Running: ./testmodel.py --libraries=/var/lib/jenkins/ws/OpenModelicaLibraryTestingWork/OpenModelica/./OMCompiler/build/lib/omlibrary/ --ompython_omhome=/usr Modelica_3.2.2_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.conf.json Using package ModelicaServices with version 3.2.2 (/var/lib/jenkins/ws/OpenModelicaLibraryTestingWork/OpenModelica/OMCompiler/build/lib/omlibrary/ModelicaServices 3.2.2/package.mo) Using package Complex with version 3.2.2 (/var/lib/jenkins/ws/OpenModelicaLibraryTestingWork/OpenModelica/OMCompiler/build/lib/omlibrary/Complex 3.2.2.mo) Using package Modelica with version 3.2.2 (/var/lib/jenkins/ws/OpenModelicaLibraryTestingWork/OpenModelica/OMCompiler/build/lib/omlibrary/Modelica 3.2.2/package.mo) Running command: "" <> buildModelFMU(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving,fileNamePrefix="Modelica_3_2_2_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetDriving",fmuType="me",version="2.0",platforms={"static"}) Notification: Performance of loadModel(Modelica): time 1.965/1.965, allocations: 194.9 MB / 211.1 MB, free: 8.551 MB / 170.7 MB Notification: Performance of FrontEnd - loaded program: time 0.0003531/0.0003533, allocations: 8 kB / 264.1 MB, free: 3.477 MB / 218.7 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.2926/0.293, allocations: 44.51 MB / 308.6 MB, free: 12.76 MB / 250.7 MB Notification: Performance of NFInst.instantiate(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving): time 0.1029/0.3959, allocations: 65.38 MB / 373.9 MB, free: 11.21 MB / 314.7 MB Notification: Performance of NFInst.instExpressions: time 0.04243/0.4384, allocations: 15.61 MB / 389.6 MB, free: 11.56 MB / 330.7 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.01365/0.4521, allocations: 331.2 kB / 389.9 MB, free: 11.23 MB / 330.7 MB Notification: Performance of NFTyping.typeComponents: time 0.01168/0.4639, allocations: 3.321 MB / 393.2 MB, free: 7.898 MB / 330.7 MB Notification: Performance of NFTyping.typeBindings: time 0.03491/0.4988, allocations: 9.199 MB / 402.4 MB, free: 14.68 MB / 346.7 MB Notification: Performance of NFTyping.typeClassSections: time 0.006501/0.5054, allocations: 1.12 MB / 403.5 MB, free: 13.55 MB / 346.7 MB Notification: Performance of NFFlatten.flatten: time 0.009029/0.5145, allocations: 3.623 MB / 407.1 MB, free: 9.926 MB / 346.7 MB Notification: Performance of NFFlatten.resolveConnections: time 0.0159/0.5304, allocations: 7.436 MB / 414.6 MB, free: 2.422 MB / 346.7 MB Notification: Performance of NFEvalConstants.evaluate: time 0.004124/0.5346, allocations: 1.589 MB / 416.2 MB, free: 0.8281 MB / 346.7 MB Notification: Performance of NFSimplifyModel.simplify: time 0.3005/0.8352, allocations: 2.219 MB / 418.4 MB, free: 8.039 MB / 346.7 MB Notification: Performance of NFPackage.collectConstants: time 0.002071/0.8373, allocations: 235.4 kB / 418.6 MB, free: 8.039 MB / 346.7 MB Notification: Performance of NFFlatten.collectFunctions: time 0.004017/0.8413, allocations: 0.9111 MB / 419.5 MB, free: 8.039 MB / 346.7 MB Notification: Performance of NFScalarize.scalarize: time 0.00443/0.8458, allocations: 2.333 MB / 421.9 MB, free: 8.039 MB / 346.7 MB Notification: Performance of NFVerifyModel.verify: time 0.003017/0.8489, allocations: 1.261 MB / 423.1 MB, free: 8.008 MB / 346.7 MB Notification: Performance of NFConvertDAE.convert: time 0.01679/0.8657, allocations: 9.147 MB / 432.3 MB, free: 7.48 MB / 346.7 MB Notification: Performance of FrontEnd - DAE generated: time 5.26e-06/0.8658, allocations: 3 kB / 432.3 MB, free: 7.48 MB / 346.7 MB Notification: Performance of FrontEnd: time 2.776e-06/0.8658, allocations: 0 / 432.3 MB, free: 7.48 MB / 346.7 MB Notification: Performance of Transformations before backend: time 0.004096/0.8699, allocations: 0 / 432.3 MB, free: 7.48 MB / 346.7 MB Notification: Model statistics after passing the front-end and creating the data structures used by the back-end: * Number of equations: 2063 * Number of variables: 2063 Notification: Performance of Generate backend data structure: time 0.06065/0.9306, allocations: 6.406 MB / 438.7 MB, free: 4.238 MB / 346.7 MB Notification: Performance of prepare preOptimizeDAE: time 5.655e-05/0.9307, allocations: 7.375 kB / 438.7 MB, free: 4.238 MB / 346.7 MB Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.005054/0.9358, allocations: 0.9864 MB / 439.7 MB, free: 3.961 MB / 346.7 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.02018/0.956, allocations: 2.627 MB / 442.3 MB, free: 2.797 MB / 346.7 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.01393/0.97, allocations: 4.827 MB / 447.1 MB, free: 1.438 MB / 346.7 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0004481/0.9705, allocations: 365.3 kB / 447.5 MB, free: 1.426 MB / 346.7 MB Notification: Performance of preOpt expandDerOperator (simulation): time 0.002955/0.9735, allocations: 494.9 kB / 448 MB, free: 1.414 MB / 346.7 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.05043/1.024, allocations: 15.06 MB / 463 MB, free: 12.8 MB / 362.7 MB Notification: Performance of preOpt findStateOrder (simulation): time 0.0005361/1.025, allocations: 63.16 kB / 463.1 MB, free: 12.79 MB / 362.7 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.002997/1.028, allocations: 223.2 kB / 463.3 MB, free: 12.79 MB / 362.7 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.02071/1.048, allocations: 2.414 MB / 465.7 MB, free: 11.23 MB / 362.7 MB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.06993/1.118, allocations: 12.95 MB / 478.7 MB, free: 2.492 MB / 362.7 MB Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.119/1.237, allocations: 59.55 MB / 0.5256 GB, free: 3.188 MB / 410.7 MB Notification: Performance of preOpt comSubExp (simulation): time 0.03281/1.27, allocations: 7.054 MB / 0.5325 GB, free: 13.54 MB / 426.7 MB Notification: Performance of preOpt evalFunc (simulation): time 0.002297/1.273, allocations: 1.272 MB / 0.5337 GB, free: 12.06 MB / 426.7 MB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 0.0001/1.273, allocations: 77.77 kB / 0.5338 GB, free: 11.98 MB / 426.7 MB Notification: Performance of pre-optimization done (n=287): time 7.043e-06/1.273, allocations: 0 / 0.5338 GB, free: 11.98 MB / 426.7 MB Notification: Performance of matching and sorting (n=378): time 0.5653/1.838, allocations: 46.5 MB / 0.5792 GB, free: 181.2 MB / 458.7 MB Notification: Performance of inlineWhenForInitialization (initialization): time 0.0001051/1.838, allocations: 167.2 kB / 0.5794 GB, free: 181 MB / 458.7 MB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.01155/1.85, allocations: 5.497 MB / 0.5847 GB, free: 180.7 MB / 458.7 MB Notification: Performance of collectPreVariables (initialization): time 0.001168/1.851, allocations: 81.3 kB / 0.5848 GB, free: 180.6 MB / 458.7 MB Notification: Performance of collectInitialEqns (initialization): time 0.003395/1.854, allocations: 3.942 MB / 0.5887 GB, free: 178.2 MB / 458.7 MB Notification: Performance of collectInitialBindings (initialization): time 0.002313/1.857, allocations: 1.367 MB / 0.59 GB, free: 177.2 MB / 458.7 MB Notification: Performance of simplifyInitialFunctions (initialization): time 0.001039/1.858, allocations: 165.5 kB / 0.5902 GB, free: 177 MB / 458.7 MB Notification: Performance of setup shared object (initialization): time 0.0005225/1.858, allocations: 0.6448 MB / 0.5908 GB, free: 176.6 MB / 458.7 MB Notification: Performance of preBalanceInitialSystem (initialization): time 0.01041/1.869, allocations: 4.245 MB / 0.5949 GB, free: 175 MB / 458.7 MB Notification: Performance of partitionIndependentBlocks (initialization): time 0.01348/1.882, allocations: 8.445 MB / 0.6032 GB, free: 167.8 MB / 458.7 MB Notification: Performance of analyzeInitialSystem (initialization): time 0.01366/1.896, allocations: 5.96 MB / 0.609 GB, free: 165.3 MB / 458.7 MB Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.000189/1.896, allocations: 41.66 kB / 0.609 GB, free: 165.3 MB / 458.7 MB Notification: Performance of matching and sorting (n=1055) (initialization): time 0.05699/1.953, allocations: 17.19 MB / 0.6258 GB, free: 155.8 MB / 458.7 MB Notification: Performance of prepare postOptimizeDAE: time 0.0001402/1.953, allocations: 68 kB / 0.6259 GB, free: 155.7 MB / 458.7 MB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0002535/1.954, allocations: 147.5 kB / 0.626 GB, free: 155.5 MB / 458.7 MB Notification: Performance of postOpt tearingSystem (initialization): time 0.02587/1.98, allocations: 5.37 MB / 0.6313 GB, free: 150.6 MB / 458.7 MB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.01109/1.991, allocations: 1.743 MB / 0.633 GB, free: 148.8 MB / 458.7 MB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.08271/2.074, allocations: 33.8 MB / 0.666 GB, free: 114.8 MB / 458.7 MB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.01057/2.084, allocations: 0.5344 MB / 0.6665 GB, free: 114.3 MB / 458.7 MB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.002304/2.087, allocations: 459.9 kB / 0.6669 GB, free: 113.8 MB / 458.7 MB Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 668 * 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.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],ground.fixed.color[3],ground.fixed.color[2],ground.fixed.color[1]) * Number of discrete states: 0 () * Number of clocked states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for initialization (896): * Single equations (assignments): 888 * Array equations: 3 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (linear and non-linear blocks): 3 * Torn equation systems: 2 * Mixed (continuous/discrete) equation systems: 0 Notification: Equation system details: * Constant Jacobian: 0 * Linear Jacobian (size,density): 3 {(2,100.0%),(2,100.0%),(2,100.0%)} * Non-linear Jacobian: 0 * Without analytic Jacobian: 0 Notification: Torn system details for strict tearing set: * Linear torn systems: 2 {(8,57.8%) 101,(1,100.0%) 24} * Non-linear torn systems: 0 Notification: Performance of prepare postOptimizeDAE: time 0.009541/2.096, allocations: 3 MB / 0.6699 GB, free: 110.8 MB / 458.7 MB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.002384/2.099, allocations: 0.4937 MB / 0.6704 GB, free: 110.3 MB / 458.7 MB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.04444/2.143, allocations: 11.91 MB / 0.682 GB, free: 98.32 MB / 458.7 MB Notification: Performance of postOpt inlineArrayEqn (simulation): time 7.39e-05/2.143, allocations: 36 kB / 0.682 GB, free: 98.29 MB / 458.7 MB Notification: Performance of postOpt constantLinearSystem (simulation): time 6.385e-05/2.143, allocations: 24.09 kB / 0.682 GB, free: 98.26 MB / 458.7 MB Notification: Performance of postOpt simplifysemiLinear (simulation): time 8.693e-05/2.143, allocations: 23.88 kB / 0.6821 GB, free: 98.24 MB / 458.7 MB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.07362/2.217, allocations: 23.91 MB / 0.7054 GB, free: 74.23 MB / 458.7 MB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 6.582e-05/2.217, allocations: 4 kB / 0.7054 GB, free: 74.23 MB / 458.7 MB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.004855/2.222, allocations: 0.5265 MB / 0.7059 GB, free: 73.7 MB / 458.7 MB Notification: Performance of postOpt tearingSystem (simulation): time 0.02459/2.247, allocations: 4.983 MB / 0.7108 GB, free: 68.7 MB / 458.7 MB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.001174/2.248, allocations: 72.59 kB / 0.7109 GB, free: 68.63 MB / 458.7 MB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.06887/2.317, allocations: 30.63 MB / 0.7408 GB, free: 37.73 MB / 458.7 MB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 8.185e-06/2.317, allocations: 11.92 kB / 0.7408 GB, free: 37.72 MB / 458.7 MB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.04908/2.366, allocations: 17.56 MB / 0.7579 GB, free: 20.03 MB / 458.7 MB Notification: Performance of postOpt removeConstants (simulation): time 0.004773/2.371, allocations: 1.299 MB / 0.7592 GB, free: 18.71 MB / 458.7 MB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001789/2.373, allocations: 65.02 kB / 0.7593 GB, free: 18.64 MB / 458.7 MB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.005885/2.378, allocations: 315.5 kB / 0.7596 GB, free: 18.34 MB / 458.7 MB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.001695/2.38, allocations: 271 kB / 0.7598 GB, free: 18.07 MB / 458.7 MB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0005575/2.381, allocations: 105.5 kB / 0.7599 GB, free: 17.96 MB / 458.7 MB Notification: Performance of sorting global known variables: time 0.2976/2.678, allocations: 3.574 MB / 0.7634 GB, free: 166.2 MB / 458.7 MB Notification: Performance of sort global known variables: time 8.21e-07/2.678, allocations: 2.078 kB / 0.7634 GB, free: 166.2 MB / 458.7 MB Notification: Performance of remove unused functions: time 0.01247/2.691, allocations: 1.842 MB / 0.7652 GB, free: 166.2 MB / 458.7 MB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 15 * 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 (231): * Single equations (assignments): 223 * Array equations: 3 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (linear and non-linear blocks): 3 * Torn equation systems: 2 * Mixed (continuous/discrete) equation systems: 0 Notification: Equation system details: * Constant Jacobian: 0 * Linear Jacobian (size,density): 3 {(2,100.0%),(2,100.0%),(2,100.0%)} * Non-linear Jacobian: 0 * Without analytic Jacobian: 0 Notification: Torn system details for strict tearing set: * Linear torn systems: 2 {(8,71.9%) 98,(1,100.0%) 21} * Non-linear torn systems: 0 Notification: Performance of Backend phase and start with SimCode phase: time 0.05409/2.745, allocations: 18.27 MB / 0.7831 GB, free: 162.2 MB / 458.7 MB [/var/lib/jenkins/ws/OpenModelicaLibraryTestingWork/OpenModelica/OMCompiler/build/lib/omlibrary/Modelica 3.2.2/Mechanics/MultiBody/Parts.mo:2778:5-2781:55:writable] Warning: Variable $DER.wheelSet.der_theta1 has attribute stateSelect=StateSelect.always, but can't be selected as a state. [/var/lib/jenkins/ws/OpenModelicaLibraryTestingWork/OpenModelica/OMCompiler/build/lib/omlibrary/Modelica 3.2.2/Mechanics/MultiBody/Parts.mo:2782:5-2785:55:writable] Warning: Variable $DER.wheelSet.der_theta2 has attribute stateSelect=StateSelect.always, but can't be selected as a state. [/var/lib/jenkins/ws/OpenModelicaLibraryTestingWork/OpenModelica/OMCompiler/build/lib/omlibrary/Modelica 3.2.2/Mechanics/MultiBody/Parts.mo:2778:5-2781:55:writable] Warning: Variable $DER.wheelSet.der_theta1 has attribute stateSelect=StateSelect.always, but can't be selected as a state. [/var/lib/jenkins/ws/OpenModelicaLibraryTestingWork/OpenModelica/OMCompiler/build/lib/omlibrary/Modelica 3.2.2/Mechanics/MultiBody/Parts.mo:2782:5-2785:55: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 0.02807/2.773, allocations: 11.35 MB / 0.7941 GB, free: 157.6 MB / 458.7 MB Notification: Performance of simCode: created event and clocks part: time 9.828e-06/2.773, allocations: 0 / 0.7941 GB, free: 157.6 MB / 458.7 MB Notification: Performance of simCode: created simulation system equations: time 0.01488/2.788, allocations: 5.469 MB / 0.7995 GB, free: 153.4 MB / 458.7 MB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.005773/2.794, allocations: 0.6081 MB / 0.8001 GB, free: 152.9 MB / 458.7 MB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.1951/2.989, allocations: 65.11 MB / 0.8637 GB, free: 88.6 MB / 458.7 MB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.009498/2.999, allocations: 4.695 MB / 0.8683 GB, free: 83.86 MB / 458.7 MB Notification: Performance of simCode: alias equations: time 0.01062/3.009, allocations: 2.473 MB / 0.8707 GB, free: 81.38 MB / 458.7 MB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.006243/3.016, allocations: 2.768 MB / 0.8734 GB, free: 78.61 MB / 458.7 MB Notification: Performance of SimCode: time 1.904e-06/3.016, allocations: 8 kB / 0.8734 GB, free: 78.6 MB / 458.7 MB Notification: Performance of buildModelFMU: Generate the FMI files: time 0.5815/3.597, allocations: 145.8 MB / 1.016 GB, free: 117 MB / 458.7 MB Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0002888/3.597, allocations: 233.2 kB / 1.016 GB, free: 116.8 MB / 458.7 MB Notification: Performance of buildModelFMU: Generate platform static: time 7.877/11.47, allocations: 6.078 kB / 1.016 GB, free: 116.8 MB / 458.7 MB "" 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.Q[1],body.Q[2],body.Q[3],body.Q[4],body.Q_start[1],body.Q_start[2],body.Q_start[3],body.Q_start[4],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.phi[1],body.phi[2],body.phi[3],body.phi_d[1],body.phi_d[2],body.phi_d[3],body.phi_dd[1],body.phi_dd[2],body.phi_dd[3],body.phi_start[1],body.phi_start[2],body.phi_start[3],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],body.z_a_start[1],body.z_a_start[2],body.z_a_start[3],der(body.frame_a.r_0[1]),der(body.frame_a.r_0[2]),der(body.frame_a.r_0[3]),der(body.v_0[1]),der(body.v_0[2]),der(body.v_0[3]),der(body.w_a[1]),der(body.w_a[2]),der(body.w_a[3]),der(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.R_rel.w[1]),der(wheelSet.wheelSetJoint.revolute.R_rel.w[2]),der(wheelSet.wheelSetJoint.revolute.R_rel.w[3]),der(wheelSet.wheelSetJoint.revolute.w),der(wheelSet.wheelSetJoint.revolute1.R_rel.T[1,1]),der(wheelSet.wheelSetJoint.revolute1.R_rel.T[1,2]),der(wheelSet.wheelSetJoint.revolute1.R_rel.T[1,3]),der(wheelSet.wheelSetJoint.revolute1.R_rel.T[2,1]),der(wheelSet.wheelSetJoint.revolute1.R_rel.T[2,2]),der(wheelSet.wheelSetJoint.revolute1.R_rel.T[2,3]),der(wheelSet.wheelSetJoint.revolute1.R_rel.T[3,1]),der(wheelSet.wheelSetJoint.revolute1.R_rel.T[3,2]),der(wheelSet.wheelSetJoint.revolute1.R_rel.T[3,3]),der(wheelSet.wheelSetJoint.revolute1.R_rel.w[1]),der(wheelSet.wheelSetJoint.revolute1.R_rel.w[2]),der(wheelSet.wheelSetJoint.revolute1.R_rel.w[3]),der(wheelSet.wheelSetJoint.revolute2.R_rel.T[1,1]),der(wheelSet.wheelSetJoint.revolute2.R_rel.T[1,2]),der(wheelSet.wheelSetJoint.revolute2.R_rel.T[1,3]),der(wheelSet.wheelSetJoint.revolute2.R_rel.T[2,1]),der(wheelSet.wheelSetJoint.revolute2.R_rel.T[2,2]),der(wheelSet.wheelSetJoint.revolute2.R_rel.T[2,3]),der(wheelSet.wheelSetJoint.revolute2.R_rel.T[3,1]),der(wheelSet.wheelSetJoint.revolute2.R_rel.T[3,2]),der(wheelSet.wheelSetJoint.revolute2.R_rel.T[3,3]),der(wheelSet.wheelSetJoint.revolute2.R_rel.w[1]),der(wheelSet.wheelSetJoint.revolute2.R_rel.w[2]),der(wheelSet.wheelSetJoint.revolute2.R_rel.w[3]),der(wheelSet.wheelSetJoint.rolling1.aux[1]),der(wheelSet.wheelSetJoint.rolling1.aux[2]),der(wheelSet.wheelSetJoint.rolling1.e_lat_0[1]),der(wheelSet.wheelSetJoint.rolling1.e_lat_0[2]),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.rolling1.vContact_0[1]),der(wheelSet.wheelSetJoint.rolling1.vContact_0[2]),der(wheelSet.wheelSetJoint.rolling1.w_0[1]),der(wheelSet.wheelSetJoint.rolling1.w_0[2]),der(wheelSet.wheelSetJoint.rolling2.aux[1]),der(wheelSet.wheelSetJoint.rolling2.aux[2]),der(wheelSet.wheelSetJoint.rolling2.e_lat_0[1]),der(wheelSet.wheelSetJoint.rolling2.e_lat_0[2]),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.wheelSetJoint.rolling2.vContact_0[1]),der(wheelSet.wheelSetJoint.rolling2.vContact_0[2]),der(wheelSet.wheelSetJoint.rolling2.w_0[1]),der(wheelSet.wheelSetJoint.rolling2.w_0[2]),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.shape.R.T[1,1],fixedTranslation.shape.R.T[1,2],fixedTranslation.shape.R.T[1,3],fixedTranslation.shape.R.T[2,1],fixedTranslation.shape.R.T[2,2],fixedTranslation.shape.R.T[2,3],fixedTranslation.shape.R.T[3,1],fixedTranslation.shape.R.T[3,2],fixedTranslation.shape.R.T[3,3],fixedTranslation.shape.R.w[1],fixedTranslation.shape.R.w[2],fixedTranslation.shape.R.w[3],fixedTranslation.shape.color[1],fixedTranslation.shape.color[2],fixedTranslation.shape.color[3],fixedTranslation.shape.extra,fixedTranslation.shape.height,fixedTranslation.shape.length,fixedTranslation.shape.lengthDirection[1],fixedTranslation.shape.lengthDirection[2],fixedTranslation.shape.lengthDirection[3],fixedTranslation.shape.r[1],fixedTranslation.shape.r[2],fixedTranslation.shape.r[3],fixedTranslation.shape.r_shape[1],fixedTranslation.shape.r_shape[2],fixedTranslation.shape.r_shape[3],fixedTranslation.shape.specularCoefficient,fixedTranslation.shape.width,fixedTranslation.shape.widthDirection[1],fixedTranslation.shape.widthDirection[2],fixedTranslation.shape.widthDirection[3],fixedTranslation.specularCoefficient,fixedTranslation.width,fixedTranslation.widthDirection[1],fixedTranslation.widthDirection[2],fixedTranslation.widthDirection[3],ground.animation,ground.fixed.animation,ground.fixed.color[1],ground.fixed.color[2],ground.fixed.color[3],ground.fixed.extra,ground.fixed.frame_b.R.T[1,1],ground.fixed.frame_b.R.T[1,2],ground.fixed.frame_b.R.T[1,3],ground.fixed.frame_b.R.T[2,1],ground.fixed.frame_b.R.T[2,2],ground.fixed.frame_b.R.T[2,3],ground.fixed.frame_b.R.T[3,1],ground.fixed.frame_b.R.T[3,2],ground.fixed.frame_b.R.T[3,3],ground.fixed.frame_b.R.w[1],ground.fixed.frame_b.R.w[2],ground.fixed.frame_b.R.w[3],ground.fixed.frame_b.f[1],ground.fixed.frame_b.f[2],ground.fixed.frame_b.f[3],ground.fixed.frame_b.r_0[1],ground.fixed.frame_b.r_0[2],ground.fixed.frame_b.r_0[3],ground.fixed.frame_b.t[1],ground.fixed.frame_b.t[2],ground.fixed.frame_b.t[3],ground.fixed.height,ground.fixed.length,ground.fixed.lengthDirection[1],ground.fixed.lengthDirection[2],ground.fixed.lengthDirection[3],ground.fixed.r[1],ground.fixed.r[2],ground.fixed.r[3],ground.fixed.r_shape[1],ground.fixed.r_shape[2],ground.fixed.r_shape[3],ground.fixed.shape.R.T[1,1],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