Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.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)
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(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving,fileNamePrefix="Modelica_trunk_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetDriving",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving,fileNamePrefix="Modelica_trunk_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetDriving",fmuType="me",version="2.0",platforms={"static"})
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo): time 0.00119/0.00119, allocations: 118.8 kB / 17.79 MB, free: 5.262 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo): time 0.001347/0.001347, allocations: 202 kB / 18.73 MB, free: 4.32 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo): time 1.42/1.42, allocations: 227.4 MB / 246.9 MB, free: 10.44 MB / 206.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.001289/0.001289, allocations: 59.91 kB / 358.2 MB, free: 13.41 MB / 302.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.2988/0.3001, allocations: 50.55 MB / 408.8 MB, free: 1.527 MB / 318.1 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving): time 0.01759/0.3178, allocations: 15.94 MB / 424.7 MB, free: 1.52 MB / 334.1 MB
Notification: Performance of NFInst.instExpressions: time 0.01147/0.3293, allocations: 5.161 MB / 429.9 MB, free: 12.35 MB / 350.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.003507/0.3328, allocations: 115.6 kB / 430 MB, free: 12.23 MB / 350.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.009837/0.3428, allocations: 4.606 MB / 434.6 MB, free: 7.613 MB / 350.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.008891/0.3517, allocations: 2.26 MB / 436.8 MB, free: 5.344 MB / 350.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.00319/0.3549, allocations: 1.338 MB / 438.2 MB, free: 4.004 MB / 350.1 MB
Notification: Performance of NFFlatten.flatten: time 0.008649/0.3636, allocations: 6.581 MB / 444.8 MB, free: 13.41 MB / 366.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.007967/0.3716, allocations: 6.109 MB / 450.9 MB, free: 7.234 MB / 366.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.004064/0.3757, allocations: 2.477 MB / 453.3 MB, free: 4.75 MB / 366.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.005929/0.3816, allocations: 4.259 MB / 457.6 MB, free: 492 kB / 366.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.001904/0.3836, allocations: 0.6407 MB / 458.2 MB, free: 15.84 MB / 382.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.003407/0.387, allocations: 1.381 MB / 459.6 MB, free: 14.46 MB / 382.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.004102/0.3911, allocations: 2.884 MB / 462.5 MB, free: 11.57 MB / 382.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.006002/0.3971, allocations: 3.366 MB / 465.9 MB, free: 8.184 MB / 382.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.01537/0.4125, allocations: 11.01 MB / 476.9 MB, free: 13.14 MB / 398.1 MB
Notification: Performance of FrontEnd - DAE generated: time 8.906e-06/0.4126, allocations: 0 / 476.9 MB, free: 13.14 MB / 398.1 MB
Notification: Performance of FrontEnd: time 2.044e-06/0.4126, allocations: 0 / 476.9 MB, free: 13.14 MB / 398.1 MB
Notification: Performance of Transformations before backend: time 0.0004393/0.413, allocations: 4 kB / 476.9 MB, free: 13.13 MB / 398.1 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 1959
 * Number of variables: 1959
Notification: Performance of Generate backend data structure: time 0.02265/0.4357, allocations: 7.063 MB / 484 MB, free: 5.992 MB / 398.1 MB
Notification: Performance of prepare preOptimizeDAE: time 4.913e-05/0.4358, allocations: 16.02 kB / 484 MB, free: 5.977 MB / 398.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.002827/0.4386, allocations: 0.9379 MB / 484.9 MB, free: 5.027 MB / 398.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.009544/0.4482, allocations: 2.255 MB / 487.2 MB, free: 2.762 MB / 398.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.01053/0.4587, allocations: 4.65 MB / 491.8 MB, free: 14.05 MB / 414.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0003181/0.4591, allocations: 345 kB / 492.2 MB, free: 13.71 MB / 414.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.001915/0.461, allocations: 475.6 kB / 492.6 MB, free: 13.25 MB / 414.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.02784/0.4889, allocations: 14.03 MB / 0.4948 GB, free: 14.4 MB / 430.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0002368/0.4892, allocations: 55.44 kB / 0.4948 GB, free: 14.35 MB / 430.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0009806/0.4902, allocations: 215.8 kB / 0.495 GB, free: 14.14 MB / 430.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.004353/0.4945, allocations: 2.457 MB / 0.4974 GB, free: 11.68 MB / 430.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02519/0.5197, allocations: 12.37 MB / 0.5095 GB, free: 15.3 MB / 446.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.3064/0.8262, allocations: 55.97 MB / 0.5642 GB, free: 89.13 MB / 462.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.01571/0.8419, allocations: 6.845 MB / 0.5709 GB, free: 87.58 MB / 462.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.004908/0.8469, allocations: 4.677 MB / 0.5754 GB, free: 85.52 MB / 462.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.001108/0.848, allocations: 1.285 MB / 0.5767 GB, free: 84.35 MB / 462.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 3.325e-05/0.8481, allocations: 60.84 kB / 0.5767 GB, free: 84.29 MB / 462.1 MB
Notification: Performance of pre-optimization done (n=296): time 4.879e-06/0.8481, allocations: 7.406 kB / 0.5767 GB, free: 84.29 MB / 462.1 MB
Notification: Performance of matching and sorting (n=387): time 0.1317/0.9798, allocations: 45.04 MB / 0.6207 GB, free: 42.82 MB / 462.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 6.741e-05/0.9799, allocations: 188.7 kB / 0.6209 GB, free: 42.6 MB / 462.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.005467/0.9853, allocations: 4.681 MB / 0.6255 GB, free: 37.91 MB / 462.1 MB
Notification: Performance of collectPreVariables (initialization): time 0.0008403/0.9862, allocations: 81.7 kB / 0.6256 GB, free: 37.83 MB / 462.1 MB
Notification: Performance of collectInitialEqns (initialization): time 0.001592/0.9878, allocations: 3.693 MB / 0.6292 GB, free: 34.13 MB / 462.1 MB
Notification: Performance of collectInitialBindings (initialization): time 0.001415/0.9892, allocations: 1.388 MB / 0.6305 GB, free: 32.75 MB / 462.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.001971/0.9912, allocations: 1.563 MB / 0.632 GB, free: 31.19 MB / 462.1 MB
Notification: Performance of setup shared object (initialization): time 6.525e-05/0.9913, allocations: 301.1 kB / 0.6323 GB, free: 30.89 MB / 462.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.004673/0.996, allocations: 4.208 MB / 0.6364 GB, free: 26.68 MB / 462.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.005943/1.002, allocations: 8.196 MB / 0.6445 GB, free: 16.56 MB / 462.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01249/1.014, allocations: 13.43 MB / 0.6576 GB, free: 1.172 MB / 462.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 9.464e-05/1.015, allocations: 40 kB / 0.6576 GB, free: 1.133 MB / 462.1 MB
Notification: Performance of matching and sorting (n=1021) (initialization): time 0.03663/1.051, allocations: 16.93 MB / 0.6741 GB, free: 152 kB / 478.1 MB
Notification: Performance of prepare postOptimizeDAE: time 0.0001981/1.051, allocations: 60 kB / 0.6742 GB, free: 92 kB / 478.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0002688/1.052, allocations: 144.2 kB / 0.6743 GB, free: 15.95 MB / 494.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.0145/1.066, allocations: 5.342 MB / 0.6796 GB, free: 10.59 MB / 494.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.005818/1.072, allocations: 1.669 MB / 0.6812 GB, free: 8.914 MB / 494.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.05069/1.123, allocations: 35.02 MB / 0.7154 GB, free: 5.629 MB / 0.5138 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.00648/1.129, allocations: 0.5295 MB / 0.7159 GB, free: 5.102 MB / 0.5138 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001342/1.131, allocations: 439.9 kB / 0.7163 GB, free: 4.672 MB / 0.5138 GB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 626
 * Number of states: 0 ()
 * Number of discrete variables: 51 (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])
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (854):
 * Single equations (assignments): 845
 * 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
   {(8,101,57.8%), (1,24,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of prepare postOptimizeDAE: time 0.005212/1.136, allocations: 2.868 MB / 0.7191 GB, free: 1.793 MB / 0.5138 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001096/1.137, allocations: 469.9 kB / 0.7196 GB, free: 1.328 MB / 0.5138 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.02293/1.16, allocations: 11.89 MB / 0.7312 GB, free: 5.359 MB / 0.5294 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.0001102/1.16, allocations: 55.73 kB / 0.7312 GB, free: 5.309 MB / 0.5294 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 5.214e-05/1.16, allocations: 27.94 kB / 0.7313 GB, free: 5.281 MB / 0.5294 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 8.092e-05/1.16, allocations: 19.94 kB / 0.7313 GB, free: 5.262 MB / 0.5294 GB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.276/1.436, allocations: 23.6 MB / 0.7543 GB, free: 176 MB / 0.5294 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.906e-05/1.436, allocations: 3.812 kB / 0.7543 GB, free: 176 MB / 0.5294 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002416/1.439, allocations: 0.5241 MB / 0.7548 GB, free: 176 MB / 0.5294 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.01212/1.451, allocations: 4.999 MB / 0.7597 GB, free: 174.8 MB / 0.5294 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0007853/1.452, allocations: 67.34 kB / 0.7598 GB, free: 174.8 MB / 0.5294 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.03516/1.487, allocations: 31.75 MB / 0.7908 GB, free: 148.9 MB / 0.5294 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 6.011e-06/1.487, allocations: 8 kB / 0.7908 GB, free: 148.9 MB / 0.5294 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.02607/1.513, allocations: 17.74 MB / 0.8081 GB, free: 131.3 MB / 0.5294 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.001414/1.514, allocations: 0.5088 MB / 0.8086 GB, free: 131 MB / 0.5294 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001126/1.516, allocations: 67.92 kB / 0.8087 GB, free: 131 MB / 0.5294 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.003053/1.519, allocations: 311.5 kB / 0.809 GB, free: 130.7 MB / 0.5294 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.00108/1.52, allocations: 274.8 kB / 0.8092 GB, free: 130.4 MB / 0.5294 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002974/1.52, allocations: 103.4 kB / 0.8093 GB, free: 130.3 MB / 0.5294 GB
Notification: Performance of sorting global known variables: time 0.003814/1.524, allocations: 2.998 MB / 0.8123 GB, free: 127.3 MB / 0.5294 GB
Notification: Performance of sort global known variables: time 1.3e-07/1.524, allocations: 0 / 0.8123 GB, free: 127.3 MB / 0.5294 GB
Notification: Performance of remove unused functions: time 0.007019/1.531, allocations: 1.753 MB / 0.814 GB, free: 125.6 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: 0 ()
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (232):
 * Single equations (assignments): 223
 * 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
   {(8,98,71.9%), (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 0.02563/1.557, allocations: 18.44 MB / 0.832 GB, free: 107 MB / 0.5294 GB
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/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 trunk/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 trunk/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 trunk/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.
Notification: Performance of simCode: created initialization part: time 0.01582/1.572, allocations: 11.29 MB / 0.843 GB, free: 95.71 MB / 0.5294 GB
Notification: Performance of simCode: created event and clocks part: time 9.267e-06/1.572, allocations: 0 / 0.843 GB, free: 95.71 MB / 0.5294 GB
Notification: Performance of simCode: created simulation system equations: time 0.007692/1.58, allocations: 5.524 MB / 0.8484 GB, free: 90.1 MB / 0.5294 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.003795/1.584, allocations: 0.6438 MB / 0.849 GB, free: 89.48 MB / 0.5294 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.1163/1.7, allocations: 78.7 MB / 0.9259 GB, free: 4.527 MB / 0.5294 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.005277/1.706, allocations: 4.388 MB / 0.9302 GB, free: 112 kB / 0.5294 GB
Notification: Performance of simCode: alias equations: time 0.005638/1.711, allocations: 2.346 MB / 0.9325 GB, free: 13.75 MB / 0.545 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.004066/1.715, allocations: 2.604 MB / 0.935 GB, free: 11.15 MB / 0.545 GB
Notification: Performance of SimCode: time 9.12e-07/1.715, allocations: 0 / 0.935 GB, free: 11.15 MB / 0.545 GB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.446/2.162, allocations: 137.9 MB / 1.07 GB, free: 79.36 MB / 0.545 GB
Notification: Performance of buildModelFMU: Generate platform static: time 23.34/25.5, allocations: 7.484 kB / 1.07 GB, free: 79.35 MB / 0.545 GB
(rm -f Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.pipe ; mkfifo Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.pipe ; head -c 1048576 < Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.pipe >> ../files/Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving_res.mat --tempDir=temp_Modelica_trunk_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetDriving_fmu --startTime=0 --stopTime=3 --timeout=50 --tolerance=1e-06 Modelica_trunk_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetDriving.fmu > Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.pipe 2>&1)
diffSimulationResults("Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/Modelica/Mechanics/MultiBody/Examples/Elementary/RollingWheelSetDriving/RollingWheelSetDriving.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.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],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[1,2]),der(shape.frame_a.R.T[2,2]),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[2,2]),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],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],sine1.amplitude,sine1.continuous,sine1.f,sine1.offset,sine1.phase,sine1.startTime,sine1.y,sine2.amplitude,sine2.continuous,sine2.f,sine2.offset,sine2.phase,sine2.startTime,sine2.y,time,torque1.flange_a.phi,torque1.flange_a.tau,torque1.flange_b.phi,torque1.flange_b.tau,torque1.tau,torque2.flange_a.phi,torque2.flange_a.tau,torque2.flange_b.phi,torque2.flange_b.tau,torque2.tau,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,wheelSet.body2.w_0_start[1],wheelSet.body2.w_0_start[2],wheelSet.body2.w_0_start[3],wheelSet.body2.w_a[1],wheelSet.body2.w_a[2],wheelSet.body2.w_a[3],wheelSet.body2.z_0_fixed,wheelSet.body2.z_0_start[1],wheelSet.body2.z_0_start[2],wheelSet.body2.z_0_start[3],wheelSet.body2.z_a[1],wheelSet.body2.z_a[2],wheelSet.body2.z_a[3],wheelSet.color[1],wheelSet.color[2],wheelSet.color[3],wheelSet.der_theta1,wheelSet.der_theta2,wheelSet.frame1.R.T[1,1],wheelSet.frame1.R.T[1,2],wheelSet.frame1.R.T[1,3],wheelSet.frame1.R.T[2,1],wheelSet.frame1.R.T[2,2],wheelSet.frame1.R.T[2,3],wheelSet.frame1.R.T[3,1],wheelSet.frame1.R.T[3,2],wheelSet.frame1.R.T[3,3],wheelSet.frame1.R.w[1],wheelSet.frame1.R.w[2],wheelSet.frame1.R.w[3],wheelSet.frame1.f[1],wheelSet.frame1.f[2],wheelSet.frame1.f[3],wheelSet.frame1.r_0[1],wheelSet.frame1.r_0[2],wheelSet.frame1.r_0[3],wheelSet.frame1.t[1],wheelSet.frame1.t[2],wheelSet.frame1.t[3],wheelSet.frame2.R.T[1,1],wheelSet.frame2.R.T[1,2],wheelSet.frame2.R.T[1,3],wheelSet.frame2.R.T[2,1],wheelSet.frame2.R.T[2,2],wheelSet.frame2.R.T[2,3],wheelSet.frame2.R.T[3,1],wheelSet.frame2.R.T[3,2],wheelSet.frame2.R.T[3,3],wheelSet.frame2.R.w[1],wheelSet.frame2.R.w[2],wheelSet.frame2.R.w[3],wheelSet.frame2.f[1],wheelSet.frame2.f[2],wheelSet.frame2.f[3],wheelSet.frame2.r_0[1],wheelSet.frame2.r_0[2],wheelSet.frame2.r_0[3],wheelSet.frame2.t[1],wheelSet.frame2.t[2],wheelSet.frame2.t[3],wheelSet.frameMiddle.R.T[1,1],wheelSet.frameMiddle.R.T[1,2],wheelSet.frameMiddle.R.T[1,3],wheelSet.frameMiddle.R.T[2,1],wheelSet.frameMiddle.R.T[2,2],wheelSet.frameMiddle.R.T[2,3],wheelSet.frameMiddle.R.T[3,1],wheelSet.frameMiddle.R.T[3,2],wheelSet.frameMiddle.R.T[3,3],wheelSet.frameMiddle.R.w[1],wheelSet.frameMiddle.R.w[2],wheelSet.frameMiddle.R.w[3],wheelSet.frameMiddle.f[1],wheelSet.frameMiddle.f[2],wheelSet.frameMiddle.f[3],wheelSet.frameMiddle.r_0[1],wheelSet.frameMiddle.r_0[2],wheelSet.frameMiddle.r_0[3],wheelSet.frameMiddle.t[1],wheelSet.frameMiddle.t[2],wheelSet.frameMiddle.t[3],wheelSet.hollowFraction,wheelSet.m_wheel,wheelSet.phi,wheelSet.shape1.animation,wheelSet.shape1.color[1],wheelSet.shape1.color[2],wheelSet.shape1.color[3],wheelSet.shape1.extra,wheelSet.shape1.frame_a.R.T[1,1],wheelSet.shape1.frame_a.R.T[1,2],wheelSet.shape1.frame_a.R.T[1,3],wheelSet.shape1.frame_a.R.T[2,1],wheelSet.shape1.frame_a.R.T[2,2],wheelSet.shape1.frame_a.R.T[2,3],wheelSet.shape1.frame_a.R.T[3,1],wheelSet.shape1.frame_a.R.T[3,2],wheelSet.shape1.frame_a.R.T[3,3],wheelSet.shape1.frame_a.R.w[1],wheelSet.shape1.frame_a.R.w[2],wheelSet.shape1.frame_a.R.w[3],wheelSet.shape1.frame_a.f[1],wheelSet.shape1.frame_a.f[2],wheelSet.shape1.frame_a.f[3],wheelSet.shape1.frame_a.r_0[1],wheelSet.shape1.frame_a.r_0[2],wheelSet.shape1.frame_a.r_0[3],wheelSet.shape1.frame_a.t[1],wheelSet.shape1.frame_a.t[2],wheelSet.shape1.frame_a.t[3],wheelSet.shape1.height,wheelSet.shape1.length,wheelSet.shape1.lengthDirection[1],wheelSet.shape1.lengthDirection[2],wheelSet.shape1.lengthDirection[3],wheelSet.shape1.r_shape[1],wheelSet.shape1.r_shape[2],wheelSet.shape1.r_shape[3],wheelSet.shape1.specularCoefficient,wheelSet.shap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