Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetPulling.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)
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(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetPulling,fileNamePrefix="Modelica_4_0_0_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetPulling",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetPulling,fileNamePrefix="Modelica_4_0_0_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetPulling",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 0.001151/0.001151, allocations: 105.5 kB / 17.06 MB, free: 6.027 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001226/0.001226, allocations: 196 kB / 18 MB, free: 5.105 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo): time 1.432/1.432, allocations: 222.9 MB / 241.7 MB, free: 15.16 MB / 206.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.001262/0.001262, allocations: 43.92 kB / 350.8 MB, free: 3.746 MB / 286.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.3106/0.3119, allocations: 49.43 MB / 400.2 MB, free: 8.426 MB / 318.1 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetPulling): time 0.018/0.3299, allocations: 16.62 MB / 416.9 MB, free: 8.137 MB / 334.1 MB
Notification: Performance of NFInst.instExpressions: time 0.01231/0.3423, allocations: 5.764 MB / 422.6 MB, free: 2.355 MB / 334.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.003584/0.3459, allocations: 107.7 kB / 422.7 MB, free: 2.25 MB / 334.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.009858/0.3558, allocations: 5.203 MB / 427.9 MB, free: 13.03 MB / 350.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.007849/0.3637, allocations: 2.406 MB / 430.3 MB, free: 10.62 MB / 350.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.003656/0.3674, allocations: 1.501 MB / 431.8 MB, free: 9.113 MB / 350.1 MB
Notification: Performance of NFFlatten.flatten: time 0.009861/0.3773, allocations: 6.608 MB / 438.4 MB, free: 2.492 MB / 350.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.01024/0.3875, allocations: 6.574 MB / 445 MB, free: 11.85 MB / 366.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.005782/0.3934, allocations: 2.626 MB / 447.6 MB, free: 9.219 MB / 366.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.007078/0.4005, allocations: 4.325 MB / 452 MB, free: 4.883 MB / 366.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.00254/0.4031, allocations: 0.6719 MB / 452.6 MB, free: 4.211 MB / 366.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.006796/0.4099, allocations: 1.479 MB / 454.1 MB, free: 2.73 MB / 366.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.005514/0.4154, allocations: 3.055 MB / 457.2 MB, free: 15.67 MB / 382.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.007276/0.4227, allocations: 3.544 MB / 460.7 MB, free: 12.11 MB / 382.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.01519/0.4379, allocations: 11.6 MB / 472.3 MB, free: 476 kB / 382.1 MB
Notification: Performance of FrontEnd - DAE generated: time 8.696e-06/0.438, allocations: 7.938 kB / 472.3 MB, free: 468 kB / 382.1 MB
Notification: Performance of FrontEnd: time 2.244e-06/0.438, allocations: 0 / 472.3 MB, free: 468 kB / 382.1 MB
Notification: Performance of Transformations before backend: time 0.0003998/0.4384, allocations: 0 / 472.3 MB, free: 468 kB / 382.1 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 2047
 * Number of variables: 2047
Notification: Performance of Generate backend data structure: time 0.02178/0.4602, allocations: 7.4 MB / 479.7 MB, free: 8.973 MB / 398.1 MB
Notification: Performance of prepare preOptimizeDAE: time 5.306e-05/0.4603, allocations: 15.89 kB / 479.7 MB, free: 8.957 MB / 398.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.003305/0.4636, allocations: 0.9831 MB / 480.7 MB, free: 7.965 MB / 398.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.01012/0.4737, allocations: 2.27 MB / 483 MB, free: 5.684 MB / 398.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.01259/0.4863, allocations: 5.1 MB / 488.1 MB, free: 0.5234 MB / 398.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0003976/0.4868, allocations: 373.6 kB / 488.5 MB, free: 160 kB / 398.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.002134/0.4889, allocations: 499.6 kB / 489 MB, free: 15.67 MB / 414.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.02822/0.5172, allocations: 14.6 MB / 0.4917 GB, free: 192 kB / 414.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0002263/0.5174, allocations: 59.42 kB / 0.4918 GB, free: 132 kB / 414.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0008209/0.5183, allocations: 227.8 kB / 0.492 GB, free: 15.91 MB / 430.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.004718/0.523, allocations: 2.516 MB / 0.4945 GB, free: 13.39 MB / 430.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02669/0.5497, allocations: 12.73 MB / 0.5069 GB, free: 0.6445 MB / 430.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.3532/0.903, allocations: 58.18 MB / 0.5637 GB, free: 93.64 MB / 462.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.01686/0.9199, allocations: 7.106 MB / 0.5707 GB, free: 92.06 MB / 462.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.004972/0.9249, allocations: 4.826 MB / 0.5754 GB, free: 89.93 MB / 462.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.001182/0.9261, allocations: 1.281 MB / 0.5766 GB, free: 88.71 MB / 462.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 0.01519/0.9413, allocations: 5.17 MB / 0.5817 GB, free: 85.98 MB / 462.1 MB
Notification: Performance of pre-optimization done (n=306): time 1.005e-05/0.9413, allocations: 0 / 0.5817 GB, free: 85.98 MB / 462.1 MB
Notification: Performance of matching and sorting (n=401): time 0.1598/1.101, allocations: 48.7 MB / 0.6292 GB, free: 37.95 MB / 462.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 7.172e-05/1.101, allocations: 192.8 kB / 0.6294 GB, free: 37.72 MB / 462.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.006116/1.107, allocations: 5.005 MB / 0.6343 GB, free: 32.71 MB / 462.1 MB
Notification: Performance of collectPreVariables (initialization): time 0.0009555/1.108, allocations: 85.7 kB / 0.6344 GB, free: 32.62 MB / 462.1 MB
Notification: Performance of collectInitialEqns (initialization): time 0.002794/1.111, allocations: 3.978 MB / 0.6383 GB, free: 28.64 MB / 462.1 MB
Notification: Performance of collectInitialBindings (initialization): time 0.001867/1.113, allocations: 1.464 MB / 0.6397 GB, free: 27.2 MB / 462.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.002328/1.115, allocations: 1.635 MB / 0.6413 GB, free: 25.55 MB / 462.1 MB
Notification: Performance of setup shared object (initialization): time 4.851e-05/1.115, allocations: 309.2 kB / 0.6416 GB, free: 25.24 MB / 462.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.005351/1.121, allocations: 4.377 MB / 0.6459 GB, free: 20.86 MB / 462.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.00844/1.129, allocations: 8.614 MB / 0.6543 GB, free: 10.17 MB / 462.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01793/1.147, allocations: 14.08 MB / 0.668 GB, free: 10.02 MB / 478.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001542/1.147, allocations: 40 kB / 0.6681 GB, free: 9.977 MB / 478.1 MB
Notification: Performance of matching and sorting (n=1076) (initialization): time 0.03896/1.186, allocations: 17.53 MB / 0.6852 GB, free: 8.395 MB / 494.1 MB
Notification: Performance of prepare postOptimizeDAE: time 0.0001745/1.187, allocations: 72.25 kB / 0.6853 GB, free: 8.324 MB / 494.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0002598/1.187, allocations: 151.9 kB / 0.6854 GB, free: 8.176 MB / 494.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.01632/1.203, allocations: 5.377 MB / 0.6907 GB, free: 2.777 MB / 494.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.006708/1.21, allocations: 1.758 MB / 0.6924 GB, free: 1.016 MB / 494.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.05366/1.264, allocations: 35.12 MB / 0.7267 GB, free: 13.63 MB / 0.5294 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.008768/1.273, allocations: 0.5532 MB / 0.7272 GB, free: 13.08 MB / 0.5294 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.002355/1.275, allocations: 467.9 kB / 0.7277 GB, free: 12.62 MB / 0.5294 GB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 666
 * Number of states: 0 ()
 * Number of discrete variables: 59 ($PRE.combiTimeTable.nextTimeEvent,$whenCondition1,combiTimeTable.nextTimeEventScaled,$PRE.combiTimeTable.nextTimeEventScaled,combiTimeTable.nextTimeEvent,shape.color[3],shape.color[2],shape.color[1],fixedTranslation.color[3],fixedTranslation.color[2],fixedTranslation.color[1],body.sphereColor[3],body.sphereColor[2],body.sphereColor[1],wheelSet.wheelSetJoint.revolute2.cylinderColor[3],wheelSet.wheelSetJoint.revolute2.cylinderColor[2],wheelSet.wheelSetJoint.revolute2.cylinderColor[1],wheelSet.wheelSetJoint.revolute1.cylinderColor[3],wheelSet.wheelSetJoint.revolute1.cylinderColor[2],wheelSet.wheelSetJoint.revolute1.cylinderColor[1],wheelSet.wheelSetJoint.rod2.color[3],wheelSet.wheelSetJoint.rod2.color[2],wheelSet.wheelSetJoint.rod2.color[1],wheelSet.wheelSetJoint.revolute.cylinderColor[3],wheelSet.wheelSetJoint.revolute.cylinderColor[2],wheelSet.wheelSetJoint.revolute.cylinderColor[1],wheelSet.wheelSetJoint.prismatic2.boxColor[3],wheelSet.wheelSetJoint.prismatic2.boxColor[2],wheelSet.wheelSetJoint.prismatic2.boxColor[1],wheelSet.wheelSetJoint.prismatic1.boxColor[3],wheelSet.wheelSetJoint.prismatic1.boxColor[2],wheelSet.wheelSetJoint.prismatic1.boxColor[1],wheelSet.wheelSetJoint.rod1.color[3],wheelSet.wheelSetJoint.rod1.color[2],wheelSet.wheelSetJoint.rod1.color[1],wheelSet.wheelSetJoint.fixed.color[3],wheelSet.wheelSetJoint.fixed.color[2],wheelSet.wheelSetJoint.fixed.color[1],wheelSet.body1.sphereColor[3],wheelSet.body1.sphereColor[2],wheelSet.body1.sphereColor[1],wheelSet.body2.sphereColor[3],wheelSet.body2.sphereColor[2],wheelSet.body2.sphereColor[1],world.groundColor[3],world.groundColor[2],world.groundColor[1],world.gravityArrowColor[3],world.gravityArrowColor[2],world.gravityArrowColor[1],world.axisColor_x[3],world.axisColor_x[2],world.axisColor_x[1],world.gravitySphereColor[3],world.gravitySphereColor[2],world.gravitySphereColor[1],force.color[3],force.color[2],force.color[1])
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (906):
 * Single equations (assignments): 897
 * Array equations: 4
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (not torn): 3
 * Torn equation systems: 2
 * Mixed (continuous/discrete) equation systems: 0
Notification: Equation system details (not torn):
 * Constant Jacobian (size): 0 systems
 * Linear Jacobian (size,density): 3 systems
   {(2,100.0%), (2,100.0%), (2,100.0%)}
 * Non-linear Jacobian (size): 0 systems
 * Without analytic Jacobian (size): 0 systems
Notification: Torn system details for strict tearing set:
 * Linear torn systems (#iteration vars, #inner vars, density): 2 systems
   {(8,104,57.8%), (2,23,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of prepare postOptimizeDAE: time 0.009011/1.284, allocations: 3.008 MB / 0.7306 GB, free: 9.598 MB / 0.5294 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001594/1.286, allocations: 493.6 kB / 0.7311 GB, free: 9.109 MB / 0.5294 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.3228/1.608, allocations: 12.19 MB / 0.743 GB, free: 186.6 MB / 0.5294 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.0001235/1.609, allocations: 51.91 kB / 0.743 GB, free: 186.6 MB / 0.5294 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 6.717e-05/1.609, allocations: 26.03 kB / 0.743 GB, free: 186.6 MB / 0.5294 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 7.707e-05/1.609, allocations: 16.56 kB / 0.7431 GB, free: 186.6 MB / 0.5294 GB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.04425/1.653, allocations: 24.3 MB / 0.7668 GB, free: 179.3 MB / 0.5294 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.886e-05/1.653, allocations: 0 / 0.7668 GB, free: 179.3 MB / 0.5294 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002607/1.656, allocations: 0.541 MB / 0.7673 GB, free: 179.2 MB / 0.5294 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.01287/1.669, allocations: 5.011 MB / 0.7722 GB, free: 177.3 MB / 0.5294 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0009991/1.67, allocations: 79.45 kB / 0.7723 GB, free: 177.3 MB / 0.5294 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.04057/1.71, allocations: 33.7 MB / 0.8052 GB, free: 143.6 MB / 0.5294 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 5.54e-06/1.71, allocations: 7.938 kB / 0.8052 GB, free: 143.6 MB / 0.5294 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.02564/1.736, allocations: 17.98 MB / 0.8228 GB, free: 125.8 MB / 0.5294 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.001382/1.737, allocations: 0.5293 MB / 0.8233 GB, free: 125.5 MB / 0.5294 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001191/1.738, allocations: 76.77 kB / 0.8234 GB, free: 125.4 MB / 0.5294 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002916/1.741, allocations: 311.5 kB / 0.8237 GB, free: 125.1 MB / 0.5294 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.001015/1.742, allocations: 286.8 kB / 0.8239 GB, free: 124.9 MB / 0.5294 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0003187/1.743, allocations: 110.8 kB / 0.824 GB, free: 124.8 MB / 0.5294 GB
Notification: Performance of sorting global known variables: time 0.004157/1.747, allocations: 3.192 MB / 0.8271 GB, free: 121.6 MB / 0.5294 GB
Notification: Performance of sort global known variables: time 1.5e-07/1.747, allocations: 0 / 0.8271 GB, free: 121.6 MB / 0.5294 GB
Notification: Performance of remove unused functions: time 0.007102/1.754, allocations: 1.841 MB / 0.8289 GB, free: 119.7 MB / 0.5294 GB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 16
 * Number of states: 7 (wheelSet.x,wheelSet.y,wheelSet.phi,wheelSet.theta1,wheelSet.theta2,wheelSet.der_theta1,wheelSet.der_theta2)
 * Number of discrete variables: 3 ($whenCondition1,combiTimeTable.nextTimeEvent,combiTimeTable.nextTimeEventScaled)
 * Number of discrete states: 2 (combiTimeTable.nextTimeEvent,combiTimeTable.nextTimeEventScaled)
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (243):
 * Single equations (assignments): 232
 * Array equations: 4
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 2
 * If-equations: 0
 * Equation systems (not torn): 3
 * Torn equation systems: 2
 * Mixed (continuous/discrete) equation systems: 0
Notification: Equation system details (not torn):
 * Constant Jacobian (size): 0 systems
 * Linear Jacobian (size,density): 3 systems
   {(2,100.0%), (2,100.0%), (2,100.0%)}
 * Non-linear Jacobian (size): 0 systems
 * Without analytic Jacobian (size): 0 systems
Notification: Torn system details for strict tearing set:
 * Linear torn systems (#iteration vars, #inner vars, density): 2 systems
   {(8,101,71.9%), (1,21,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of Backend phase and start with SimCode phase: time 0.02635/1.78, allocations: 19 MB / 0.8475 GB, free: 100.9 MB / 0.5294 GB
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/Mechanics/MultiBody/Parts/RollingWheelSet.mo:42:3-45:53:writable] Warning: Variable $DER.wheelSet.der_theta1 has attribute stateSelect=StateSelect.always, but can't be selected as a state.
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/Mechanics/MultiBody/Parts/RollingWheelSet.mo:46:3-49:53:writable] Warning: Variable $DER.wheelSet.der_theta2 has attribute stateSelect=StateSelect.always, but can't be selected as a state.
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/Mechanics/MultiBody/Parts/RollingWheelSet.mo:42:3-45:53:writable] Warning: Variable $DER.wheelSet.der_theta1 has attribute stateSelect=StateSelect.always, but can't be selected as a state.
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/Mechanics/MultiBody/Parts/RollingWheelSet.mo:46:3-49:53:writable] Warning: Variable $DER.wheelSet.der_theta2 has attribute stateSelect=StateSelect.always, but can't be selected as a state.
Notification: Performance of simCode: created initialization part: time 0.01548/1.796, allocations: 11.69 MB / 0.8589 GB, free: 89.12 MB / 0.5294 GB
Notification: Performance of simCode: created event and clocks part: time 8.016e-06/1.796, allocations: 4 kB / 0.8589 GB, free: 89.12 MB / 0.5294 GB
Notification: Performance of simCode: created simulation system equations: time 0.008224/1.804, allocations: 5.732 MB / 0.8645 GB, free: 83.3 MB / 0.5294 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.004031/1.808, allocations: 0.7115 MB / 0.8652 GB, free: 82.62 MB / 0.5294 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.3601/2.168, allocations: 82.1 MB / 0.9454 GB, free: 176 MB / 0.5294 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.005684/2.174, allocations: 4.576 MB / 0.9499 GB, free: 175.2 MB / 0.5294 GB
Notification: Performance of simCode: alias equations: time 0.00552/2.18, allocations: 2.469 MB / 0.9523 GB, free: 175.1 MB / 0.5294 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.003631/2.183, allocations: 2.758 MB / 0.955 GB, free: 174.5 MB / 0.5294 GB
Notification: Performance of SimCode: time 1.483e-06/2.183, allocations: 0 / 0.955 GB, free: 174.5 MB / 0.5294 GB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.1884/2.372, allocations: 144 MB / 1.096 GB, free: 39.85 MB / 0.5294 GB
Notification: Performance of buildModelFMU: Generate platform static: time 24.52/26.89, allocations: 8.062 kB / 1.096 GB, free: 39.84 MB / 0.5294 GB
(rm -f Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetPulling.pipe ; mkfifo Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetPulling.pipe ; head -c 1048576 < Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetPulling.pipe >> ../files/Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetPulling.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetPulling_res.mat --tempDir=temp_Modelica_4_0_0_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetPulling_fmu --startTime=0 --stopTime=3 --timeout=50 --tolerance=1e-06 Modelica_4_0_0_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetPulling.fmu > Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetPulling.pipe 2>&1)
diffSimulationResults("Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetPulling_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/Modelica/Mechanics/MultiBody/Examples/Elementary/RollingWheelSetPulling/RollingWheelSetPulling.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetPulling.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
""

Variables in the reference:time,wheelSet.der_theta1,wheelSet.der_theta2,wheelSet.phi,wheelSet.theta1,wheelSet.theta2,wheelSet.x,wheelSet.y

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],combiTimeTable.columns[1],combiTimeTable.columns[2],combiTimeTable.columns[3],combiTimeTable.extrapolation,combiTimeTable.nout,combiTimeTable.offset[1],combiTimeTable.shiftTime,combiTimeTable.smoothness,combiTimeTable.startTime,combiTimeTable.t_max,combiTimeTable.t_maxScaled,combiTimeTable.t_min,combiTimeTable.t_minScaled,combiTimeTable.tableOnFile,combiTimeTable.table[1,1],combiTimeTable.table[1,2],combiTimeTable.table[1,3],combiTimeTable.table[1,4],combiTimeTable.table[2,1],combiTimeTable.table[2,2],combiTimeTable.table[2,3],combiTimeTable.table[2,4],combiTimeTable.table[3,1],combiTimeTable.table[3,2],combiTimeTable.table[3,3],combiTimeTable.table[3,4],combiTimeTable.table[4,1],combiTimeTable.table[4,2],combiTimeTable.table[4,3],combiTimeTable.table[4,4],combiTimeTable.timeEvents,combiTimeTable.timeScale,combiTimeTable.verboseExtrapolation,combiTimeTable.verboseRead,combiTimeTable.y[1],combiTimeTable.y[2],combiTimeTable.y[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(der(fixedTranslation.frame_a.r_0[1])),der(der(fixedTranslation.frame_a.r_0[2])),der(der(fixedTranslation.frame_a.r_0[3])),der(der(wheelSet.wheelSetJoint.prismatic1.frame_b.r_0[1])),der(der(wheelSet.wheelSetJoint.prismatic1.frame_b.r_0[2])),der(der(wheelSet.wheelSetJoint.prismatic1.frame_b.r_0[3])),der(der(wheelSet.x)),der(der(wheelSet.y)),der(fixedTranslation.frame_a.r_0[1]),der(fixedTranslation.frame_a.r_0[2]),der(fixedTranslation.frame_a.r_0[3]),der(shape.frame_a.R.T[1,1]),der(shape.frame_a.R.T[1,2]),der(shape.frame_a.R.T[2,1]),der(shape.frame_a.R.T[2,2]),der(shape.frame_a.R.T[3,1]),der(shape.frame_a.R.T[3,2]),der(wheelSet.body1.v_0[1]),der(wheelSet.body1.v_0[2]),der(wheelSet.body1.v_0[3]),der(wheelSet.body1.w_a[1]),der(wheelSet.body1.w_a[2]),der(wheelSet.body1.w_a[3]),der(wheelSet.body2.v_0[1]),der(wheelSet.body2.v_0[2]),der(wheelSet.body2.v_0[3]),der(wheelSet.body2.w_a[1]),der(wheelSet.body2.w_a[2]),der(wheelSet.body2.w_a[3]),der(wheelSet.der_theta1),der(wheelSet.der_theta2),der(wheelSet.frame1.R.T[3,1]),der(wheelSet.frame2.R.T[1,2]),der(wheelSet.phi),der(wheelSet.theta1),der(wheelSet.theta2),der(wheelSet.wheelSetJoint.prismatic1.frame_b.r_0[1]),der(wheelSet.wheelSetJoint.prismatic1.frame_b.r_0[2]),der(wheelSet.wheelSetJoint.prismatic1.frame_b.r_0[3]),der(wheelSet.wheelSetJoint.prismatic1.v),der(wheelSet.wheelSetJoint.prismatic2.v),der(wheelSet.wheelSetJoint.revolute.w),der(wheelSet.wheelSetJoint.rolling1.frame_a.r_0[1]),der(wheelSet.wheelSetJoint.rolling1.frame_a.r_0[2]),der(wheelSet.wheelSetJoint.rolling1.frame_a.r_0[3]),der(wheelSet.wheelSetJoint.rolling2.frame_a.r_0[1]),der(wheelSet.wheelSetJoint.rolling2.frame_a.r_0[2]),der(wheelSet.wheelSetJoint.rolling2.frame_a.r_0[3]),der(wheelSet.x),der(wheelSet.y),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],force.animation,force.basicWorldForce.force[1],force.basicWorldForce.force[2],force.basicWorldForce.force[3],force.basicWorldForce.frame_b.R.T[1,1],force.basicWorldForce.frame_b.R.T[1,2],force.basicWorldForce.frame_b.R.T[1,3],force.basicWorldForce.frame_b.R.T[2,1],force.basicWorldForce.frame_b.R.T[2,2],force.basicWorldForce.frame_b.R.T[2,3],force.basicWorldForce.frame_b.R.T[3,1],force.basicWorldForce.frame_b.R.T[3,2],force.basicWorldForce.frame_b.R.T[3,3],force.basicWorldForce.frame_b.R.w[1],force.basicWorldForce.frame_b.R.w[2],force.basicWorldForce.frame_b.R.w[3],force.basicWorldForce.frame_b.f[1],force.basicWorldForce.frame_b.f[2],force.basicWorldForce.frame_b.f[3],force.basicWorldForce.frame_b.r_0[1],force.basicWorldForce.frame_b.r_0[2],force.basicWorldForce.frame_b.r_0[3],force.basicWorldForce.frame_b.t[1],force.basicWorldForce.frame_b.t[2],force.basicWorldForce.frame_b.t[3],force.basicWorldForce.frame_resolve.R.T[1,1],force.basicWorldForce.frame_resolve.R.T[1,2],force.basicWorldForce.frame_resolve.R.T[1,3],force.basicWorldForce.frame_resolve.R.T[2,1],force.basicWorldForce.frame_resolve.R.T[2,2],force.basicWorldForce.frame_resolve.R.T[2,3],force.basicWorldForce.frame_resolve.R.T[3,1],force.basicWorldForce.frame_resolve.R.T[3,2],force.basicWorldForce.frame_resolve.R.T[3,3],force.basicWorldForce.frame_resolve.R.w[1],force.basicWorldForce.frame_resolve.R.w[2],force.basicWorldForce.frame_resolve.R.w[3],force.basicWorldForce.frame_resolve.f[1],force.basicWorldForce.frame_resolve.f[2],force.basicWorldForce.frame_resolve.f[3],force.basicWorldForce.frame_resolve.r_0[1],force.basicWorldForce.frame_resolve.r_0[2],force.basicWorldForce.frame_resolve.r_0[3],force.basicWorldForce.frame_resolve.t[1],force.basicWorldForce.frame_resolve.t[2],force.basicWorldForce.frame_resolve.t[3],force.basicWorldForce.resolveInFrame,force.color[1],force.color[2],force.color[3],force.force[1],force.force[2],force.force[3],force.frame_b.R.T[1,1],force.frame_b.R.T[1,2],force.frame_b.R.T[1,3],force.frame_b.R.T[2,1],force.frame_b.R.T[2,2],force.frame_b.R.T[2,3],force.frame_b.R.T[3,1],force.frame_b.R.T[3,2],force.frame_b.R.T[3,3],force.frame_b.R.w[1],force.frame_b.R.w[2],force.frame_b.R.w[3],force.frame_b.f[1],force.frame_b.f[2],force.frame_b.f[3],force.frame_b.r_0[1],force.frame_b.r_0[2],force.frame_b.r_0[3],force.frame_b.t[1],force.frame_b.t[2],force.frame_b.t[3],force.resolveInFrame,force.specularCoefficient,shape.animation,shape.color[1],shape.color[2],shape.color[3],shape.extra,shape.frame_a.R.T[1,1],shape.frame_a.R.T[1,2],shape.frame_a.R.T[1,3],shape.frame_a.R.T[2,1],shape.frame_a.R.T[2,2],shape.frame_a.R.T[2,3],shape.frame_a.R.T[3,1],shape.frame_a.R.T[3,2],shape.frame_a.R.T[3,3],shape.frame_a.R.w[1],shape.frame_a.R.w[2],shape.frame_a.R.w[3],shape.frame_a.f[1],shape.frame_a.f[2],shape.frame_a.f[3],shape.frame_a.r_0[1],shape.frame_a.r_0[2],shape.frame_a.r_0[3],shape.frame_a.t[1],shape.frame_a.t[2],shape.frame_a.t[3],shape.height,shape.length,shape.lengthDirection[1],shape.lengthDirection[2],shape.lengthDirection[3],shape.r_shape[1],shape.r_shape[2],shape.r_shape[3],shape.specularCoefficient,shape.width,shape.widthDirection[1],shape.widthDirection[2],shape.widthDirection[3],time,wheelSet.I_wheelAxis,wheelSet.I_wheelLong,wheelSet.R_wheel,wheelSet.animation,wheelSet.axis1.phi,wheelSet.axis1.tau,wheelSet.axis2.phi,wheelSet.axis2.tau,wheelSet.body1.I[1,1],wheelSet.body1.I[1,2],wheelSet.body1.I[1,3],wheelSet.body1.I[2,1],wheelSet.body1.I[2,2],wheelSet.body1.I[2,3],wheelSet.body1.I[3,1],wheelSet.body1.I[3,2],wheelSet.body1.I[3,3],wheelSet.body1.I_11,wheelSet.body1.I_21,wheelSet.body1.I_22,wheelSet.body1.I_31,wheelSet.body1.I_32,wheelSet.body1.I_33,wheelSet.body1.R_start.T[1,1],wheelSet.body1.R_start.T[1,2],wheelSet.body1.R_start.T[1,3],wheelSet.body1.R_start.T[2,1],wheelSet.body1.R_start.T[2,2],wheelSet.body1.R_start.T[2,3],wheelSet.body1.R_start.T[3,1],wheelSet.body1.R_start.T[3,2],wheelSet.body1.R_start.T[3,3],wheelSet.body1.R_start.w[1],wheelSet.body1.R_start.w[2],wheelSet.body1.R_start.w[3],wheelSet.body1.a_0[1],wheelSet.body1.a_0[2],wheelSet.body1.a_0[3],wheelSet.body1.angles_fixed,wheelSet.body1.angles_start[1],wheelSet.body1.angles_start[2],wheelSet.body1.angles_start[3],wheelSet.body1.animation,wheelSet.body1.cylinderColor[1],wheelSet.body1.cylinderColor[2],wheelSet.body1.cylinderColor[3],wheelSet.body1.cylinderDiameter,wheelSet.body1.enforceStates,wheelSet.body1.frame_a.R.T[1,1],wheelSet.body1.frame_a.R.T[1,2],wheelSet.body1.frame_a.R.T[1,3],wheelSet.body1.frame_a.R.T[2,1],wheelSet.body1.frame_a.R.T[2,2],wheelSet.body1.frame_a.R.T[2,3],wheelSet.body1.frame_a.R.T[3,1],wheelSet.body1.frame_a.R.T[3,2],wheelSet.body1.frame_a.R.T[3,3],wheelSet.body1.frame_a.R.w[1],wheelSet.body1.frame_a.R.w[2],wheelSet.body1.frame_a.R.w[3],wheelSet.body1.frame_a.f[1],wheelSet.body1.frame_a.f[2],wheelSet.body1.frame_a.f[3],wheelSet.body1.frame_a.r_0[1],wheelSet.body1.frame_a.r_0[2],wheelSet.body1.frame_a.r_0[3],wheelSet.body1.frame_a.t[1],wheelSet.body1.frame_a.t[2],wheelSet.body1.frame_a.t[3],wheelSet.body1.g_0[1],wheelSet.body1.g_0[2],wheelSet.body1.g_0[3],wheelSet.body1.m,wheelSet.body1.r_0[1],wheelSet.body1.r_0[2],wheelSet.body1.r_0[3],wheelSet.body1.r_CM[1],wheelSet.body1.r_CM[2],wheelSet.body1.r_CM[3],wheelSet.body1.sequence_angleStates[1],wheelSet.body1.sequence_angleStates[2],wheelSet.body1.sequence_angleStates[3],wheelSet.body1.sequence_start[1],wheelSet.body1.sequence_start[2],wheelSet.body1.sequence_start[3],wheelSet.body1.specularCoefficient,wheelSet.body1.sphereColor[1],wheelSet.body1.sphereColor[2],wheelSet.body1.sphereColor[3],wheelSet.body1.sphereDiameter,wheelSet.body1.useQuaternions,wheelSet.body1.v_0[1],wheelSet.body1.v_0[2],wheelSet.body1.v_0[3],wheelSet.body1.w_0_fixed,wheelSet.body1.w_0_start[1],wheelSet.body1.w_0_start[2],wheelSet.body1.w_0_start[3],wheelSet.body1.w_a[1],wheelSet.body1.w_a[2],wheelSet.body1.w_a[3],wheelSet.body1.z_0_fixed,wheelSet.body1.z_0_start[1],wheelSet.body1.z_0_start[2],wheelSet.body1.z_0_start[3],wheelSet.body1.z_a[1],wheelSet.body1.z_a[2],wheelSet.body1.z_a[3],wheelSet.body2.I[1,1],wheelSet.body2.I[1,2],wheelSet.body2.I[1,3],wheelSet.body2.I[2,1],wheelSet.body2.I[2,2],wheelSet.body2.I[2,3],wheelSet.body2.I[3,1],wheelSet.body2.I[3,2],wheelSet.body2.I[3,3],wheelSet.body2.I_11,wheelSet.body2.I_21,wheelSet.body2.I_22,wheelSet.body2.I_31,wheelSet.body2.I_32,wheelSet.body2.I_33,wheelSet.body2.R_start.T[1,1],wheelSet.body2.R_start.T[1,2],wheelSet.body2.R_start.T[1,3],wheelSet.body2.R_start.T[2,1],wheelSet.body2.R_start.T[2,2],wheelSet.body2.R_start.T[2,3],wheelSet.body2.R_start.T[3,1],wheelSet.body2.R_start.T[3,2],wheelSet.body2.R_start.T[3,3],wheelSet.body2.R_start.w[1],wheelSet.body2.R_start.w[2],wheelSet.body2.R_start.w[3],wheelSet.body2.a_0[1],wheelSet.body2.a_0[2],wheelSet.body2.a_0[3],wheelSet.body2.angles_fixed,wheelSet.body2.angles_start[1],wheelSet.body2.angles_start[2],wheelSet.body2.angles_start[3],wheelSet.body2.animation,wheelSet.body2.cylinderColor[1],wheelSet.body2.cylinderColor[2],wheelSet.body2.cylinderColor[3],wheelSet.body2.cylinderDiameter,wheelSet.body2.enforceStates,wheelSet.body2.frame_a.R.T[1,1],wheelSet.body2.frame_a.R.T[1,2],wheelSet.body2.frame_a.R.T[1,3],wheelSet.body2.frame_a.R.T[2,1],wheelSet.body2.frame_a.R.T[2,2],wheelSet.body2.frame_a.R.T[2,3],wheelSet.body2.frame_a.R.T[3,1],wheelSet.body2.frame_a.R.T[3,2],wheelSet.body2.frame_a.R.T[3,3],wheelSet.body2.frame_a.R.w[1],wheelSet.body2.frame_a.R.w[2],wheelSet.body2.frame_a.R.w[3],wheelSet.body2.frame_a.f[1],wheelSet.body2.frame_a.f[2],wheelSet.body2.frame_a.f[3],wheelSet.body2.frame_a.r_0[1],wheelSet.body2.frame_a.r_0[2],wheelSet.body2.frame_a.r_0[3],wheelSet.body2.frame_a.t[1],wheelSet.body2.frame_a.t[2],wheelSet.body2.frame_a.t[3],wheelSet.body2.g_0[1],wheelSet.body2.g_0[2],wheelSet.body2.g_0[3],wheelSet.body2.m,wheelSet.body2.r_0[1],wheelSet.body2.r_0[2],wheelSet.body2.r_0[3],wheelSet.body2.r_CM[1],wheelSet.body2.r_CM[2],wheelSet.body2.r_CM[3],wheelSet.body2.sequence_angleStates[1],wheelSet.body2.sequence_angleStates[2],wheelSet.body2.sequence_angleStates[3],wheelSet.body2.sequence_start[1],wheelSet.body2.sequence_start[2],wheelSet.body2.sequence_start[3],wheelSet.body2.specularCoefficient,wheelSet.body2.sphereColor[1],wheelSet.body2.sphereColor[2],wheelSet.body2.sphereColor[3],wheelSet.body2.sphereDiameter,wheelSet.body2.useQuaternions,wheelSet.body2.v_0[1],wheelSet.body2.v_0[2],wheelSet.body2.v_0[3],wheelSet.body2.w_0_fixed,w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