Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr ModelicaTest_trunk_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3.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)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo", uses=false)
Using package ModelicaTest with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo)
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: translateModel(ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|Revolute1.phi|Revolute1.w|Revolute2.phi|Revolute2.w|Revolute3.phi|Revolute3.w|Revolute4.phi|Revolute4.w",fileNamePrefix="ModelicaTest_trunk_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3")
translateModel(ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|Revolute1.phi|Revolute1.w|Revolute2.phi|Revolute2.w|Revolute3.phi|Revolute3.w|Revolute4.phi|Revolute4.w",fileNamePrefix="ModelicaTest_trunk_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3")
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo): time 0.001182/0.001182, allocations: 94.97 kB / 16.98 MB, free: 5.938 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo): time 0.001551/0.001551, allocations: 205.7 kB / 17.89 MB, free: 5.586 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo): time 1.423/1.423, allocations: 227.2 MB / 245.9 MB, free: 12.07 MB / 206.1 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo): time 0.221/0.221, allocations: 45.92 MB / 344 MB, free: 12.37 MB / 286.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.0002993/0.0002993, allocations: 8 kB / 417.9 MB, free: 20.94 MB / 302.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.1492/0.1495, allocations: 63.47 MB / 481.4 MB, free: 5.461 MB / 350.1 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3): time 0.3508/0.5003, allocations: 75.04 MB / 0.5434 GB, free: 1.43 MB / 382.1 MB
Notification: Performance of NFInst.instExpressions: time 0.05101/0.5513, allocations: 17.11 MB / 0.5601 GB, free: 5.398 MB / 398.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.02454/0.576, allocations: 380.4 kB / 0.5605 GB, free: 5.336 MB / 398.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.01666/0.5926, allocations: 3.815 MB / 0.5642 GB, free: 2.512 MB / 398.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.05135/0.644, allocations: 10.71 MB / 0.5746 GB, free: 7.98 MB / 414.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.006906/0.651, allocations: 0.9097 MB / 0.5755 GB, free: 7.07 MB / 414.1 MB
Notification: Performance of NFFlatten.flatten: time 0.07028/0.7213, allocations: 48.79 MB / 0.6232 GB, free: 6.238 MB / 462.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.01377/0.7351, allocations: 6.967 MB / 0.63 GB, free: 15.21 MB / 478.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.004781/0.7399, allocations: 1.417 MB / 0.6314 GB, free: 13.79 MB / 478.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.004294/0.7443, allocations: 1.83 MB / 0.6332 GB, free: 11.96 MB / 478.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.001633/0.746, allocations: 208 kB / 0.6334 GB, free: 11.75 MB / 478.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.005073/0.7511, allocations: 1.053 MB / 0.6344 GB, free: 10.7 MB / 478.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.00556/0.7567, allocations: 2.24 MB / 0.6366 GB, free: 8.453 MB / 478.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.003354/0.7601, allocations: 1.181 MB / 0.6377 GB, free: 7.262 MB / 478.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.01105/0.7712, allocations: 7.961 MB / 0.6455 GB, free: 15.28 MB / 494.1 MB
Notification: Performance of FrontEnd - DAE generated: time 5.06e-06/0.7712, allocations: 0 / 0.6455 GB, free: 15.28 MB / 494.1 MB
Notification: Performance of FrontEnd: time 2.545e-06/0.7712, allocations: 0 / 0.6455 GB, free: 15.28 MB / 494.1 MB
Notification: Performance of Transformations before backend: time 0.000468/0.7717, allocations: 0 / 0.6455 GB, free: 15.28 MB / 494.1 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 2101
 * Number of variables: 2101
Notification: Performance of Generate backend data structure: time 0.01861/0.7903, allocations: 6.132 MB / 0.6515 GB, free: 9.07 MB / 494.1 MB
Notification: Performance of prepare preOptimizeDAE: time 5.034e-05/0.7904, allocations: 8.031 kB / 0.6515 GB, free: 9.062 MB / 494.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.04387/0.8343, allocations: 8.14 MB / 0.6594 GB, free: 0.9023 MB / 494.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.01241/0.8468, allocations: 4.024 MB / 0.6634 GB, free: 12.82 MB / 0.4981 GB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0005568/0.8474, allocations: 344.9 kB / 0.6637 GB, free: 12.48 MB / 0.4981 GB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.002918/0.8503, allocations: 467.6 kB / 0.6641 GB, free: 12.02 MB / 0.4981 GB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.03634/0.8867, allocations: 14.81 MB / 0.6786 GB, free: 12.37 MB / 0.5137 GB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0002617/0.887, allocations: 55.44 kB / 0.6787 GB, free: 12.31 MB / 0.5137 GB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.001398/0.8884, allocations: 215.8 kB / 0.6789 GB, free: 12.1 MB / 0.5137 GB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.005314/0.8937, allocations: 2.782 MB / 0.6816 GB, free: 9.309 MB / 0.5137 GB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02896/0.9228, allocations: 12.71 MB / 0.694 GB, free: 12.57 MB / 0.5294 GB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.3709/1.294, allocations: 53.39 MB / 0.7461 GB, free: 149.1 MB / 0.5294 GB
Notification: Performance of preOpt comSubExp (simulation): time 0.01681/1.311, allocations: 6.316 MB / 0.7523 GB, free: 147 MB / 0.5294 GB
Notification: Performance of preOpt evalFunc (simulation): time 0.02125/1.332, allocations: 12.98 MB / 0.765 GB, free: 139.4 MB / 0.5294 GB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 5.409e-05/1.332, allocations: 70.17 kB / 0.765 GB, free: 139.3 MB / 0.5294 GB
Notification: Performance of pre-optimization done (n=228): time 4.619e-06/1.332, allocations: 0 / 0.765 GB, free: 139.3 MB / 0.5294 GB
Notification: Performance of matching and sorting (n=270): time 0.06994/1.402, allocations: 28.94 MB / 0.7933 GB, free: 112.3 MB / 0.5294 GB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.0001082/1.402, allocations: 205.9 kB / 0.7935 GB, free: 112.1 MB / 0.5294 GB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.006709/1.409, allocations: 5.268 MB / 0.7987 GB, free: 106.8 MB / 0.5294 GB
Notification: Performance of collectPreVariables (initialization): time 0.0008102/1.41, allocations: 69.7 kB / 0.7987 GB, free: 106.8 MB / 0.5294 GB
Notification: Performance of collectInitialEqns (initialization): time 0.002369/1.412, allocations: 4.024 MB / 0.8026 GB, free: 102.7 MB / 0.5294 GB
Notification: Performance of collectInitialBindings (initialization): time 0.001215/1.413, allocations: 1.011 MB / 0.8036 GB, free: 101.7 MB / 0.5294 GB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0002985/1.414, allocations: 143.4 kB / 0.8038 GB, free: 101.6 MB / 0.5294 GB
Notification: Performance of setup shared object (initialization): time 0.0002785/1.414, allocations: 0.6077 MB / 0.8044 GB, free: 101 MB / 0.5294 GB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.003734/1.418, allocations: 3.059 MB / 0.8074 GB, free: 97.91 MB / 0.5294 GB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.005496/1.423, allocations: 7.14 MB / 0.8143 GB, free: 88.8 MB / 0.5294 GB
Notification: Performance of analyzeInitialSystem (initialization): time 0.005782/1.429, allocations: 4.583 MB / 0.8188 GB, free: 84.23 MB / 0.5294 GB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 6.432e-05/1.429, allocations: 44 kB / 0.8188 GB, free: 84.18 MB / 0.5294 GB
Notification: Performance of matching and sorting (n=934) (initialization): time 0.02034/1.449, allocations: 11.56 MB / 0.8301 GB, free: 72.61 MB / 0.5294 GB
Notification: Performance of prepare postOptimizeDAE: time 8.973e-05/1.449, allocations: 70.5 kB / 0.8302 GB, free: 72.54 MB / 0.5294 GB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0001579/1.45, allocations: 148.8 kB / 0.8303 GB, free: 72.39 MB / 0.5294 GB
Notification: Performance of postOpt tearingSystem (initialization): time 0.004032/1.454, allocations: 1.758 MB / 0.8321 GB, free: 70.63 MB / 0.5294 GB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.006013/1.46, allocations: 1.661 MB / 0.8337 GB, free: 68.96 MB / 0.5294 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.01292/1.473, allocations: 12.3 MB / 0.8457 GB, free: 56.41 MB / 0.5294 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.007214/1.48, allocations: 425 kB / 0.8461 GB, free: 55.99 MB / 0.5294 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001808/1.482, allocations: 427.9 kB / 0.8465 GB, free: 55.57 MB / 0.5294 GB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 654
 * Number of states: 0 ()
 * Number of discrete variables: 59 (frameTorque2.torqueArrow.arrowLine.twoHeadedArrow,frameTorque2.torqueArrow.headAtOrigin,frameTorque2.forceArrow.arrowLine.twoHeadedArrow,frameTorque2.forceArrow.headAtOrigin,frameTorque1.torqueArrow.arrowLine.twoHeadedArrow,frameTorque1.torqueArrow.headAtOrigin,frameTorque1.forceArrow.arrowLine.twoHeadedArrow,frameTorque1.forceArrow.headAtOrigin,fixedTranslation.color[3],fixedTranslation.color[2],fixedTranslation.color[1],Revolute4.cylinderColor[3],Revolute4.cylinderColor[2],Revolute4.cylinderColor[1],Revolute3.cylinderColor[3],Revolute3.cylinderColor[2],Revolute3.cylinderColor[1],Revolute2.cylinderColor[3],Revolute2.cylinderColor[2],Revolute2.cylinderColor[1],frameTorque2.torqueColor[3],frameTorque2.torqueColor[2],frameTorque2.torqueColor[1],frameTorque2.forceColor[3],frameTorque2.forceColor[2],frameTorque2.forceColor[1],frameTorque1.torqueColor[3],frameTorque1.torqueColor[2],frameTorque1.torqueColor[1],frameTorque1.forceColor[3],frameTorque1.forceColor[2],frameTorque1.forceColor[1],body2.color[3],body2.color[2],body2.color[1],body2.body.sphereColor[3],body2.body.sphereColor[2],body2.body.sphereColor[1],body1.color[3],body1.color[2],body1.color[1],body1.body.sphereColor[3],body1.body.sphereColor[2],body1.body.sphereColor[1],Revolute1.cylinderColor[3],Revolute1.cylinderColor[2],Revolute1.cylinderColor[1],world.gravityArrowColor[3],world.gravityArrowColor[2],world.gravityArrowColor[1],world.axisColor_x[3],world.axisColor_x[2],world.axisColor_x[1],world.groundColor[3],world.groundColor[2],world.groundColor[1],world.gravitySphereColor[3],world.gravitySphereColor[2],world.gravitySphereColor[1])
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (862):
 * Single equations (assignments): 857
 * Array equations: 3
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 0
 * Torn equation systems: 2
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 2 {(2,100.0%) 23,(2,100.0%) 23}
 * Non-linear torn systems: 0
Notification: Performance of prepare postOptimizeDAE: time 0.005818/1.488, allocations: 2.795 MB / 0.8492 GB, free: 52.77 MB / 0.5294 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001051/1.489, allocations: 470 kB / 0.8497 GB, free: 52.3 MB / 0.5294 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.009309/1.498, allocations: 6.241 MB / 0.8558 GB, free: 46.03 MB / 0.5294 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 5.027e-05/1.498, allocations: 29.09 kB / 0.8558 GB, free: 46 MB / 0.5294 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 1.625e-05/1.498, allocations: 16 kB / 0.8558 GB, free: 45.99 MB / 0.5294 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 3.161e-05/1.498, allocations: 11.95 kB / 0.8558 GB, free: 45.98 MB / 0.5294 GB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.02349/1.522, allocations: 13.83 MB / 0.8693 GB, free: 32.15 MB / 0.5294 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 2.44e-05/1.522, allocations: 7.266 kB / 0.8693 GB, free: 32.14 MB / 0.5294 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002403/1.524, allocations: 451.3 kB / 0.8698 GB, free: 31.7 MB / 0.5294 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.003575/1.528, allocations: 1.526 MB / 0.8713 GB, free: 30.17 MB / 0.5294 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0006343/1.528, allocations: 44.86 kB / 0.8713 GB, free: 30.13 MB / 0.5294 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.01252/1.541, allocations: 11.57 MB / 0.8826 GB, free: 18.3 MB / 0.5294 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 2.935e-06/1.541, allocations: 0 / 0.8826 GB, free: 18.3 MB / 0.5294 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.01354/1.554, allocations: 10.14 MB / 0.8925 GB, free: 8.066 MB / 0.5294 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.001946/1.556, allocations: 0.5106 MB / 0.893 GB, free: 7.531 MB / 0.5294 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001107/1.558, allocations: 47.98 kB / 0.8931 GB, free: 7.484 MB / 0.5294 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002479/1.56, allocations: 195.7 kB / 0.8932 GB, free: 7.293 MB / 0.5294 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0005668/1.561, allocations: 167.2 kB / 0.8934 GB, free: 7.133 MB / 0.5294 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002086/1.561, allocations: 64 kB / 0.8935 GB, free: 7.07 MB / 0.5294 GB
Notification: Performance of sorting global known variables: time 0.005225/1.566, allocations: 3.352 MB / 0.8967 GB, free: 3.73 MB / 0.5294 GB
Notification: Performance of sort global known variables: time 2.9e-07/1.566, allocations: 0 / 0.8967 GB, free: 3.73 MB / 0.5294 GB
Notification: Performance of remove unused functions: time 0.008416/1.575, allocations: 1.436 MB / 0.8981 GB, free: 2.301 MB / 0.5294 GB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 4
 * Number of states: 8 (Revolute1.phi,Revolute1.w,Revolute2.phi,Revolute2.w,Revolute3.phi,Revolute3.w,Revolute4.phi,Revolute4.w)
 * Number of discrete variables: 0 ()
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (212):
 * Single equations (assignments): 207
 * Array equations: 3
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 0
 * Torn equation systems: 2
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 2 {(4,75.0%) 18,(4,75.0%) 18}
 * Non-linear torn systems: 0
Notification: Performance of Backend phase and start with SimCode phase: time 0.0007723/1.575, allocations: 192.2 kB / 0.8983 GB, free: 2.109 MB / 0.5294 GB
Notification: Performance of simCode: created initialization part: time 0.01278/1.588, allocations: 7.638 MB / 0.9058 GB, free: 10.47 MB / 0.545 GB
Notification: Performance of simCode: created event and clocks part: time 7.324e-06/1.588, allocations: 4 kB / 0.9058 GB, free: 10.47 MB / 0.545 GB
Notification: Performance of simCode: created simulation system equations: time 0.006164/1.594, allocations: 3.24 MB / 0.9089 GB, free: 7.207 MB / 0.545 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.004185/1.599, allocations: 0.6185 MB / 0.9096 GB, free: 6.598 MB / 0.545 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.262/1.861, allocations: 15.97 MB / 0.9251 GB, free: 183.5 MB / 0.545 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.006721/1.867, allocations: 4.487 MB / 0.9295 GB, free: 182.7 MB / 0.545 GB
Notification: Performance of simCode: alias equations: time 0.006462/1.874, allocations: 2.332 MB / 0.9318 GB, free: 182.6 MB / 0.545 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.001311/1.875, allocations: 328.7 kB / 0.9321 GB, free: 182.6 MB / 0.545 GB
Notification: Performance of SimCode: time 1.903e-06/1.875, allocations: 0 / 0.9321 GB, free: 182.6 MB / 0.545 GB
Notification: Performance of Templates: time 0.08209/1.957, allocations: 55.83 MB / 0.9866 GB, free: 140.6 MB / 0.545 GB
make -j1 -f ModelicaTest_trunk_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3.makefile
(rm -f ModelicaTest_trunk_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3.pipe ; mkfifo ModelicaTest_trunk_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3.pipe ; head -c 1048576 < ModelicaTest_trunk_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3.pipe >> ../files/ModelicaTest_trunk_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3.sim & ./ModelicaTest_trunk_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3  -abortSlowSimulation -alarm=480  -emit_protected -lv LOG_STATS > ModelicaTest_trunk_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3.pipe 2>&1)
diffSimulationResults("ModelicaTest_trunk_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3_res.mat","/var/lib/jenkins/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/ModelicaTest/MultiBody/Forces/FrameForcesAndTorques3/FrameForcesAndTorques3.csv","../files/ModelicaTest_trunk_ModelicaTest.MultiBody.Forces.FrameForcesAndTorques3.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
Reference file matches