Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr ModelicaTest_3.2.3_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3.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) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.3+maint.om/package.mo", uses=false) Using package ModelicaTest with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.3+maint.om/package.mo) 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: translateModel(ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|Revolute1.phi|Revolute1.w|Revolute2.phi|Revolute2.w|Revolute3.phi|Revolute3.w|Revolute4.phi|Revolute4.w",fileNamePrefix="ModelicaTest_3.2.3_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3") translateModel(ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|Revolute1.phi|Revolute1.w|Revolute2.phi|Revolute2.w|Revolute3.phi|Revolute3.w|Revolute4.phi|Revolute4.w",fileNamePrefix="ModelicaTest_3.2.3_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3") Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo): time 0.001069/0.001069, allocations: 108.8 kB / 16.41 MB, free: 6.496 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001143/0.001143, allocations: 185.5 kB / 17.34 MB, free: 5.762 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.607/1.607, allocations: 205.1 MB / 223.2 MB, free: 12.23 MB / 190.1 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.3+maint.om/package.mo): time 0.2335/0.2335, allocations: 43.53 MB / 314.1 MB, free: 460 kB / 254.1 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 0.001452/0.001452, allocations: 63.91 kB / 441.9 MB, free: 5.621 MB / 318.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.1299/0.1314, allocations: 57.79 MB / 499.6 MB, free: 11.76 MB / 382.1 MB Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3): time 0.01694/0.1483, allocations: 16.16 MB / 0.5037 GB, free: 11.53 MB / 398.1 MB Notification: Performance of NFInst.instExpressions: time 0.01184/0.1602, allocations: 5.113 MB / 0.5087 GB, free: 6.398 MB / 398.1 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.003601/0.1639, allocations: 99.75 kB / 0.5088 GB, free: 6.301 MB / 398.1 MB Notification: Performance of NFTyping.typeComponents: time 0.009118/0.1731, allocations: 4.563 MB / 0.5133 GB, free: 1.723 MB / 398.1 MB Notification: Performance of NFTyping.typeBindings: time 0.007827/0.181, allocations: 2.583 MB / 0.5158 GB, free: 15.13 MB / 414.1 MB Notification: Performance of NFTyping.typeClassSections: time 0.003045/0.1841, allocations: 1.154 MB / 0.5169 GB, free: 13.97 MB / 414.1 MB Notification: Performance of NFFlatten.flatten: time 0.01019/0.1943, allocations: 6.642 MB / 0.5234 GB, free: 7.312 MB / 414.1 MB Notification: Performance of NFFlatten.resolveConnections: time 0.008522/0.2028, allocations: 5.886 MB / 0.5291 GB, free: 1.348 MB / 414.1 MB Notification: Performance of NFEvalConstants.evaluate: time 0.3074/0.5102, allocations: 2.511 MB / 0.5316 GB, free: 9.902 MB / 414.1 MB Notification: Performance of NFSimplifyModel.simplify: time 0.007593/0.5178, allocations: 3.405 MB / 0.5349 GB, free: 9.891 MB / 414.1 MB Notification: Performance of NFPackage.collectConstants: time 0.003345/0.5212, allocations: 0.567 MB / 0.5355 GB, free: 9.891 MB / 414.1 MB Notification: Performance of NFFlatten.collectFunctions: time 0.006496/0.5277, allocations: 1.566 MB / 0.537 GB, free: 9.891 MB / 414.1 MB Notification: Performance of NFScalarize.scalarize: time 0.007214/0.535, allocations: 3.121 MB / 0.54 GB, free: 9.582 MB / 414.1 MB Notification: Performance of NFVerifyModel.verify: time 0.01331/0.5483, allocations: 3.597 MB / 0.5436 GB, free: 8.352 MB / 414.1 MB Notification: Performance of NFConvertDAE.convert: time 0.0239/0.5723, allocations: 11.48 MB / 0.5548 GB, free: 5.992 MB / 414.1 MB Notification: Performance of FrontEnd - DAE generated: time 6.492e-06/0.5723, allocations: 1.031 kB / 0.5548 GB, free: 5.992 MB / 414.1 MB Notification: Performance of FrontEnd: time 2.846e-06/0.5724, allocations: 0 / 0.5548 GB, free: 5.992 MB / 414.1 MB Notification: Performance of Transformations before backend: time 0.000616/0.573, allocations: 0 / 0.5548 GB, free: 5.992 MB / 414.1 MB Notification: Model statistics after passing the front-end and creating the data structures used by the back-end: * Number of equations: 2377 * Number of variables: 2377 Notification: Performance of Generate backend data structure: time 0.0292/0.6022, allocations: 7.77 MB / 0.5624 GB, free: 1.504 MB / 414.1 MB Notification: Performance of prepare preOptimizeDAE: time 4.473e-05/0.6022, allocations: 13.83 kB / 0.5624 GB, free: 1.5 MB / 414.1 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.015/0.6172, allocations: 2.832 MB / 0.5651 GB, free: 32 kB / 414.1 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.01273/0.63, allocations: 4.36 MB / 0.5694 GB, free: 13.61 MB / 430.1 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0004537/0.6305, allocations: 378.4 kB / 0.5698 GB, free: 13.49 MB / 430.1 MB Notification: Performance of preOpt expandDerOperator (simulation): time 0.003987/0.6345, allocations: 0.505 MB / 0.5702 GB, free: 13.36 MB / 430.1 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.04081/0.6753, allocations: 16.41 MB / 0.5863 GB, free: 0.5586 MB / 430.1 MB Notification: Performance of preOpt findStateOrder (simulation): time 0.0002089/0.6756, allocations: 60.56 kB / 0.5863 GB, free: 0.5234 MB / 430.1 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0007485/0.6763, allocations: 241 kB / 0.5866 GB, free: 352 kB / 430.1 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.005811/0.6822, allocations: 3.151 MB / 0.5896 GB, free: 13.23 MB / 446.1 MB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.03403/0.7162, allocations: 14.26 MB / 0.6036 GB, free: 15.18 MB / 462.1 MB Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.09875/0.815, allocations: 58.91 MB / 0.6611 GB, free: 3.711 MB / 0.4981 GB Notification: Performance of preOpt comSubExp (simulation): time 0.0197/0.8348, allocations: 7.172 MB / 0.6681 GB, free: 12.41 MB / 0.5137 GB Notification: Performance of preOpt resolveLoops (simulation): time 0.006922/0.8417, allocations: 4.501 MB / 0.6725 GB, free: 7.895 MB / 0.5137 GB Notification: Performance of preOpt evalFunc (simulation): time 0.0305/0.8722, allocations: 15.45 MB / 0.6876 GB, free: 8.406 MB / 0.5294 GB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 6.334e-05/0.8723, allocations: 67.28 kB / 0.6876 GB, free: 8.336 MB / 0.5294 GB Notification: Performance of pre-optimization done (n=306): time 6.663e-06/0.8724, allocations: 0 / 0.6876 GB, free: 8.336 MB / 0.5294 GB Notification: Performance of matching and sorting (n=348): time 0.1012/0.9736, allocations: 33.17 MB / 0.72 GB, free: 7.094 MB / 0.5606 GB Notification: Performance of inlineWhenForInitialization (initialization): time 0.0001877/0.9738, allocations: 218.2 kB / 0.7203 GB, free: 6.836 MB / 0.5606 GB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.01367/0.9875, allocations: 5.361 MB / 0.7255 GB, free: 1.488 MB / 0.5606 GB Notification: Performance of collectPreVariables (initialization): time 0.00121/0.9888, allocations: 77.7 kB / 0.7256 GB, free: 1.406 MB / 0.5606 GB Notification: Performance of collectInitialEqns (initialization): time 0.004308/0.9931, allocations: 4.495 MB / 0.73 GB, free: 12.93 MB / 0.5762 GB Notification: Performance of collectInitialBindings (initialization): time 0.00272/0.9958, allocations: 1.344 MB / 0.7313 GB, free: 11.6 MB / 0.5762 GB Notification: Performance of simplifyInitialFunctions (initialization): time 0.005331/1.001, allocations: 1.733 MB / 0.733 GB, free: 9.852 MB / 0.5762 GB Notification: Performance of setup shared object (initialization): time 0.000125/1.001, allocations: 308.8 kB / 0.7333 GB, free: 9.551 MB / 0.5762 GB Notification: Performance of preBalanceInitialSystem (initialization): time 0.006605/1.008, allocations: 3.928 MB / 0.7371 GB, free: 5.617 MB / 0.5762 GB Notification: Performance of partitionIndependentBlocks (initialization): time 0.01068/1.019, allocations: 8.409 MB / 0.7453 GB, free: 11.08 MB / 0.5919 GB Notification: Performance of analyzeInitialSystem (initialization): time 0.3518/1.37, allocations: 13.24 MB / 0.7582 GB, free: 196.9 MB / 0.5919 GB Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001739/1.371, allocations: 44.66 kB / 0.7583 GB, free: 196.9 MB / 0.5919 GB Notification: Performance of matching and sorting (n=1104) (initialization): time 0.03668/1.407, allocations: 14.29 MB / 0.7722 GB, free: 194.5 MB / 0.5919 GB Notification: Performance of prepare postOptimizeDAE: time 0.0001261/1.408, allocations: 74.84 kB / 0.7723 GB, free: 194.5 MB / 0.5919 GB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0002081/1.408, allocations: 153.2 kB / 0.7724 GB, free: 194.5 MB / 0.5919 GB Notification: Performance of postOpt tearingSystem (initialization): time 0.005898/1.414, allocations: 2.259 MB / 0.7746 GB, free: 194.1 MB / 0.5919 GB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.007802/1.421, allocations: 1.988 MB / 0.7766 GB, free: 193.9 MB / 0.5919 GB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.01671/1.438, allocations: 14.43 MB / 0.7907 GB, free: 186.5 MB / 0.5919 GB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.00946/1.448, allocations: 0.5114 MB / 0.7912 GB, free: 186.4 MB / 0.5919 GB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.00246/1.45, allocations: 486.2 kB / 0.7916 GB, free: 186.3 MB / 0.5919 GB Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 708 * Number of states: 0 () * Number of discrete variables: 51 (fixedTranslation.color[3],fixedTranslation.color[2],fixedTranslation.color[1],Revolute4.cylinderColor[3],Revolute4.cylinderColor[2],Revolute4.cylinderColor[1],Revolute3.cylinderColor[3],Revolute3.cylinderColor[2],Revolute3.cylinderColor[1],Revolute2.cylinderColor[3],Revolute2.cylinderColor[2],Revolute2.cylinderColor[1],frameTorque2.torqueColor[3],frameTorque2.torqueColor[2],frameTorque2.torqueColor[1],frameTorque2.forceColor[3],frameTorque2.forceColor[2],frameTorque2.forceColor[1],frameTorque1.torqueColor[3],frameTorque1.torqueColor[2],frameTorque1.torqueColor[1],frameTorque1.forceColor[3],frameTorque1.forceColor[2],frameTorque1.forceColor[1],body2.color[3],body2.color[2],body2.color[1],body2.body.sphereColor[3],body2.body.sphereColor[2],body2.body.sphereColor[1],body1.color[3],body1.color[2],body1.color[1],body1.body.sphereColor[3],body1.body.sphereColor[2],body1.body.sphereColor[1],Revolute1.cylinderColor[3],Revolute1.cylinderColor[2],Revolute1.cylinderColor[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 (1032): * Single equations (assignments): 1027 * Array equations: 3 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 0 * Torn equation systems: 2 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems (#iteration vars, #inner vars, density): 2 systems {(2,23,100.0%), (2,23,100.0%)} * Non-linear torn systems (#iteration vars, #inner vars): 0 systems Notification: Performance of prepare postOptimizeDAE: time 0.008858/1.459, allocations: 3.089 MB / 0.7947 GB, free: 185 MB / 0.5919 GB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001798/1.461, allocations: 0.5154 MB / 0.7952 GB, free: 185 MB / 0.5919 GB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01466/1.476, allocations: 8.409 MB / 0.8034 GB, free: 180.4 MB / 0.5919 GB Notification: Performance of postOpt inlineArrayEqn (simulation): time 3.995e-05/1.476, allocations: 36 kB / 0.8034 GB, free: 180.4 MB / 0.5919 GB Notification: Performance of postOpt constantLinearSystem (simulation): time 3.372e-05/1.476, allocations: 8 kB / 0.8034 GB, free: 180.4 MB / 0.5919 GB Notification: Performance of postOpt simplifysemiLinear (simulation): time 3.585e-05/1.476, allocations: 22.14 kB / 0.8034 GB, free: 180.4 MB / 0.5919 GB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.03892/1.515, allocations: 16.93 MB / 0.82 GB, free: 165 MB / 0.5919 GB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.134e-05/1.515, allocations: 0 / 0.82 GB, free: 165 MB / 0.5919 GB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.003271/1.518, allocations: 0.6124 MB / 0.8206 GB, free: 164.4 MB / 0.5919 GB Notification: Performance of postOpt tearingSystem (simulation): time 0.004663/1.523, allocations: 2.042 MB / 0.8226 GB, free: 162.3 MB / 0.5919 GB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.00051/1.523, allocations: 63.98 kB / 0.8226 GB, free: 162.3 MB / 0.5919 GB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.01466/1.538, allocations: 13.76 MB / 0.8361 GB, free: 148.3 MB / 0.5919 GB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 3.757e-06/1.538, allocations: 0 / 0.8361 GB, free: 148.3 MB / 0.5919 GB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.01716/1.555, allocations: 13.2 MB / 0.849 GB, free: 135.2 MB / 0.5919 GB Notification: Performance of postOpt removeConstants (simulation): time 0.002934/1.558, allocations: 1.173 MB / 0.8501 GB, free: 134 MB / 0.5919 GB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0007738/1.559, allocations: 59.98 kB / 0.8502 GB, free: 133.9 MB / 0.5919 GB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002605/1.561, allocations: 252.2 kB / 0.8504 GB, free: 133.7 MB / 0.5919 GB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0006249/1.562, allocations: 194.8 kB / 0.8506 GB, free: 133.5 MB / 0.5919 GB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002683/1.562, allocations: 97.62 kB / 0.8507 GB, free: 133.4 MB / 0.5919 GB Notification: Performance of sorting global known variables: time 0.005057/1.567, allocations: 3.362 MB / 0.854 GB, free: 130.1 MB / 0.5919 GB Notification: Performance of sort global known variables: time 3.01e-07/1.567, allocations: 0 / 0.854 GB, free: 130.1 MB / 0.5919 GB Notification: Performance of remove unused functions: time 0.007192/1.575, allocations: 1.684 MB / 0.8556 GB, free: 128.4 MB / 0.5919 GB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 4 * Number of states: 8 (Revolute1.phi,Revolute1.w,Revolute2.phi,Revolute2.w,Revolute3.phi,Revolute3.w,Revolute4.phi,Revolute4.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 (294): * Single equations (assignments): 289 * Array equations: 3 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 0 * Torn equation systems: 2 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems (#iteration vars, #inner vars, density): 2 systems {(4,18,75.0%), (4,18,75.0%)} * Non-linear torn systems (#iteration vars, #inner vars): 0 systems Notification: Performance of Backend phase and start with SimCode phase: time 0.0005482/1.575, allocations: 205.4 kB / 0.8558 GB, free: 128.2 MB / 0.5919 GB Notification: Performance of simCode: created initialization part: time 0.01193/1.587, allocations: 9.573 MB / 0.8651 GB, free: 118.6 MB / 0.5919 GB Notification: Performance of simCode: created event and clocks part: time 6.332e-06/1.587, allocations: 0 / 0.8651 GB, free: 118.6 MB / 0.5919 GB Notification: Performance of simCode: created simulation system equations: time 0.005379/1.593, allocations: 4.102 MB / 0.8692 GB, free: 114.5 MB / 0.5919 GB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.003732/1.596, allocations: 0.6839 MB / 0.8698 GB, free: 113.8 MB / 0.5919 GB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.02571/1.622, allocations: 15.92 MB / 0.8854 GB, free: 97.84 MB / 0.5919 GB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.004872/1.627, allocations: 4.795 MB / 0.89 GB, free: 93.01 MB / 0.5919 GB Notification: Performance of simCode: alias equations: time 0.005769/1.633, allocations: 2.643 MB / 0.8926 GB, free: 90.36 MB / 0.5919 GB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.001316/1.634, allocations: 383.3 kB / 0.893 GB, free: 89.98 MB / 0.5919 GB Notification: Performance of SimCode: time 1.032e-06/1.634, allocations: 0 / 0.893 GB, free: 89.98 MB / 0.5919 GB Notification: Performance of Templates: time 0.09425/1.728, allocations: 65.93 MB / 0.9574 GB, free: 24.13 MB / 0.5919 GB make -j1 -f ModelicaTest_3.2.3_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3.makefile (rm -f ModelicaTest_3.2.3_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3.pipe ; mkfifo ModelicaTest_3.2.3_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3.pipe ; head -c 1048576 < ModelicaTest_3.2.3_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3.pipe >> ../files/ModelicaTest_3.2.3_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3.sim & ./ModelicaTest_3.2.3_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3 -abortSlowSimulation -alarm=480 -emit_protected -lv LOG_STATS > ModelicaTest_3.2.3_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3.pipe 2>&1) diffSimulationResults("ModelicaTest_3.2.3_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3_res.mat","/var/lib/jenkins/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v3.2.3+build.4/ModelicaTest/MultiBody/Forces/FrameForcesAndTorques3/FrameForcesAndTorques3.csv","/var/lib/jenkins/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/ModelicaTest_3.2.3_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001) Reference file matches