "Tables", "Unitful"]
+git-tree-sha1 = "f020445d37eea798c5b2384b6610f25192039c1d"
 uuid = "16a87621-1533-42f6-8e19-4a825980cec2"
-version = "0.3.1"
+version = "0.3.4"
 
 [[MonteCarloMeasurements]]
 deps = ["Distributed", "Distributions", "LinearAlgebra", "MacroTools", "Random", "RecipesBase", "Requires", "SLEEFPirates", "StaticArrays", "Statistics", "StatsBase", "Test"]
@@ -572,9 +572,9 @@ version = "0.2.20"
 
 [[NLSolversBase]]
 deps = ["DiffResults", "Distributed", "FiniteDiff", "ForwardDiff"]
-git-tree-sha1 = "50608f411a1e178e0129eab4110bd56efd08816f"
+git-tree-sha1 = "144bab5b1443545bc4e791536c9f1eacb4eed06a"
 uuid = "d41bc354-129a-5804-8e4c-c37616107c6c"
-version = "7.8.0"
+version = "7.8.1"
 
 [[NLsolve]]
 deps = ["Distances", "LineSearches", "LinearAlgebra", "NLSolversBase", "Printf", "Reexport"]
@@ -598,9 +598,9 @@ version = "0.3.8"
 
 [[OffsetArrays]]
 deps = ["Adapt"]
-git-tree-sha1 = "4f825c6da64aebaa22cc058ecfceed1ab9af1c7e"
+git-tree-sha1 = "5cc97a6f806ba1b36bac7078b866d4297ae8c463"
 uuid = "6fe1bfb0-de20-5000-8ca7-80f57d26f881"
-version = "1.10.3"
+version = "1.10.4"
 
 [[OpenBLAS_jll]]
 deps = ["Artifacts", "CompilerSupportLibraries_jll", "Libdl"]
@@ -614,9 +614,9 @@ version = "0.5.5+0"
 
 [[Optim]]
 deps = ["Compat", "FillArrays", "LineSearches", "LinearAlgebra", "NLSolversBase", "NaNMath", "Parameters", "PositiveFactorizations", "Printf", "SparseArrays", "StatsBase"]
-git-tree-sha1 = "3afbf5398ff3e51427ed620e5ffbe96c7fdba67c"
+git-tree-sha1 = "7863df65dbb2a0fa8f85fcaf0a41167640d2ebed"
 uuid = "429524aa-4258-5aef-a3af-852621145aeb"
-version = "1.4.0"
+version = "1.4.1"
 
 [[OrderedCollections]]
 git-tree-sha1 = "85f8e6578bf1f9ee0d11e7bb1b1456435479d47c"
@@ -625,9 +625,9 @@ version = "1.4.1"
 
 [[OrdinaryDiffEq]]
 deps = ["Adapt", "ArrayInterface", "DataStructures", "DiffEqBase", "DocStringExtensions", "ExponentialUtilities", "FastClosures", "FiniteDiff", "ForwardDiff", "LinearAlgebra", "Logging", "MacroTools", "MuladdMacro", "NLsolve", "Polyester", "RecursiveArrayTools", "Reexport", "SparseArrays", "SparseDiffTools", "StaticArrays", "UnPack"]
-git-tree-sha1 = "379ed10814cba5087978bce9df31161a496620d3"
+git-tree-sha1 = "73d43522c1c756c739ef70a51941b0b028682994"
 uuid = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
-version = "5.60.1"
+version = "5.60.2"
 
 [[PDMats]]
 deps = ["LinearAlgebra", "SparseArrays", "SuiteSparse"]
@@ -649,9 +649,9 @@ version = "0.12.2"
 
 [[Parsers]]
 deps = ["Dates"]
-git-tree-sha1 = "c8abc88faa3f7a3950832ac5d6e690881590d6dc"
+git-tree-sha1 = "bfd7d8c7fd87f04543810d9cbd3995972236ba1b"
 uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0"
-version = "1.1.0"
+version = "1.1.2"
 
 [[Pkg]]
 deps = ["Artifacts", "Dates", "Downloads", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "Serialization", "TOML", "Tar", "UUIDs", "p7zip_jll"]
@@ -665,9 +665,9 @@ version = "0.4.0"
 
 [[Polyester]]
 deps = ["ArrayInterface", "IfElse", "ManualMemory", "Requires", "Static", "StrideArraysCore", "ThreadingUtilities", "VectorizationBase"]
-git-tree-sha1 = "4b692c8ce1912bae5cd3b90ba22d1b54eb581195"
+git-tree-sha1 = "81c59c2bed8c8a76843411ddb33e548bf2bcc9b2"
 uuid = "f517fe37-dbe3-4b94-8317-1923a5111588"
-version = "0.3.7"
+version = "0.3.8"
 
 [[PooledArrays]]
 deps = ["DataAPI", "Future"]
@@ -681,6 +681,12 @@ git-tree-sha1 = "17275485f373e6673f7e7f97051f703ed5b15b20"
 uuid = "85a6dd25-e78a-55b7-8502-1745935b8125"
 version = "0.2.4"
 
+[[PreallocationTools]]
+deps = ["ArrayInterface", "ForwardDiff", "LabelledArrays"]
+git-tree-sha1 = "9e917b108c4aaf47e8606542325bd2ccbcac7ca4"
+uuid = "d236fae5-4411-538c-8e31-a6e3d9e00b46"
+version = "0.1.0"
+
 [[Preferences]]
 deps = ["TOML"]
 git-tree-sha1 = "00cfd92944ca9c760982747e9a1d0d5d86ab1e5a"
@@ -719,9 +725,9 @@ version = "1.4.2"
 
 [[RandomNumbers]]
 deps = ["Random", "Requires"]
-git-tree-sha1 = "56ead4aaafc41d83694e17b0dd89d3e929d01a14"
+git-tree-sha1 = "043da614cc7e95c703498a491e2c21f58a2b8111"
 uuid = "e6cf234a-135c-5ec9-84dd-332b85af5143"
-version = "1.5.0"
+version = "1.5.3"
 
 [[RecipesBase]]
 git-tree-sha1 = "b3fb709f3c97bfc6e948be68beeecb55a0b340ae"
@@ -730,9 +736,9 @@ version = "1.1.1"
 
 [[RecursiveArrayTools]]
 deps = ["ArrayInterface", "ChainRulesCore", "DocStringExtensions", "LinearAlgebra", "RecipesBase", "Requires", "StaticArrays", "Statistics", "ZygoteRules"]
-git-tree-sha1 = "0426474f50756b3b47b08075604a41b460c45d17"
+git-tree-sha1 = "81908702a20baf195ce114a85545db7975d0ba33"
 uuid = "731186ca-8d62-57ce-b412-fbd966d074cd"
-version = "2.16.1"
+version = "2.15.2"
 
 [[RecursiveFactorization]]
 deps = ["LinearAlgebra", "LoopVectorization"]
@@ -771,9 +777,9 @@ version = "0.3.0+0"
 
 [[RuntimeGeneratedFunctions]]
 deps = ["ExprTools", "SHA", "Serialization"]
-git-tree-sha1 = "5975a4f824533fa4240f40d86f1060b9fc80d7cc"
+git-tree-sha1 = "cdc1e4278e91a6ad530770ebb327f9ed83cf10c4"
 uuid = "7e49a35a-f44a-4d26-94aa-eba1b4ca6b47"
-version = "0.5.2"
+version = "0.5.3"
 
 [[SHA]]
 uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce"
@@ -801,9 +807,9 @@ uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b"
 
 [[Setfield]]
 deps = ["ConstructionBase", "Future", "MacroTools", "Requires"]
-git-tree-sha1 = "d5640fc570fb1b6c54512f0bd3853866bd298b3e"
+git-tree-sha1 = "fca29e68c5062722b5b4435594c3d1ba557072a3"
 uuid = "efcf1570-3423-57d1-acb7-fd33fddbac46"
-version = "0.7.0"
+version = "0.7.1"
 
 [[SharedArrays]]
 deps = ["Distributed", "Mmap", "Random", "Serialization"]
@@ -830,9 +836,9 @@ uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 
 [[SparseDiffTools]]
 deps = ["Adapt", "ArrayInterface", "Compat", "DataStructures", "FiniteDiff", "ForwardDiff", "LightGraphs", "LinearAlgebra", "Requires", "SparseArrays", "StaticArrays", "VertexSafeGraphs"]
-git-tree-sha1 = "bdaa461dbfebb839b740f4582e8728f0f92ca375"
+git-tree-sha1 = "1d9f8d4fbcef6b2bf6447f95149cf74615a0ab7b"
 uuid = "47a9eef4-7e08-11e9-0b38-333d64bd3804"
-version = "1.15.0"
+version = "1.16.1"
 
 [[SpecialFunctions]]
 deps = ["ChainRulesCore", "LogExpFunctions", "OpenSpecFun_jll"]
@@ -848,9 +854,9 @@ version = "0.2.5"
 
 [[StaticArrays]]
 deps = ["LinearAlgebra", "Random", "Statistics"]
-git-tree-sha1 = "5b2f81eeb66bcfe379947c500aae773c85c31033"
+git-tree-sha1 = "3fedeffc02e47d6e3eb479150c8e5cd8f15a77a0"
 uuid = "90137ffa-7385-5640-81b9-e52037218182"
-version = "1.2.8"
+version = "1.2.10"
 
 [[Statistics]]
 deps = ["LinearAlgebra", "SparseArrays"]
@@ -863,9 +869,9 @@ version = "1.0.0"
 
 [[StatsBase]]
 deps = ["DataAPI", "DataStructures", "LinearAlgebra", "Missings", "Printf", "Random", "SortingAlgorithms", "SparseArrays", "Statistics", "StatsAPI"]
-git-tree-sha1 = "2f6792d523d7448bbe2fec99eca9218f06cc746d"
+git-tree-sha1 = "fed1ec1e65749c4d96fc20dd13bea72b55457e62"
 uuid = "2913bbd2-ae8a-5f71-8c99-4fb6c76f3a91"
-version = "0.33.8"
+version = "0.33.9"
 
 [[StatsFuns]]
 deps = ["LogExpFunctions", "Rmath", "SpecialFunctions"]
@@ -919,9 +925,9 @@ version = "5.2.0+1"
 
 [[SymbolicUtils]]
 deps = ["AbstractTrees", "ChainRulesCore", "Combinatorics", "ConstructionBase", "DataStructures", "DynamicPolynomials", "IfElse", "LabelledArrays", "LinearAlgebra", "MultivariatePolynomials", "NaNMath", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArrays", "TimerOutputs"]
-git-tree-sha1 = "17fecd52e9a82ca52bfc9d28a2d31b33458a6ce0"
+git-tree-sha1 = "d1ef21e868c864f501baca136994993ea86f08cf"
 uuid = "d1185830-fcd6-423d-90d6-eec64667417b"
-version = "0.13.1"
+version = "0.13.2"
 
 [[Symbolics]]
 deps = ["ConstructionBase", "DiffRules", "Distributions", "DocStringExtensions", "DomainSets", "IfElse", "Latexify", "Libdl", "LinearAlgebra", "MacroTools", "NaNMath", "RecipesBase", "Reexport", "Requires", "RuntimeGeneratedFunctions", "SciMLBase", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArrays", "SymbolicUtils", "TreeViews"]
@@ -941,9 +947,9 @@ version = "1.0.1"
 
 [[Tables]]
 deps = ["DataAPI", "DataValueInterfaces", "IteratorInterfaceExtensions", "LinearAlgebra", "TableTraits", "Test"]
-git-tree-sha1 = "8ed4a3ea724dac32670b062be3ef1c1de6773ae8"
+git-tree-sha1 = "d0c690d37c73aeb5ca063056283fde5585a41710"
 uuid = "bd369af6-aec1-5ad0-b16a-f7cc5008161c"
-version = "1.4.4"
+version = "1.5.0"
 
 [[Tar]]
 deps = ["ArgTools", "SHA"]
@@ -1001,9 +1007,9 @@ version = "1.9.0"
 
 [[VectorizationBase]]
 deps = ["ArrayInterface", "Hwloc", "IfElse", "Libdl", "LinearAlgebra", "Static"]
-git-tree-sha1 = "a4bc1b406dcab1bc482ce647e6d3d53640defee3"
+git-tree-sha1 = "88380249e2bc36163ac136ce6b6e84ad6c208585"
 uuid = "3d5dd08c-fd9d-11e8-17fa-ed2836048c2f"
-version = "0.20.25"
+version = "0.20.30"
 
 [[VertexSafeGraphs]]
 deps = ["LightGraphs"]

Project.toml

@@ -16,7 +16,7 @@ Unitful = "1986cc42-f94f-5a68-af5c-568840ba703d"
 DifferentialEquations = "6.18, 6.17, 6.16"
 Modia3D = "0.5"
 ModiaLang = "0.8"
-OrderedCollections = "1.4, 1.3, 1.2, 1.1"
+OrderedCollections = "1"
 Reexport = "1.0, 0.2"
 Unitful = "1"
-julia = "1.7, 1.6, 1.5"
+julia = "1"

src/Modia.jl

@@ -9,8 +9,8 @@ Modia main module.
 module Modia
 
 const path = dirname(dirname(@__FILE__))   # Absolute path of package directory
-const Version = "0.5.0"
-const Date = "2021-07-28"
+const Version = "0.5.1-dev"
+const Date = "2021-08-05"
 
 #println(" \n\nWelcome to Modia - Dynamic MODeling and Simulation in julIA")
 print(" \n\nWelcome to ")

src/Modia3D_Interface.jl

@@ -10,7 +10,7 @@ export UniformGravityField
 export RefPath, ptpJointSpace, scheduleReferenceMotion
 export calculateRobotMovement
 export getRefPathPosition, getRefPathInitPosition, getVariables
-export multibodyResiduals
+export multibodyResiduals!, setModiaJointVariables!
 export Fix
 export Revolute, RevoluteWithFlange
 export Prismatic, PrismaticWithFlange
@@ -67,7 +67,8 @@ getRefPathInitPosition(args...) = Modia3D.getRefPathInitPosition(args...)
 
 getVariables(args...) = (args...,)
 
-multibodyResiduals(args...) = Modia3D.multibodyResiduals(args...)
+multibodyResiduals!(args...)     = Modia3D.multibodyResiduals!(args...)
+setModiaJointVariables!(args...) = Modia3D.setModiaJointVariables!(args...)
 
 Revolute(; obj1, obj2, axis=3, phi=Var(init=0.0), w=Var(init=0.0), canCollide=true) = Model(; _constructor = Par(value = :(Modia.Modia3D.Revolute), _path = true, ndof = 1),
     obj1 = Par(value = obj1),