Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr Modelica_3.2.3_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.conf.json loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo", uses=false) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo", uses=false) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo", uses=false) Using package Modelica with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo) Using package Complex with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo) Using package ModelicaServices with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo) Running command: "" <> buildModelFMU(Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint,fileNamePrefix="Modelica_3_2_3_Modelica_Mechanics_MultiBody_Examples_Constraints_RevoluteConstraint",fmuType="me",version="2.0",platforms={"static"}) "" <> buildModelFMU(Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint,fileNamePrefix="Modelica_3_2_3_Modelica_Mechanics_MultiBody_Examples_Constraints_RevoluteConstraint",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 0.0008031/0.0008034, allocations: 96.86 kB / 16.95 MB, free: 5.984 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.0008739/0.000874, allocations: 177.6 kB / 17.84 MB, free: 5.633 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.499/1.499, allocations: 205.4 MB / 224 MB, free: 13.16 MB / 190.1 MB Notification: Modelica requested package Complex of version 3.2.3. Complex 4.0.0 is used instead which states that it is fully compatible without conversion script needed. Notification: Modelica requested package ModelicaServices of version 3.2.3. ModelicaServices 4.0.0 is used instead which states that it is fully compatible without conversion script needed. Notification: Performance of FrontEnd - loaded program: time 0.0004355/0.0004355, allocations: 8 kB / 280.9 MB, free: 3.633 MB / 222.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.1093/0.1097, allocations: 47.59 MB / 328.5 MB, free: 3.973 MB / 270.1 MB Notification: Performance of NFInst.instantiate(Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint): time 0.3139/0.4236, allocations: 78.09 MB / 406.6 MB, free: 8.379 MB / 318.1 MB Notification: Performance of NFInst.instExpressions: time 0.04375/0.4675, allocations: 16.53 MB / 423.1 MB, free: 3.625 MB / 318.1 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.02154/0.4891, allocations: 389.8 kB / 423.5 MB, free: 3.559 MB / 318.1 MB Notification: Performance of NFTyping.typeComponents: time 0.01269/0.5018, allocations: 3.647 MB / 427.1 MB, free: 0.8789 MB / 318.1 MB Notification: Performance of NFTyping.typeBindings: time 0.03358/0.5354, allocations: 10.59 MB / 437.7 MB, free: 9.297 MB / 334.1 MB Notification: Performance of NFTyping.typeClassSections: time 0.006196/0.5417, allocations: 1.037 MB / 438.7 MB, free: 8.258 MB / 334.1 MB Notification: Performance of NFFlatten.flatten: time 0.01192/0.5536, allocations: 7.752 MB / 446.5 MB, free: 496 kB / 334.1 MB Notification: Performance of NFFlatten.resolveConnections: time 0.0157/0.5693, allocations: 9.568 MB / 456.1 MB, free: 6.836 MB / 350.1 MB Notification: Performance of NFEvalConstants.evaluate: time 0.005003/0.5744, allocations: 2.156 MB / 458.2 MB, free: 4.672 MB / 350.1 MB Notification: Performance of NFSimplifyModel.simplify: time 0.005837/0.5802, allocations: 3.049 MB / 461.3 MB, free: 1.613 MB / 350.1 MB Notification: Performance of NFPackage.collectConstants: time 0.002087/0.5824, allocations: 228 kB / 461.5 MB, free: 1.391 MB / 350.1 MB Notification: Performance of NFFlatten.collectFunctions: time 0.004408/0.5868, allocations: 1.283 MB / 462.8 MB, free: 108 kB / 350.1 MB Notification: Performance of NFScalarize.scalarize: time 0.004321/0.5911, allocations: 2.825 MB / 465.6 MB, free: 13.27 MB / 366.1 MB Notification: Performance of NFVerifyModel.verify: time 0.002974/0.5941, allocations: 1.357 MB / 466.9 MB, free: 11.91 MB / 366.1 MB Notification: Performance of NFConvertDAE.convert: time 0.01231/0.6065, allocations: 9.565 MB / 476.5 MB, free: 2.32 MB / 366.1 MB Notification: Performance of FrontEnd - DAE generated: time 7.314e-06/0.6065, allocations: 0 / 476.5 MB, free: 2.32 MB / 366.1 MB Notification: Performance of FrontEnd: time 2.365e-06/0.6065, allocations: 0 / 476.5 MB, free: 2.32 MB / 366.1 MB Notification: Performance of Transformations before backend: time 0.0005286/0.6071, allocations: 0 / 476.5 MB, free: 2.32 MB / 366.1 MB Notification: Model statistics after passing the front-end and creating the data structures used by the back-end: * Number of equations: 2390 * Number of variables: 2390 Notification: Performance of Generate backend data structure: time 0.0191/0.6262, allocations: 6.938 MB / 483.4 MB, free: 11.3 MB / 382.1 MB Notification: Performance of prepare preOptimizeDAE: time 5.419e-05/0.6263, allocations: 8.031 kB / 483.5 MB, free: 11.29 MB / 382.1 MB Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.004229/0.6305, allocations: 1.148 MB / 484.6 MB, free: 10.13 MB / 382.1 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.009439/0.64, allocations: 2.342 MB / 486.9 MB, free: 7.777 MB / 382.1 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.01077/0.6508, allocations: 4.946 MB / 491.9 MB, free: 2.75 MB / 382.1 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0004673/0.6513, allocations: 435.3 kB / 492.3 MB, free: 2.324 MB / 382.1 MB Notification: Performance of preOpt expandDerOperator (simulation): time 0.002457/0.6538, allocations: 0.5856 MB / 492.9 MB, free: 1.738 MB / 382.1 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.03683/0.6906, allocations: 16.8 MB / 0.4978 GB, free: 36 kB / 398.1 MB Notification: Performance of preOpt findStateOrder (simulation): time 0.0004004/0.6911, allocations: 67.56 kB / 0.4978 GB, free: 15.96 MB / 414.1 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.002171/0.6933, allocations: 263.8 kB / 0.4981 GB, free: 15.71 MB / 414.1 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.004334/0.6976, allocations: 2.627 MB / 0.5006 GB, free: 13.07 MB / 414.1 MB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.03156/0.7292, allocations: 14.38 MB / 0.5147 GB, free: 14.67 MB / 430.1 MB Warning: The model contains alias variables with redundant start and/or conflicting nominal values. It is recommended to resolve the conflicts, because otherwise the system could be hard to solve. To print the conflicting alias sets and the chosen candidates please use -d=aliasConflicts. Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.469/1.198, allocations: 63.25 MB / 0.5765 GB, free: 122.4 MB / 446.1 MB Notification: Performance of preOpt comSubExp (simulation): time 0.01954/1.218, allocations: 7.734 MB / 0.584 GB, free: 120.2 MB / 446.1 MB Notification: Performance of preOpt resolveLoops (simulation): time 0.005303/1.223, allocations: 3.991 MB / 0.5879 GB, free: 118.5 MB / 446.1 MB Notification: Performance of preOpt evalFunc (simulation): time 0.02279/1.246, allocations: 16.76 MB / 0.6043 GB, free: 108.2 MB / 446.1 MB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 3.634e-05/1.246, allocations: 66.88 kB / 0.6043 GB, free: 108.1 MB / 446.1 MB Notification: Performance of pre-optimization done (n=274): time 5.861e-06/1.246, allocations: 0 / 0.6043 GB, free: 108.1 MB / 446.1 MB Notification: Performance of matching and sorting (n=325): time 0.1017/1.348, allocations: 40.05 MB / 0.6435 GB, free: 69.88 MB / 446.1 MB Notification: Performance of inlineWhenForInitialization (initialization): time 0.01479/1.363, allocations: 11.6 MB / 0.6548 GB, free: 57.99 MB / 446.1 MB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.008621/1.371, allocations: 5.741 MB / 0.6604 GB, free: 52.28 MB / 446.1 MB Notification: Performance of collectPreVariables (initialization): time 0.000802/1.372, allocations: 73.7 kB / 0.6605 GB, free: 52.2 MB / 446.1 MB Notification: Performance of collectInitialEqns (initialization): time 0.002364/1.375, allocations: 4.751 MB / 0.6651 GB, free: 47.45 MB / 446.1 MB Notification: Performance of collectInitialBindings (initialization): time 0.001407/1.376, allocations: 1.217 MB / 0.6663 GB, free: 46.24 MB / 446.1 MB Notification: Performance of simplifyInitialFunctions (initialization): time 0.0004697/1.376, allocations: 176.9 kB / 0.6665 GB, free: 46.07 MB / 446.1 MB Notification: Performance of setup shared object (initialization): time 0.0003347/1.377, allocations: 0.6942 MB / 0.6671 GB, free: 45.37 MB / 446.1 MB Notification: Performance of preBalanceInitialSystem (initialization): time 0.004841/1.382, allocations: 3.957 MB / 0.671 GB, free: 41.4 MB / 446.1 MB Notification: Performance of partitionIndependentBlocks (initialization): time 0.006905/1.389, allocations: 9.201 MB / 0.68 GB, free: 29.66 MB / 446.1 MB Notification: Performance of analyzeInitialSystem (initialization): time 0.007926/1.397, allocations: 5.897 MB / 0.6857 GB, free: 23.74 MB / 446.1 MB Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001198/1.397, allocations: 52 kB / 0.6858 GB, free: 23.69 MB / 446.1 MB Notification: Performance of matching and sorting (n=1182) (initialization): time 0.03294/1.43, allocations: 16.86 MB / 0.7023 GB, free: 6.754 MB / 446.1 MB Notification: Performance of prepare postOptimizeDAE: time 0.0002142/1.43, allocations: 84 kB / 0.7023 GB, free: 6.672 MB / 446.1 MB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0002615/1.43, allocations: 188.1 kB / 0.7025 GB, free: 6.488 MB / 446.1 MB Notification: Performance of postOpt tearingSystem (initialization): time 0.0121/1.442, allocations: 4.237 MB / 0.7067 GB, free: 2.266 MB / 446.1 MB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.007045/1.449, allocations: 2.062 MB / 0.7087 GB, free: 208 kB / 446.1 MB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.2476/1.697, allocations: 30.41 MB / 0.7384 GB, free: 126.7 MB / 446.1 MB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.007498/1.705, allocations: 0.5376 MB / 0.7389 GB, free: 126.6 MB / 446.1 MB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001636/1.706, allocations: 0.5578 MB / 0.7394 GB, free: 126.5 MB / 446.1 MB Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 839 * Number of states: 0 () * Number of discrete variables: 60 (freeMotionScalarInit.arrowColor[3],freeMotionScalarInit.arrowColor[2],freeMotionScalarInit.arrowColor[1],fixedTranslation.color[3],fixedTranslation.color[2],fixedTranslation.color[1],fixedRotation.color[3],fixedRotation.color[2],fixedRotation.color[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],springOfConstraint.color[3],springOfConstraint.color[2],springOfConstraint.color[1],springOfConstraint.massColor[3],springOfConstraint.massColor[2],springOfConstraint.massColor[1],springOfJoint.color[3],springOfJoint.color[2],springOfJoint.color[1],springOfJoint.massColor[3],springOfJoint.massColor[2],springOfJoint.massColor[1],bodyOfConstraint.color[3],bodyOfConstraint.color[2],bodyOfConstraint.color[1],bodyOfConstraint.body.sphereColor[3],bodyOfConstraint.body.sphereColor[2],bodyOfConstraint.body.sphereColor[1],bodyOfConstraint.frameTranslation.color[3],bodyOfConstraint.frameTranslation.color[2],bodyOfConstraint.frameTranslation.color[1],bodyOfJoint.color[3],bodyOfJoint.color[2],bodyOfJoint.color[1],bodyOfJoint.body.sphereColor[3],bodyOfJoint.body.sphereColor[2],bodyOfJoint.body.sphereColor[1],bodyOfJoint.frameTranslation.color[3],bodyOfJoint.frameTranslation.color[2],bodyOfJoint.frameTranslation.color[1],sensorConstraintRelative.arrowColor[3],sensorConstraintRelative.arrowColor[2],sensorConstraintRelative.arrowColor[1],constraint.sphereColor[3],constraint.sphereColor[2],constraint.sphereColor[1],joint.cylinderColor[3],joint.cylinderColor[2],joint.cylinderColor[1]) * Number of discrete states: 0 () * Number of clocked states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for initialization (1075): * Single equations (assignments): 1062 * Array equations: 6 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (linear and non-linear blocks): 0 * Torn equation systems: 7 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems: 6 {(3,100.0%) 25,(2,100.0%) 11,(3,77.8%) 12,(2,100.0%) 1,(2,100.0%) 1,(2,100.0%) 1} * Non-linear torn systems: 1 {2 11} Notification: Performance of prepare postOptimizeDAE: time 0.005885/1.712, allocations: 3.254 MB / 0.7426 GB, free: 125.2 MB / 446.1 MB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001021/1.713, allocations: 0.5211 MB / 0.7431 GB, free: 125.2 MB / 446.1 MB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01709/1.73, allocations: 9.392 MB / 0.7523 GB, free: 121.9 MB / 446.1 MB Notification: Performance of postOpt inlineArrayEqn (simulation): time 7.248e-05/1.73, allocations: 45.22 kB / 0.7523 GB, free: 121.9 MB / 446.1 MB Notification: Performance of postOpt constantLinearSystem (simulation): time 0.01461/1.745, allocations: 7.979 MB / 0.7601 GB, free: 117 MB / 446.1 MB Notification: Performance of postOpt simplifysemiLinear (simulation): time 7.867e-05/1.745, allocations: 15.94 kB / 0.7601 GB, free: 116.9 MB / 446.1 MB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.03666/1.782, allocations: 21.94 MB / 0.7816 GB, free: 95.04 MB / 446.1 MB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.386e-05/1.782, allocations: 11.98 kB / 0.7816 GB, free: 95.02 MB / 446.1 MB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.00257/1.785, allocations: 0.4926 MB / 0.7821 GB, free: 94.54 MB / 446.1 MB Notification: Performance of postOpt tearingSystem (simulation): time 0.00865/1.793, allocations: 3.035 MB / 0.785 GB, free: 91.51 MB / 446.1 MB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0006554/1.794, allocations: 59.98 kB / 0.7851 GB, free: 91.45 MB / 446.1 MB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.0252/1.819, allocations: 21.59 MB / 0.8062 GB, free: 69.54 MB / 446.1 MB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.0106/1.83, allocations: 8.865 MB / 0.8148 GB, free: 60.48 MB / 446.1 MB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.02065/1.85, allocations: 13.2 MB / 0.8277 GB, free: 47.24 MB / 446.1 MB Notification: Performance of postOpt removeConstants (simulation): time 0.002801/1.853, allocations: 1.104 MB / 0.8288 GB, free: 46.11 MB / 446.1 MB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0008171/1.854, allocations: 59.94 kB / 0.8289 GB, free: 46.05 MB / 446.1 MB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002527/1.857, allocations: 219.7 kB / 0.8291 GB, free: 45.84 MB / 446.1 MB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0006772/1.857, allocations: 215 kB / 0.8293 GB, free: 45.63 MB / 446.1 MB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002351/1.858, allocations: 95.77 kB / 0.8294 GB, free: 45.54 MB / 446.1 MB Notification: Performance of sorting global known variables: time 0.004851/1.862, allocations: 3.568 MB / 0.8328 GB, free: 41.97 MB / 446.1 MB Notification: Performance of sort global known variables: time 1.9e-07/1.862, allocations: 0 / 0.8328 GB, free: 41.97 MB / 446.1 MB Notification: Performance of remove unused functions: time 0.008856/1.871, allocations: 1.919 MB / 0.8347 GB, free: 40.06 MB / 446.1 MB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 25 * Number of states: 4 ($STATESET2.x,$STATESET1.x,joint.phi,joint.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 (229): * Single equations (assignments): 221 * Array equations: 4 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (linear and non-linear blocks): 0 * Torn equation systems: 4 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems: 3 {(1,100.0%) 11,(3,100.0%) 22,(3,100.0%) 13} * Non-linear torn systems: 1 {3 17} Notification: Performance of Backend phase and start with SimCode phase: time 0.02/1.891, allocations: 13.88 MB / 0.8483 GB, free: 26.04 MB / 446.1 MB Notification: Performance of simCode: created initialization part: time 0.01453/1.906, allocations: 10.27 MB / 0.8583 GB, free: 15.74 MB / 446.1 MB Notification: Performance of simCode: created event and clocks part: time 1.002e-05/1.906, allocations: 4.125 kB / 0.8583 GB, free: 15.73 MB / 446.1 MB Notification: Performance of simCode: created simulation system equations: time 0.005372/1.911, allocations: 3.869 MB / 0.8621 GB, free: 11.81 MB / 446.1 MB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.006421/1.918, allocations: 0.7882 MB / 0.8629 GB, free: 11.03 MB / 446.1 MB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.3246/2.242, allocations: 64.02 MB / 0.9254 GB, free: 105.7 MB / 446.1 MB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.00671/2.249, allocations: 4.94 MB / 0.9302 GB, free: 101.3 MB / 446.1 MB Notification: Performance of simCode: alias equations: time 0.00728/2.257, allocations: 2.826 MB / 0.933 GB, free: 98.48 MB / 446.1 MB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.004708/2.261, allocations: 3.143 MB / 0.936 GB, free: 95.34 MB / 446.1 MB Notification: Performance of SimCode: time 1.353e-06/2.261, allocations: 0 / 0.936 GB, free: 95.34 MB / 446.1 MB Notification: Performance of buildModelFMU: Generate the FMI files: time 0.4621/2.723, allocations: 143.7 MB / 1.076 GB, free: 122 MB / 462.1 MB Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0001723/2.724, allocations: 244.3 kB / 1.077 GB, free: 121.8 MB / 462.1 MB Notification: Performance of buildModelFMU: Generate platform static: time 5.617/8.341, allocations: 4 kB / 1.077 GB, free: 121.8 MB / 462.1 MB (rm -f Modelica_3.2.3_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.pipe ; mkfifo Modelica_3.2.3_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.pipe ; head -c 1048576 < Modelica_3.2.3_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.pipe >> ../files/Modelica_3.2.3_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.sim & /home/hudson/saved_omc/OMSimulator/install/linux/bin/OMSimulator -r=Modelica_3.2.3_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint_res.mat --tempDir=temp_Modelica_3_2_3_Modelica_Mechanics_MultiBody_Examples_Constraints_RevoluteConstraint_fmu --startTime=0 --stopTime=10 --timeout=50 --tolerance=1e-06 Modelica_3_2_3_Modelica_Mechanics_MultiBody_Examples_Constraints_RevoluteConstraint.fmu > Modelica_3.2.3_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint.pipe 2>&1) Environment - environmentSimulation: TODO: How the !@#!# did the simulation report success but simulation result Modelica_3.2.3_Modelica.Mechanics.MultiBody.Examples.Constraints.RevoluteConstraint_res.mat does not exist to compare? outputFormat=mat