Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.GearConstraint.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: "" <> buildModelFMU(ModelicaTest.MultiBody.Joints.GearConstraint,fileNamePrefix="ModelicaTest_trunk_ModelicaTest_MultiBody_Joints_GearConstraint",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(ModelicaTest.MultiBody.Joints.GearConstraint,fileNamePrefix="ModelicaTest_trunk_ModelicaTest_MultiBody_Joints_GearConstraint",fmuType="me",version="2.0",platforms={"static"})
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo): time 0.0009201/0.0009201, allocations: 95.84 kB / 17.35 MB, free: 5.996 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo): time 0.001248/0.001248, allocations: 211.4 kB / 18.29 MB, free: 5.363 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo): time 1.378/1.378, allocations: 227.7 MB / 246.8 MB, free: 9.465 MB / 206.1 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo): time 0.1931/0.1931, allocations: 46.19 MB / 345.2 MB, free: 11.17 MB / 286.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.0002824/0.0002824, allocations: 8 kB / 419.6 MB, free: 19.63 MB / 302.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.1168/0.1171, allocations: 63.56 MB / 483.2 MB, free: 4.055 MB / 350.1 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.GearConstraint): time 0.3144/0.4315, allocations: 75.58 MB / 0.5457 GB, free: 15.75 MB / 398.1 MB
Notification: Performance of NFInst.instExpressions: time 0.04148/0.473, allocations: 14.95 MB / 0.5603 GB, free: 5.418 MB / 398.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.01757/0.4907, allocations: 338.4 kB / 0.5606 GB, free: 5.367 MB / 398.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.003065/0.4938, allocations: 0.8049 MB / 0.5614 GB, free: 4.77 MB / 398.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.009611/0.5034, allocations: 2.892 MB / 0.5642 GB, free: 2.762 MB / 398.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.002619/0.506, allocations: 0.8392 MB / 0.565 GB, free: 2.191 MB / 398.1 MB
Notification: Performance of NFFlatten.flatten: time 0.01386/0.5199, allocations: 12.15 MB / 0.5769 GB, free: 6.645 MB / 414.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.01283/0.5328, allocations: 8.589 MB / 0.5853 GB, free: 13.97 MB / 430.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.004463/0.5373, allocations: 2.171 MB / 0.5874 GB, free: 11.79 MB / 430.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.005488/0.5428, allocations: 3.69 MB / 0.591 GB, free: 8.086 MB / 430.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.00158/0.5444, allocations: 276 kB / 0.5913 GB, free: 7.816 MB / 430.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.004217/0.5486, allocations: 1.158 MB / 0.5924 GB, free: 6.656 MB / 430.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.004755/0.5534, allocations: 3.264 MB / 0.5956 GB, free: 3.383 MB / 430.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.006149/0.5596, allocations: 3.828 MB / 0.5993 GB, free: 15.52 MB / 446.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.0139/0.5735, allocations: 12.56 MB / 0.6116 GB, free: 2.922 MB / 446.1 MB
Notification: Performance of FrontEnd - DAE generated: time 4.298e-06/0.5735, allocations: 0 / 0.6116 GB, free: 2.922 MB / 446.1 MB
Notification: Performance of FrontEnd: time 2.405e-06/0.5736, allocations: 0 / 0.6116 GB, free: 2.922 MB / 446.1 MB
Notification: Performance of Transformations before backend: time 0.0004598/0.574, allocations: 0 / 0.6116 GB, free: 2.922 MB / 446.1 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 2997
 * Number of variables: 2997
Notification: Performance of Generate backend data structure: time 0.01689/0.5909, allocations: 7.262 MB / 0.6187 GB, free: 11.57 MB / 462.1 MB
Notification: Performance of prepare preOptimizeDAE: time 4.981e-05/0.591, allocations: 8.875 kB / 0.6187 GB, free: 11.56 MB / 462.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.003779/0.5948, allocations: 1.394 MB / 0.62 GB, free: 10.16 MB / 462.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.04957/0.6444, allocations: 9.092 MB / 0.6289 GB, free: 1.039 MB / 462.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.01072/0.6551, allocations: 5.235 MB / 0.634 GB, free: 11.72 MB / 478.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0004483/0.6556, allocations: 439.7 kB / 0.6345 GB, free: 11.29 MB / 478.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.002293/0.6579, allocations: 0.5777 MB / 0.635 GB, free: 10.71 MB / 478.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.03463/0.6925, allocations: 19.74 MB / 0.6543 GB, free: 5.938 MB / 494.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0003099/0.6929, allocations: 67.41 kB / 0.6544 GB, free: 5.871 MB / 494.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.001921/0.6948, allocations: 271.7 kB / 0.6546 GB, free: 5.605 MB / 494.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.006716/0.7016, allocations: 4.176 MB / 0.6587 GB, free: 1.426 MB / 494.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.03178/0.7334, allocations: 17.43 MB / 0.6757 GB, free: 15.97 MB / 0.5137 GB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.3144/1.048, allocations: 73.04 MB / 0.747 GB, free: 132.3 MB / 0.5294 GB
Notification: Performance of preOpt comSubExp (simulation): time 0.01672/1.065, allocations: 7.81 MB / 0.7547 GB, free: 129.6 MB / 0.5294 GB
Notification: Performance of preOpt resolveLoops (simulation): time 0.006924/1.072, allocations: 5.064 MB / 0.7596 GB, free: 127.5 MB / 0.5294 GB
Notification: Performance of preOpt evalFunc (simulation): time 0.0002437/1.072, allocations: 67.08 kB / 0.7597 GB, free: 127.5 MB / 0.5294 GB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 5.145e-05/1.072, allocations: 72.44 kB / 0.7597 GB, free: 127.4 MB / 0.5294 GB
Notification: Performance of pre-optimization done (n=429): time 7.183e-06/1.072, allocations: 0 / 0.7597 GB, free: 127.4 MB / 0.5294 GB
Notification: Performance of matching and sorting (n=476): time 0.09131/1.163, allocations: 40.29 MB / 0.7991 GB, free: 102.5 MB / 0.5294 GB
Notification: Performance of inlineWhenForInitialization (initialization): time 7.179e-05/1.163, allocations: 226.8 kB / 0.7993 GB, free: 102.3 MB / 0.5294 GB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.007432/1.171, allocations: 6.39 MB / 0.8055 GB, free: 95.88 MB / 0.5294 GB
Notification: Performance of collectPreVariables (initialization): time 0.0008369/1.172, allocations: 95.66 kB / 0.8056 GB, free: 95.78 MB / 0.5294 GB
Notification: Performance of collectInitialEqns (initialization): time 0.002226/1.174, allocations: 5.524 MB / 0.811 GB, free: 90.26 MB / 0.5294 GB
Notification: Performance of collectInitialBindings (initialization): time 0.001558/1.175, allocations: 1.728 MB / 0.8127 GB, free: 88.54 MB / 0.5294 GB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0009539/1.176, allocations: 0.931 MB / 0.8136 GB, free: 87.61 MB / 0.5294 GB
Notification: Performance of setup shared object (initialization): time 4.242e-05/1.176, allocations: 305.1 kB / 0.8139 GB, free: 87.31 MB / 0.5294 GB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.005496/1.182, allocations: 4.808 MB / 0.8186 GB, free: 82.5 MB / 0.5294 GB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.00776/1.19, allocations: 10.86 MB / 0.8292 GB, free: 68.71 MB / 0.5294 GB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01576/1.205, allocations: 17.05 MB / 0.8459 GB, free: 48.7 MB / 0.5294 GB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.000161/1.206, allocations: 60 kB / 0.8459 GB, free: 48.64 MB / 0.5294 GB
Notification: Performance of matching and sorting (n=1443) (initialization): time 0.02594/1.232, allocations: 16.86 MB / 0.8624 GB, free: 31.74 MB / 0.5294 GB
Notification: Performance of prepare postOptimizeDAE: time 0.0002339/1.232, allocations: 99.94 kB / 0.8625 GB, free: 31.64 MB / 0.5294 GB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0002846/1.232, allocations: 208 kB / 0.8627 GB, free: 31.44 MB / 0.5294 GB
Notification: Performance of postOpt tearingSystem (initialization): time 0.004351/1.237, allocations: 1.821 MB / 0.8645 GB, free: 29.61 MB / 0.5294 GB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.007924/1.244, allocations: 2.504 MB / 0.8669 GB, free: 27.1 MB / 0.5294 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.01437/1.259, allocations: 14.7 MB / 0.8813 GB, free: 11.88 MB / 0.5294 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.008241/1.267, allocations: 0.6452 MB / 0.8819 GB, free: 11.24 MB / 0.5294 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001882/1.269, allocations: 0.6139 MB / 0.8825 GB, free: 10.62 MB / 0.5294 GB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 955
 * Number of states: 0 ()
 * Number of discrete variables: 53 (torque1.torqueArrow.twoHeadedArrow,torque1.torqueArrow.headAtOrigin,fixedFrame1.color_x[3],fixedFrame1.color_x[2],fixedFrame1.color_x[1],fixedFrame2.color_x[3],fixedFrame2.color_x[2],fixedFrame2.color_x[1],fixed.color[3],fixed.color[2],fixed.color[1],torque1.connectionLineColor[3],torque1.connectionLineColor[2],torque1.connectionLineColor[1],torque1.torqueColor[3],torque1.torqueColor[2],torque1.torqueColor[1],cyl2.color[3],cyl2.color[2],cyl2.color[1],cyl2.body.sphereColor[3],cyl2.body.sphereColor[2],cyl2.body.sphereColor[1],cyl1.color[3],cyl1.color[2],cyl1.color[1],cyl1.body.sphereColor[3],cyl1.body.sphereColor[2],cyl1.body.sphereColor[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],gearConstraint.fixedTranslation2.color[3],gearConstraint.fixedTranslation2.color[2],gearConstraint.fixedTranslation2.color[1],gearConstraint.fixedTranslation1.color[3],gearConstraint.fixedTranslation1.color[2],gearConstraint.fixedTranslation1.color[1],gearConstraint.actuatedRevolute_b.cylinderColor[3],gearConstraint.actuatedRevolute_b.cylinderColor[2],gearConstraint.actuatedRevolute_b.cylinderColor[1],gearConstraint.actuatedRevolute_a.cylinderColor[3],gearConstraint.actuatedRevolute_a.cylinderColor[2],gearConstraint.actuatedRevolute_a.cylinderColor[1])
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (1319):
 * Single equations (assignments): 1306
 * Array equations: 9
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (not torn): 0
 * Torn equation systems: 4
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems (#iteration vars, #inner vars, density): 4 systems
   {(1,2,100.0%), (1,2,100.0%), (1,42,100.0%), (1,6,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of prepare postOptimizeDAE: time 0.008998/1.278, allocations: 4.069 MB / 0.8865 GB, free: 6.543 MB / 0.5294 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001548/1.28, allocations: 0.5977 MB / 0.8871 GB, free: 5.938 MB / 0.5294 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01657/1.296, allocations: 9.474 MB / 0.8963 GB, free: 12.41 MB / 0.545 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.0001418/1.296, allocations: 89.16 kB / 0.8964 GB, free: 12.32 MB / 0.545 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 3.896e-05/1.296, allocations: 11.94 kB / 0.8964 GB, free: 12.31 MB / 0.545 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 6.575e-05/1.297, allocations: 19.98 kB / 0.8964 GB, free: 12.29 MB / 0.545 GB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.2919/1.588, allocations: 21.21 MB / 0.9171 GB, free: 172.6 MB / 0.545 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.057e-05/1.589, allocations: 13.19 kB / 0.9171 GB, free: 172.6 MB / 0.545 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.003744/1.592, allocations: 0.7455 MB / 0.9179 GB, free: 172.6 MB / 0.545 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.004418/1.597, allocations: 1.504 MB / 0.9193 GB, free: 172.2 MB / 0.545 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0006699/1.597, allocations: 87.84 kB / 0.9194 GB, free: 172.2 MB / 0.545 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.0147/1.612, allocations: 13.72 MB / 0.9328 GB, free: 163.6 MB / 0.545 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 1.055e-05/1.612, allocations: 15.75 kB / 0.9328 GB, free: 163.6 MB / 0.545 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.02204/1.634, allocations: 15.2 MB / 0.9477 GB, free: 157.6 MB / 0.545 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.001513/1.636, allocations: 0.6382 MB / 0.9483 GB, free: 157.5 MB / 0.545 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001646/1.637, allocations: 76.52 kB / 0.9484 GB, free: 157.5 MB / 0.545 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.003916/1.641, allocations: 307.2 kB / 0.9487 GB, free: 157.4 MB / 0.545 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.001078/1.642, allocations: 286.4 kB / 0.9489 GB, free: 157.4 MB / 0.545 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0003272/1.643, allocations: 125.1 kB / 0.9491 GB, free: 157.3 MB / 0.545 GB
Notification: Performance of sorting global known variables: time 0.006115/1.649, allocations: 3.995 MB / 0.953 GB, free: 156 MB / 0.545 GB
Notification: Performance of sort global known variables: time 1.91e-07/1.649, allocations: 0 / 0.953 GB, free: 156 MB / 0.545 GB
Notification: Performance of remove unused functions: time 0.009477/1.658, allocations: 1.95 MB / 0.9549 GB, free: 155.8 MB / 0.545 GB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 48
 * Number of states: 4 (gearConstraint.actuatedRevolute_b.phi,gearConstraint.actuatedRevolute_b.w,inertia1.phi,inertia1.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 (359):
 * Single equations (assignments): 346
 * Array equations: 9
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (not torn): 0
 * Torn equation systems: 4
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems (#iteration vars, #inner vars, density): 4 systems
   {(1,39,100.0%), (1,2,100.0%), (1,1,100.0%), (1,5,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of Backend phase and start with SimCode phase: time 0.01903/1.677, allocations: 15.93 MB / 0.9704 GB, free: 142.1 MB / 0.545 GB
Notification: Performance of simCode: created initialization part: time 0.01684/1.694, allocations: 11.86 MB / 0.982 GB, free: 130.7 MB / 0.545 GB
Notification: Performance of simCode: created event and clocks part: time 1.484e-05/1.694, allocations: 4 kB / 0.982 GB, free: 130.7 MB / 0.545 GB
Notification: Performance of simCode: created simulation system equations: time 0.006788/1.701, allocations: 4.791 MB / 0.9867 GB, free: 125.8 MB / 0.545 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.0154/1.717, allocations: 0.7744 MB / 0.9874 GB, free: 125.1 MB / 0.545 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.1592/1.876, allocations: 115.3 MB / 1.1 GB, free: 12.52 MB / 0.5606 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.009693/1.886, allocations: 5.911 MB / 1.106 GB, free: 6.562 MB / 0.5606 GB
Notification: Performance of simCode: alias equations: time 0.01066/1.896, allocations: 4 MB / 1.11 GB, free: 2.555 MB / 0.5606 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.006535/1.903, allocations: 3.909 MB / 1.114 GB, free: 14.65 MB / 0.5762 GB
Notification: Performance of SimCode: time 9.82e-07/1.903, allocations: 0 / 1.114 GB, free: 14.65 MB / 0.5762 GB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.4068/2.31, allocations: 132.1 MB / 1.243 GB, free: 114.4 MB / 0.5762 GB
Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0001531/2.31, allocations: 220.7 kB / 1.243 GB, free: 114.1 MB / 0.5762 GB
Notification: Performance of buildModelFMU: Generate platform static: time 5.113/7.422, allocations: 0 / 1.243 GB, free: 114.1 MB / 0.5762 GB
(rm -f ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.GearConstraint.pipe ; mkfifo ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.GearConstraint.pipe ; head -c 1048576 < ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.GearConstraint.pipe >> ../files/ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.GearConstraint.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.GearConstraint_res.mat --tempDir=temp_ModelicaTest_trunk_ModelicaTest_MultiBody_Joints_GearConstraint_fmu --startTime=0 --stopTime=5 --timeout=50 --tolerance=1e-06 ModelicaTest_trunk_ModelicaTest_MultiBody_Joints_GearConstraint.fmu > ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.GearConstraint.pipe 2>&1)
diffSimulationResults("ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.GearConstraint_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/ModelicaTest/MultiBody/Joints/GearConstraint/GearConstraint.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.GearConstraint.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
""

Variables in the reference:time,gearConstraint.actuatedRevolute_b.phi,gearConstraint.actuatedRevolute_b.w,inertia2.phi,inertia2.w

Variables in the result:cyl1.I22,cyl1.I[1,1],cyl1.I[1,2],cyl1.I[1,3],cyl1.I[2,1],cyl1.I[2,2],cyl1.I[2,3],cyl1.I[3,1],cyl1.I[3,2],cyl1.I[3,3],cyl1.R.T[1,1],cyl1.R.T[1,2],cyl1.R.T[1,3],cyl1.R.T[2,1],cyl1.R.T[2,2],cyl1.R.T[2,3],cyl1.R.T[3,1],cyl1.R.T[3,2],cyl1.R.T[3,3],cyl1.R.w[1],cyl1.R.w[2],cyl1.R.w[3],cyl1.a_0[1],cyl1.a_0[2],cyl1.a_0[3],cyl1.angles_fixed,cyl1.angles_start[1],cyl1.angles_start[2],cyl1.angles_start[3],cyl1.animation,cyl1.body.I[1,1],cyl1.body.I[1,2],cyl1.body.I[1,3],cyl1.body.I[2,1],cyl1.body.I[2,2],cyl1.body.I[2,3],cyl1.body.I[3,1],cyl1.body.I[3,2],cyl1.body.I[3,3],cyl1.body.I_11,cyl1.body.I_21,cyl1.body.I_22,cyl1.body.I_31,cyl1.body.I_32,cyl1.body.I_33,cyl1.body.R_start.T[1,1],cyl1.body.R_start.T[1,2],cyl1.body.R_start.T[1,3],cyl1.body.R_start.T[2,1],cyl1.body.R_start.T[2,2],cyl1.body.R_start.T[2,3],cyl1.body.R_start.T[3,1],cyl1.body.R_start.T[3,2],cyl1.body.R_start.T[3,3],cyl1.body.R_start.w[1],cyl1.body.R_start.w[2],cyl1.body.R_start.w[3],cyl1.body.a_0[1],cyl1.body.a_0[2],cyl1.body.a_0[3],cyl1.body.angles_fixed,cyl1.body.angles_start[1],cyl1.body.angles_start[2],cyl1.body.angles_start[3],cyl1.body.animation,cyl1.body.cylinderColor[1],cyl1.body.cylinderColor[2],cyl1.body.cylinderColor[3],cyl1.body.cylinderDiameter,cyl1.body.enforceStates,cyl1.body.frame_a.R.T[1,1],cyl1.body.frame_a.R.T[1,2],cyl1.body.frame_a.R.T[1,3],cyl1.body.frame_a.R.T[2,1],cyl1.body.frame_a.R.T[2,2],cyl1.body.frame_a.R.T[2,3],cyl1.body.frame_a.R.T[3,1],cyl1.body.frame_a.R.T[3,2],cyl1.body.frame_a.R.T[3,3],cyl1.body.frame_a.R.w[1],cyl1.body.frame_a.R.w[2],cyl1.body.frame_a.R.w[3],cyl1.body.frame_a.f[1],cyl1.body.frame_a.f[2],cyl1.body.frame_a.f[3],cyl1.body.frame_a.r_0[1],cyl1.body.frame_a.r_0[2],cyl1.body.frame_a.r_0[3],cyl1.body.frame_a.t[1],cyl1.body.frame_a.t[2],cyl1.body.frame_a.t[3],cyl1.body.g_0[1],cyl1.body.g_0[2],cyl1.body.g_0[3],cyl1.body.m,cyl1.body.r_0[1],cyl1.body.r_0[2],cyl1.body.r_0[3],cyl1.body.r_CM[1],cyl1.body.r_CM[2],cyl1.body.r_CM[3],cyl1.body.sequence_angleStates[1],cyl1.body.sequence_angleStates[2],cyl1.body.sequence_angleStates[3],cyl1.body.sequence_start[1],cyl1.body.sequence_start[2],cyl1.body.sequence_start[3],cyl1.body.specularCoefficient,cyl1.body.sphereColor[1],cyl1.body.sphereColor[2],cyl1.body.sphereColor[3],cyl1.body.sphereDiameter,cyl1.body.useQuaternions,cyl1.body.v_0[1],cyl1.body.v_0[2],cyl1.body.v_0[3],cyl1.body.w_0_fixed,cyl1.body.w_0_start[1],cyl1.body.w_0_start[2],cyl1.body.w_0_start[3],cyl1.body.w_a[1],cyl1.body.w_a[2],cyl1.body.w_a[3],cyl1.body.z_0_fixed,cyl1.body.z_0_start[1],cyl1.body.z_0_start[2],cyl1.body.z_0_start[3],cyl1.body.z_a[1],cyl1.body.z_a[2],cyl1.body.z_a[3],cyl1.color[1],cyl1.color[2],cyl1.color[3],cyl1.density,cyl1.diameter,cyl1.enforceStates,cyl1.frameTranslation.animation,cyl1.frameTranslation.color[1],cyl1.frameTranslation.color[2],cyl1.frameTranslation.color[3],cyl1.frameTranslation.extra,cyl1.frameTranslation.frame_a.R.T[1,1],cyl1.frameTranslation.frame_a.R.T[1,2],cyl1.frameTranslation.frame_a.R.T[1,3],cyl1.frameTranslation.frame_a.R.T[2,1],cyl1.frameTranslation.frame_a.R.T[2,2],cyl1.frameTranslation.frame_a.R.T[2,3],cyl1.frameTranslation.frame_a.R.T[3,1],cyl1.frameTranslation.frame_a.R.T[3,2],cyl1.frameTranslation.frame_a.R.T[3,3],cyl1.frameTranslation.frame_a.R.w[1],cyl1.frameTranslation.frame_a.R.w[2],cyl1.frameTranslation.frame_a.R.w[3],cyl1.frameTranslation.frame_a.f[1],cyl1.frameTranslation.frame_a.f[2],cyl1.frameTranslation.frame_a.f[3],cyl1.frameTranslation.frame_a.r_0[1],cyl1.frameTranslation.frame_a.r_0[2],cyl1.frameTranslation.frame_a.r_0[3],cyl1.frameTranslation.frame_a.t[1],cyl1.frameTranslation.frame_a.t[2],cyl1.frameTranslation.frame_a.t[3],cyl1.frameTranslation.frame_b.R.T[1,1],cyl1.frameTranslation.frame_b.R.T[1,2],cyl1.frameTranslation.frame_b.R.T[1,3],cyl1.frameTranslation.frame_b.R.T[2,1],cyl1.frameTranslation.frame_b.R.T[2,2],cyl1.frameTranslation.frame_b.R.T[2,3],cyl1.frameTranslation.frame_b.R.T[3,1],cyl1.frameTranslation.frame_b.R.T[3,2],cyl1.frameTranslation.frame_b.R.T[3,3],cyl1.frameTranslation.frame_b.R.w[1],cyl1.frameTranslation.frame_b.R.w[2],cyl1.frameTranslation.frame_b.R.w[3],cyl1.frameTranslation.frame_b.f[1],cyl1.frameTranslation.frame_b.f[2],cyl1.frameTranslation.frame_b.f[3],cyl1.frameTranslation.frame_b.r_0[1],cyl1.frameTranslation.frame_b.r_0[2],cyl1.frameTranslation.frame_b.r_0[3],cyl1.frameTranslation.frame_b.t[1],cyl1.frameTranslation.frame_b.t[2],cyl1.frameTranslation.frame_b.t[3],cyl1.frameTranslation.height,cyl1.frameTranslation.length,cyl1.frameTranslation.lengthDirection[1],cyl1.frameTranslation.lengthDirection[2],cyl1.frameTranslation.lengthDirection[3],cyl1.frameTranslation.r[1],cyl1.frameTranslation.r[2],cyl1.frameTranslation.r[3],cyl1.frameTranslation.r_shape[1],cyl1.frameTranslation.r_shape[2],cyl1.frameTranslation.r_shape[3],cyl1.frameTranslation.specularCoefficient,cyl1.frameTranslation.width,cyl1.frameTranslation.widthDirection[1],cyl1.frameTranslation.widthDirection[2],cyl1.frameTranslation.widthDirection[3],cyl1.frame_a.R.T[1,1],cyl1.frame_a.R.T[1,2],cyl1.frame_a.R.T[1,3],cyl1.frame_a.R.T[2,1],cyl1.frame_a.R.T[2,2],cyl1.frame_a.R.T[2,3],cyl1.frame_a.R.T[3,1],cyl1.frame_a.R.T[3,2],cyl1.frame_a.R.T[3,3],cyl1.frame_a.R.w[1],cyl1.frame_a.R.w[2],cyl1.frame_a.R.w[3],cyl1.frame_a.f[1],cyl1.frame_a.f[2],cyl1.frame_a.f[3],cyl1.frame_a.r_0[1],cyl1.frame_a.r_0[2],cyl1.frame_a.r_0[3],cyl1.frame_a.t[1],cyl1.frame_a.t[2],cyl1.frame_a.t[3],cyl1.frame_b.R.T[1,1],cyl1.frame_b.R.T[1,2],cyl1.frame_b.R.T[1,3],cyl1.frame_b.R.T[2,1],cyl1.frame_b.R.T[2,2],cyl1.frame_b.R.T[2,3],cyl1.frame_b.R.T[3,1],cyl1.frame_b.R.T[3,2],cyl1.frame_b.R.T[3,3],cyl1.frame_b.R.w[1],cyl1.frame_b.R.w[2],cyl1.frame_b.R.w[3],cyl1.frame_b.f[1],cyl1.frame_b.f[2],cyl1.frame_b.f[3],cyl1.frame_b.r_0[1],cyl1.frame_b.r_0[2],cyl1.frame_b.r_0[3],cyl1.frame_b.t[1],cyl1.frame_b.t[2],cyl1.frame_b.t[3],cyl1.innerDiameter,cyl1.innerRadius,cyl1.length,cyl1.lengthDirection[1],cyl1.lengthDirection[2],cyl1.lengthDirection[3],cyl1.m,cyl1.mi,cyl1.mo,cyl1.r[1],cyl1.r[2],cyl1.r[3],cyl1.r_0[1],cyl1.r_0[2],cyl1.r_0[3],cyl1.r_CM[1],cyl1.r_CM[2],cyl1.r_CM[3],cyl1.r_shape[1],cyl1.r_shape[2],cyl1.r_shape[3],cyl1.radius,cyl1.sequence_angleStates[1],cyl1.sequence_angleStates[2],cyl1.sequence_angleStates[3],cyl1.sequence_start[1],cyl1.sequence_start[2],cyl1.sequence_start[3],cyl1.specularCoefficient,cyl1.useQuaternions,cyl1.v_0[1],cyl1.v_0[2],cyl1.v_0[3],cyl1.w_0_fixed,cyl1.w_0_start[1],cyl1.w_0_start[2],cyl1.w_0_start[3],cyl1.z_0_fixed,cyl1.z_0_start[1],cyl1.z_0_start[2],cyl1.z_0_start[3],cyl2.I22,cyl2.I[1,1],cyl2.I[1,2],cyl2.I[1,3],cyl2.I[2,1],cyl2.I[2,2],cyl2.I[2,3],cyl2.I[3,1],cyl2.I[3,2],cyl2.I[3,3],cyl2.R.T[1,1],cyl2.R.T[1,2],cyl2.R.T[1,3],cyl2.R.T[2,1],cyl2.R.T[2,2],cyl2.R.T[2,3],cyl2.R.T[3,1],cyl2.R.T[3,2],cyl2.R.T[3,3],cyl2.R.w[1],cyl2.R.w[2],cyl2.R.w[3],cyl2.a_0[1],cyl2.a_0[2],cyl2.a_0[3],cyl2.angles_fixed,cyl2.angles_start[1],cyl2.angles_start[2],cyl2.angles_start[3],cyl2.animation,cyl2.body.I[1,1],cyl2.body.I[1,2],cyl2.body.I[1,3],cyl2.body.I[2,1],cyl2.body.I[2,2],cyl2.body.I[2,3],cyl2.body.I[3,1],cyl2.body.I[3,2],cyl2.body.I[3,3],cyl2.body.I_11,cyl2.body.I_21,cyl2.body.I_22,cyl2.body.I_31,cyl2.body.I_32,cyl2.body.I_33,cyl2.body.R_start.T[1,1],cyl2.body.R_start.T[1,2],cyl2.body.R_start.T[1,3],cyl2.body.R_start.T[2,1],cyl2.body.R_start.T[2,2],cyl2.body.R_start.T[2,3],cyl2.body.R_start.T[3,1],cyl2.body.R_start.T[3,2],cyl2.body.R_start.T[3,3],cyl2.body.R_start.w[1],cyl2.body.R_start.w[2],cyl2.body.R_start.w[3],cyl2.body.a_0[1],cyl2.body.a_0[2],cyl2.body.a_0[3],cyl2.body.angles_fixed,cyl2.body.angles_start[1],cyl2.body.angles_start[2],cyl2.body.angles_start[3],cyl2.body.animation,cyl2.body.cylinderColor[1],cyl2.body.cylinderColor[2],cyl2.body.cylinderColor[3],cyl2.body.cylinderDiameter,cyl2.body.enforceStates,cyl2.body.frame_a.R.T[1,1],cyl2.body.frame_a.R.T[1,2],cyl2.body.frame_a.R.T[1,3],cyl2.body.frame_a.R.T[2,1],cyl2.body.frame_a.R.T[2,2],cyl2.body.frame_a.R.T[2,3],cyl2.body.frame_a.R.T[3,1],cyl2.body.frame_a.R.T[3,2],cyl2.body.frame_a.R.T[3,3],cyl2.body.frame_a.R.w[1],cyl2.body.frame_a.R.w[2],cyl2.body.frame_a.R.w[3],cyl2.body.frame_a.f[1],cyl2.body.frame_a.f[2],cyl2.body.frame_a.f[3],cyl2.body.frame_a.r_0[1],cyl2.body.frame_a.r_0[2],cyl2.body.frame_a.r_0[3],cyl2.body.frame_a.t[1],cyl2.body.frame_a.t[2],cyl2.body.frame_a.t[3],cyl2.body.g_0[1],cyl2.body.g_0[2],cyl2.body.g_0[3],cyl2.body.m,cyl2.body.r_0[1],cyl2.body.r_0[2],cyl2.body.r_0[3],cyl2.body.r_CM[1],cyl2.body.r_CM[2],cyl2.body.r_CM[3],cyl2.body.sequence_angleStates[1],cyl2.body.sequence_angleStates[2],cyl2.body.sequence_angleStates[3],cyl2.body.sequence_start[1],cyl2.body.sequence_start[2],cyl2.body.sequence_start[3],cyl2.body.specularCoefficient,cyl2.body.sphereColor[1],cyl2.body.sphereColor[2],cyl2.body.sphereColor[3],cyl2.body.sphereDiameter,cyl2.body.useQuaternions,cyl2.body.v_0[1],cyl2.body.v_0[2],cyl2.body.v_0[3],cyl2.body.w_0_fixed,cyl2.body.w_0_start[1],cyl2.body.w_0_start[2],cyl2.body.w_0_start[3],cyl2.body.w_a[1],cyl2.body.w_a[2],cyl2.body.w_a[3],cyl2.body.z_0_fixed,cyl2.body.z_0_start[1],cyl2.body.z_0_start[2],cyl2.body.z_0_start[3],cyl2.body.z_a[1],cyl2.body.z_a[2],cyl2.body.z_a[3],cyl2.color[1],cyl2.color[2],cyl2.color[3],cyl2.density,cyl2.diameter,cyl2.enforceStates,cyl2.frameTranslation.animation,cyl2.frameTranslation.color[1],cyl2.frameTranslation.color[2],cyl2.frameTranslation.color[3],cyl2.frameTranslation.extra,cyl2.frameTranslation.frame_a.R.T[1,1],cyl2.frameTranslation.frame_a.R.T[1,2],cyl2.frameTranslation.frame_a.R.T[1,3],cyl2.frameTranslation.frame_a.R.T[2,1],cyl2.frameTranslation.frame_a.R.T[2,2],cyl2.frameTranslation.frame_a.R.T[2,3],cyl2.frameTranslation.frame_a.R.T[3,1],cyl2.frameTranslation.frame_a.R.T[3,2],cyl2.frameTranslation.frame_a.R.T[3,3],cyl2.frameTranslation.frame_a.R.w[1],cyl2.frameTranslation.frame_a.R.w[2],cyl2.frameTranslation.frame_a.R.w[3],cyl2.frameTranslation.frame_a.f[1],cyl2.frameTranslation.frame_a.f[2],cyl2.frameTranslation.frame_a.f[3],cyl2.frameTranslation.frame_a.r_0[1],cyl2.frameTranslation.frame_a.r_0[2],cyl2.frameTranslation.frame_a.r_0[3],cyl2.frameTranslation.frame_a.t[1],cyl2.frameTranslation.frame_a.t[2],cyl2.frameTranslation.frame_a.t[3],cyl2.frameTranslation.frame_b.R.T[1,1],cyl2.frameTranslation.frame_b.R.T[1,2],cyl2.frameTranslation.frame_b.R.T[1,3],cyl2.frameTranslation.frame_b.R.T[2,1],cyl2.frameTranslation.frame_b.R.T[2,2],cyl2.frameTranslation.frame_b.R.T[2,3],cyl2.frameTranslation.frame_b.R.T[3,1],cyl2.frameTranslation.frame_b.R.T[3,2],cyl2.frameTranslation.frame_b.R.T[3,3],cyl2.frameTranslation.frame_b.R.w[1],cyl2.frameTranslation.frame_b.R.w[2],cyl2.frameTranslation.frame_b.R.w[3],cyl2.frameTranslation.frame_b.f[1],cyl2.frameTranslation.frame_b.f[2],cyl2.frameTranslation.frame_b.f[3],cyl2.frameTranslation.frame_b.r_0[1],cyl2.frameTranslation.frame_b.r_0[2],cyl2.frameTranslation.frame_b.r_0[3],cyl2.frameTranslation.frame_b.t[1],cyl2.frameTranslation.frame_b.t[2],cyl2.frameTranslation.frame_b.t[3],cyl2.frameTranslation.height,cyl2.frameTranslation.length,cyl2.frameTranslation.lengthDirection[1],cyl2.frameTranslation.lengthDirection[2],cyl2.frameTranslation.lengthDirection[3],cyl2.frameTranslation.r[1],cyl2.frameTranslation.r[2],cyl2.frameTranslation.r[3],cyl2.frameTranslation.r_shape[1],cyl2.frameTranslation.r_shape[2],cyl2.frameTranslation.r_shape[3],cyl2.frameTranslation.specularCoefficient,cyl2.frameTranslation.width,cyl2.frameTranslation.widthDirection[1],cyl2.frameTranslation.widthDirection[2],cyl2.frameTranslation.widthDirection[3],cyl2.frame_a.R.T[1,1],cyl2.frame_a.R.T[1,2],cyl2.frame_a.R.T[1,3],cyl2.frame_a.R.T[2,1],cyl2.frame_a.R.T[2,2],cyl2.frame_a.R.T[2,3],cyl2.frame_a.R.T[3,1],cyl2.frame_a.R.T[3,2],cyl2.frame_a.R.T[3,3],cyl2.frame_a.R.w[1],cyl2.frame_a.R.w[2],cyl2.frame_a.R.w[3],cyl2.frame_a.f[1],cyl2.frame_a.f[2],cyl2.frame_a.f[3],cyl2.frame_a.r_0[1],cyl2.frame_a.r_0[2],cyl2.frame_a.r_0[3],cyl2.frame_a.t[1],cyl2.frame_a.t[2],cyl2.frame_a.t[3],cyl2.frame_b.R.T[1,1],cyl2.frame_b.R.T[1,2],cyl2.frame_b.R.T[1,3],cyl2.frame_b.R.T[2,1],cyl2.frame_b.R.T[2,2],cyl2.frame_b.R.T[2,3],cyl2.frame_b.R.T[3,1],cyl2.frame_b.R.T[3,2],cyl2.frame_b.R.T[3,3],cyl2.frame_b.R.w[1],cyl2.frame_b.R.w[2],cyl2.frame_b.R.w[3],cyl2.frame_b.f[1],cyl2.frame_b.f[2],cyl2.frame_b.f[3],cyl2.frame_b.r_0[1],cyl2.frame_b.r_0[2],cyl2.frame_b.r_0[3],cyl2.frame_b.t[1],cyl2.frame_b.t[2],cyl2.frame_b.t[3],cyl2.innerDiameter,cyl2.innerRadius,cyl2.length,cyl2.lengthDirection[1],cyl2.lengthDirection[2],cyl2.lengthDirection[3],cyl2.m,cyl2.mi,cyl2.mo,cyl2.r[1],cyl2.r[2],cyl2.r[3],cyl2.r_0[1],cyl2.r_0[2],cyl2.r_0[3],cyl2.r_CM[1],cyl2.r_CM[2],cyl2.r_CM[3],cyl2.r_shape[1],cyl2.r_shape[2],cyl2.r_shape[3],cyl2.radius,cyl2.sequence_angleStates[1],cyl2.sequence_angleStates[2],cyl2.sequence_angleStates[3],cyl2.sequence_start[1],cyl2.sequence_start[2],cyl2.sequence_start[3],cyl2.specularCoefficient,cyl2.useQuaternions,cyl2.v_0[1],cyl2.v_0[2],cyl2.v_0[3],cyl2.w_0_fixed,cyl2.w_0_start[1],cyl2.w_0_start[2],cyl2.w_0_start[3],cyl2.z_0_fixed,cyl2.z_0_start[1],cyl2.z_0_start[2],cyl2.z_0_start[3],der(cyl1.body.frame_a.r_0[1]),der(cyl1.body.frame_a.r_0[2]),der(cyl1.body.frame_a.r_0[3]),der(cyl1.body.w_a[1]),der(cyl1.body.w_a[2]),der(cyl1.body.w_a[3]),der(cyl1.v_0[1]),der(cyl1.v_0[2]),der(cyl1.v_0[3]),der(cyl2.body.frame_a.r_0[1]),der(cyl2.body.frame_a.r_0[2]),der(cyl2.body.frame_a.r_0[3]),der(cyl2.body.w_a[1]),der(cyl2.body.w_a[2]),der(cyl2.body.w_a[3]),der(cyl2.v_0[1]),der(cyl2.v_0[2]),der(cyl2.v_0[3]),der(der(gearConstraint.frame_a.r_0[1])),der(der(gearConstraint.frame_a.r_0[2])),der(der(gearConstraint.frame_a.r_0[3])),der(der(idealGear.phi_a)),der(der(idealGear.phi_b)),der(gearConstraint.actuatedRevolute_a.R_rel.T[1,1]),der(gearConstraint.actuatedRevolute_a.R_rel.T[1,2]),der(gearConstraint.actuatedRevolute_a.R_rel.T[1,3]),der(gearConstraint.actuatedRevolute_a.R_rel.T[2,1]),der(gearConstraint.actuatedRevolute_a.R_rel.T[2,2]),der(gearConstraint.actuatedRevolute_a.R_rel.T[2,3]),der(gearConstraint.actuatedRevolute_a.R_rel.T[3,1]),der(gearConstraint.actuatedRevolute_a.R_rel.T[3,2]),der(gearConstraint.actuatedRevolute_a.R_rel.T[3,3]),der(gearConstraint.actuatedRevolute_a.R_rel.w[1]),der(gearConstraint.actuatedRevolute_a.R_rel.w[2]),der(gearConstraint.actuatedRevolute_a.R_rel.w[3]),der(gearConstraint.actuatedRevolute_a.phi),der(gearConstraint.actuatedRevolute_a.w),der(gearConstraint.actuatedRevolute_b.R_rel.w[1]),der(gearConstraint.actuatedRevolute_b.R_rel.w[2]),der(gearConstraint.actuatedRevolute_b.R_rel.w[3]),der(gearConstraint.actuatedRevolute_b.phi),der(gearConstraint.actuatedRevolute_b.w),der(gearConstraint.frame_a.r_0[1]),der(gearConstraint.frame_a.r_0[2]),der(gearConstraint.frame_a.r_0[3]),der(idealGear.phi_a),der(idealGear.phi_b),der(inertia1.phi),der(inertia1.w),der(inertia2.phi),der(inertia2.w),fixed.animation,fixed.color[1],fixed.color[2],fixed.color[3],fixed.extra,fixed.frame_b.R.T[1,1],fixed.frame_b.R.T[1,2],fixed.frame_b.R.T[1,3],fixed.frame_b.R.T[2,1],fixed.frame_b.R.T[2,2],fixed.frame_b.R.T[2,3],fixed.frame_b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