Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.conf.json
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo", uses=false)
Using package Modelica with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo)
Using package Complex with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo)
Using package ModelicaServices with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo)
Running command: "" <> buildModelFMU(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving,fileNamePrefix="Modelica_trunk_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetDriving",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving,fileNamePrefix="Modelica_trunk_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetDriving",fmuType="me",version="2.0",platforms={"static"})
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo): time 0.0008308/0.0008308, allocations: 93.22 kB / 17.35 MB, free: 6.375 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo): time 0.0009544/0.0009544, allocations: 197.9 kB / 18.28 MB, free: 5.5 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo): time 1.182/1.182, allocations: 227.7 MB / 246.8 MB, free: 11.29 MB / 206.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.0001967/0.0001968, allocations: 8 kB / 307.8 MB, free: 0.7227 MB / 238.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.07544/0.07565, allocations: 51.51 MB / 359.4 MB, free: 13.21 MB / 302.1 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving): time 0.1924/0.2681, allocations: 69.68 MB / 429 MB, free: 4.988 MB / 334.1 MB
Notification: Performance of NFInst.instExpressions: time 0.02654/0.2946, allocations: 14.65 MB / 443.7 MB, free: 6.301 MB / 350.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.009695/0.3043, allocations: 311.2 kB / 444 MB, free: 5.996 MB / 350.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.001499/0.3059, allocations: 0.5557 MB / 444.5 MB, free: 5.438 MB / 350.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.00463/0.3105, allocations: 2.144 MB / 446.7 MB, free: 3.289 MB / 350.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.002037/0.3126, allocations: 1.233 MB / 447.9 MB, free: 2.055 MB / 350.1 MB
Notification: Performance of NFFlatten.flatten: time 0.009253/0.3218, allocations: 9.993 MB / 457.9 MB, free: 8.043 MB / 366.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.009738/0.3316, allocations: 8.063 MB / 466 MB, free: 15.91 MB / 382.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.002552/0.3342, allocations: 1.685 MB / 467.7 MB, free: 14.21 MB / 382.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.003739/0.3379, allocations: 2.963 MB / 470.6 MB, free: 11.24 MB / 382.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.0008067/0.3387, allocations: 224 kB / 470.8 MB, free: 11.02 MB / 382.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.002097/0.3408, allocations: 1.034 MB / 471.9 MB, free: 9.988 MB / 382.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.002478/0.3433, allocations: 2.396 MB / 474.3 MB, free: 7.586 MB / 382.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.002496/0.3458, allocations: 2.828 MB / 477.1 MB, free: 4.734 MB / 382.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.007738/0.3536, allocations: 10.2 MB / 487.3 MB, free: 10.5 MB / 398.1 MB
Notification: Performance of FrontEnd - DAE generated: time 4.609e-06/0.3536, allocations: 0 / 487.3 MB, free: 10.5 MB / 398.1 MB
Notification: Performance of FrontEnd: time 1.944e-06/0.3536, allocations: 0 / 487.3 MB, free: 10.5 MB / 398.1 MB
Notification: Performance of Transformations before backend: time 0.000163/0.3538, allocations: 0 / 487.3 MB, free: 10.5 MB / 398.1 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 1959
 * Number of variables: 1959
Notification: Performance of Generate backend data structure: time 0.01038/0.3642, allocations: 5.75 MB / 493.1 MB, free: 4.672 MB / 398.1 MB
Notification: Performance of prepare preOptimizeDAE: time 3.929e-05/0.3642, allocations: 8.031 kB / 493.1 MB, free: 4.664 MB / 398.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.001116/0.3653, allocations: 0.9379 MB / 494 MB, free: 3.715 MB / 398.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.007892/0.3732, allocations: 2.325 MB / 496.3 MB, free: 1.379 MB / 398.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.006874/0.3801, allocations: 4.561 MB / 0.4892 GB, free: 12.76 MB / 414.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.000206/0.3804, allocations: 353 kB / 0.4895 GB, free: 12.41 MB / 414.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.000737/0.3811, allocations: 479.6 kB / 0.4899 GB, free: 11.94 MB / 414.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.02121/0.4023, allocations: 14.05 MB / 0.5037 GB, free: 13.08 MB / 430.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0002027/0.4026, allocations: 63.52 kB / 0.5037 GB, free: 13.02 MB / 430.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0008603/0.4034, allocations: 215.8 kB / 0.5039 GB, free: 12.8 MB / 430.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.004165/0.4076, allocations: 2.461 MB / 0.5063 GB, free: 10.34 MB / 430.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02364/0.4313, allocations: 12.39 MB / 0.5184 GB, free: 13.93 MB / 446.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.2323/0.6636, allocations: 56.3 MB / 0.5734 GB, free: 107.8 MB / 446.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.01498/0.6786, allocations: 6.81 MB / 0.5801 GB, free: 104.9 MB / 446.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.004459/0.6831, allocations: 4.652 MB / 0.5846 GB, free: 102.5 MB / 446.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.0009963/0.6841, allocations: 1.286 MB / 0.5859 GB, free: 101.2 MB / 446.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 5.402e-05/0.6842, allocations: 62.16 kB / 0.5859 GB, free: 101.1 MB / 446.1 MB
Notification: Performance of pre-optimization done (n=287): time 6.122e-06/0.6842, allocations: 3.984 kB / 0.5859 GB, free: 101.1 MB / 446.1 MB
Notification: Performance of matching and sorting (n=378): time 0.1305/0.8147, allocations: 44.43 MB / 0.6293 GB, free: 59.8 MB / 446.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 6.306e-05/0.8148, allocations: 167 kB / 0.6295 GB, free: 59.61 MB / 446.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.005954/0.8208, allocations: 4.718 MB / 0.6341 GB, free: 54.89 MB / 446.1 MB
Notification: Performance of collectPreVariables (initialization): time 0.000652/0.8214, allocations: 85.7 kB / 0.6342 GB, free: 54.8 MB / 446.1 MB
Notification: Performance of collectInitialEqns (initialization): time 0.001514/0.823, allocations: 3.722 MB / 0.6378 GB, free: 51.07 MB / 446.1 MB
Notification: Performance of collectInitialBindings (initialization): time 0.0009553/0.8239, allocations: 1.365 MB / 0.6391 GB, free: 49.72 MB / 446.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0007019/0.8246, allocations: 0.652 MB / 0.6398 GB, free: 49.06 MB / 446.1 MB
Notification: Performance of setup shared object (initialization): time 4.262e-05/0.8247, allocations: 309.1 kB / 0.6401 GB, free: 48.76 MB / 446.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.004555/0.8293, allocations: 4.197 MB / 0.6442 GB, free: 44.56 MB / 446.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.005747/0.835, allocations: 8.238 MB / 0.6522 GB, free: 34.38 MB / 446.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01142/0.8464, allocations: 13.47 MB / 0.6654 GB, free: 18.93 MB / 446.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 5.987e-05/0.8465, allocations: 40 kB / 0.6654 GB, free: 18.89 MB / 446.1 MB
Notification: Performance of matching and sorting (n=1021) (initialization): time 0.0255/0.872, allocations: 16.95 MB / 0.682 GB, free: 1.875 MB / 446.1 MB
Notification: Performance of prepare postOptimizeDAE: time 0.0001145/0.8722, allocations: 64.94 kB / 0.682 GB, free: 1.812 MB / 446.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0001558/0.8723, allocations: 144 kB / 0.6822 GB, free: 1.672 MB / 446.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.01295/0.8853, allocations: 5.332 MB / 0.6874 GB, free: 12.32 MB / 462.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.005472/0.8908, allocations: 1.696 MB / 0.689 GB, free: 10.62 MB / 462.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.213/1.104, allocations: 32.45 MB / 0.7207 GB, free: 134 MB / 462.1 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.005451/1.109, allocations: 0.5254 MB / 0.7212 GB, free: 133.8 MB / 462.1 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.0005192/1.11, allocations: 445.6 kB / 0.7216 GB, free: 133.8 MB / 462.1 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 634
 * Number of states: 0 ()
 * Number of discrete variables: 51 (shape.color[3],shape.color[2],shape.color[1],fixedTranslation.color[3],fixedTranslation.color[2],fixedTranslation.color[1],body.sphereColor[3],body.sphereColor[2],body.sphereColor[1],wheelSet.wheelSetJoint.revolute2.cylinderColor[3],wheelSet.wheelSetJoint.revolute2.cylinderColor[2],wheelSet.wheelSetJoint.revolute2.cylinderColor[1],wheelSet.wheelSetJoint.revolute1.cylinderColor[3],wheelSet.wheelSetJoint.revolute1.cylinderColor[2],wheelSet.wheelSetJoint.revolute1.cylinderColor[1],wheelSet.wheelSetJoint.rod2.color[3],wheelSet.wheelSetJoint.rod2.color[2],wheelSet.wheelSetJoint.rod2.color[1],wheelSet.wheelSetJoint.revolute.cylinderColor[3],wheelSet.wheelSetJoint.revolute.cylinderColor[2],wheelSet.wheelSetJoint.revolute.cylinderColor[1],wheelSet.wheelSetJoint.prismatic2.boxColor[3],wheelSet.wheelSetJoint.prismatic2.boxColor[2],wheelSet.wheelSetJoint.prismatic2.boxColor[1],wheelSet.wheelSetJoint.prismatic1.boxColor[3],wheelSet.wheelSetJoint.prismatic1.boxColor[2],wheelSet.wheelSetJoint.prismatic1.boxColor[1],wheelSet.wheelSetJoint.rod1.color[3],wheelSet.wheelSetJoint.rod1.color[2],wheelSet.wheelSetJoint.rod1.color[1],wheelSet.wheelSetJoint.fixed.color[3],wheelSet.wheelSetJoint.fixed.color[2],wheelSet.wheelSetJoint.fixed.color[1],wheelSet.body1.sphereColor[3],wheelSet.body1.sphereColor[2],wheelSet.body1.sphereColor[1],wheelSet.body2.sphereColor[3],wheelSet.body2.sphereColor[2],wheelSet.body2.sphereColor[1],world.groundColor[3],world.groundColor[2],world.groundColor[1],world.gravityArrowColor[3],world.gravityArrowColor[2],world.gravityArrowColor[1],world.axisColor_x[3],world.axisColor_x[2],world.axisColor_x[1],world.gravitySphereColor[3],world.gravitySphereColor[2],world.gravitySphereColor[1])
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (862):
 * Single equations (assignments): 854
 * Array equations: 3
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (not torn): 3
 * Torn equation systems: 2
 * Mixed (continuous/discrete) equation systems: 0
Notification: Equation system details (not torn):
 * Constant Jacobian (size): 0 systems
 * Linear Jacobian (size,density): 3 systems
   {(2,100.0%), (2,100.0%), (2,100.0%)}
 * Non-linear Jacobian (size): 0 systems
 * Without analytic Jacobian (size): 0 systems
Notification: Torn system details for strict tearing set:
 * Linear torn systems (#iteration vars, #inner vars, density): 2 systems
   {(8,101,57.8%), (1,24,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of prepare postOptimizeDAE: time 0.003437/1.113, allocations: 2.861 MB / 0.7244 GB, free: 132.6 MB / 462.1 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.0006014/1.114, allocations: 474.2 kB / 0.7249 GB, free: 132.6 MB / 462.1 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01879/1.133, allocations: 11.91 MB / 0.7365 GB, free: 128.3 MB / 462.1 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 6.034e-05/1.133, allocations: 40.91 kB / 0.7366 GB, free: 128.3 MB / 462.1 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 4.01e-05/1.133, allocations: 26.16 kB / 0.7366 GB, free: 128.3 MB / 462.1 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 3.882e-05/1.133, allocations: 20.3 kB / 0.7366 GB, free: 128.3 MB / 462.1 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.03221/1.165, allocations: 23.67 MB / 0.7597 GB, free: 109.1 MB / 462.1 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.553e-05/1.165, allocations: 4 kB / 0.7597 GB, free: 109.1 MB / 462.1 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002242/1.167, allocations: 0.5263 MB / 0.7602 GB, free: 108.6 MB / 462.1 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.01157/1.179, allocations: 4.991 MB / 0.7651 GB, free: 103.6 MB / 462.1 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0006588/1.18, allocations: 75.91 kB / 0.7652 GB, free: 103.5 MB / 462.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.03132/1.211, allocations: 29.33 MB / 0.7938 GB, free: 74.18 MB / 462.1 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 3.847e-06/1.211, allocations: 4 kB / 0.7938 GB, free: 74.17 MB / 462.1 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.02352/1.235, allocations: 17.59 MB / 0.811 GB, free: 56.51 MB / 462.1 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.0009488/1.236, allocations: 0.5106 MB / 0.8115 GB, free: 55.98 MB / 462.1 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0006027/1.236, allocations: 69.23 kB / 0.8116 GB, free: 55.91 MB / 462.1 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002463/1.239, allocations: 307.5 kB / 0.8119 GB, free: 55.61 MB / 462.1 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0008126/1.239, allocations: 273.9 kB / 0.8121 GB, free: 55.34 MB / 462.1 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002447/1.24, allocations: 101.5 kB / 0.8122 GB, free: 55.24 MB / 462.1 MB
Notification: Performance of sorting global known variables: time 0.003067/1.243, allocations: 3.026 MB / 0.8152 GB, free: 52.22 MB / 462.1 MB
Notification: Performance of sort global known variables: time 1.5e-07/1.243, allocations: 0 / 0.8152 GB, free: 52.22 MB / 462.1 MB
Notification: Performance of remove unused functions: time 0.005075/1.248, allocations: 1.756 MB / 0.8169 GB, free: 50.47 MB / 462.1 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 (not torn): 3
 * Torn equation systems: 2
 * Mixed (continuous/discrete) equation systems: 0
Notification: Equation system details (not torn):
 * Constant Jacobian (size): 0 systems
 * Linear Jacobian (size,density): 3 systems
   {(2,100.0%), (2,100.0%), (2,100.0%)}
 * Non-linear Jacobian (size): 0 systems
 * Without analytic Jacobian (size): 0 systems
Notification: Torn system details for strict tearing set:
 * Linear torn systems (#iteration vars, #inner vars, density): 2 systems
   {(8,98,71.9%), (1,21,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of Backend phase and start with SimCode phase: time 0.02312/1.271, allocations: 18.27 MB / 0.8347 GB, free: 32.1 MB / 462.1 MB
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/Mechanics/MultiBody/Parts/RollingWheelSet.mo:46:3-49:53:writable] Warning: Variable $DER.wheelSet.der_theta2 has attribute stateSelect=StateSelect.always, but can't be selected as a state.
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/Mechanics/MultiBody/Parts/RollingWheelSet.mo:42:3-45:53:writable] Warning: Variable $DER.wheelSet.der_theta1 has attribute stateSelect=StateSelect.always, but can't be selected as a state.
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/Mechanics/MultiBody/Parts/RollingWheelSet.mo:46:3-49:53:writable] Warning: Variable $DER.wheelSet.der_theta2 has attribute stateSelect=StateSelect.always, but can't be selected as a state.
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/Mechanics/MultiBody/Parts/RollingWheelSet.mo:42:3-45:53:writable] Warning: Variable $DER.wheelSet.der_theta1 has attribute stateSelect=StateSelect.always, but can't be selected as a state.
Notification: Performance of simCode: created initialization part: time 0.01278/1.284, allocations: 11.24 MB / 0.8457 GB, free: 20.82 MB / 462.1 MB
Notification: Performance of simCode: created event and clocks part: time 5.12e-06/1.284, allocations: 0 / 0.8457 GB, free: 20.82 MB / 462.1 MB
Notification: Performance of simCode: created simulation system equations: time 0.00649/1.29, allocations: 5.471 MB / 0.8511 GB, free: 15.25 MB / 462.1 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.0048/1.295, allocations: 0.6189 MB / 0.8517 GB, free: 14.64 MB / 462.1 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.2675/1.563, allocations: 92.56 MB / 0.942 GB, free: 101 MB / 478.1 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.003537/1.566, allocations: 4.378 MB / 0.9463 GB, free: 96.61 MB / 478.1 MB
Notification: Performance of simCode: alias equations: time 0.004595/1.571, allocations: 2.366 MB / 0.9486 GB, free: 94.24 MB / 478.1 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.002492/1.573, allocations: 2.604 MB / 0.9512 GB, free: 91.64 MB / 478.1 MB
Notification: Performance of SimCode: time 7.32e-07/1.573, allocations: 0 / 0.9512 GB, free: 91.64 MB / 478.1 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.327/1.9, allocations: 133.5 MB / 1.082 GB, free: 132.2 MB / 478.1 MB
Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0001552/1.9, allocations: 249.2 kB / 1.082 GB, free: 132 MB / 478.1 MB
Notification: Performance of buildModelFMU: Generate platform static: time 4.221/6.122, allocations: 0 / 1.082 GB, free: 132 MB / 478.1 MB
(rm -f Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.pipe ; mkfifo Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.pipe ; head -c 1048576 < Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.pipe >> ../files/Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving_res.mat --tempDir=temp_Modelica_trunk_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetDriving_fmu --startTime=0 --stopTime=3 --timeout=50 --tolerance=1e-06 Modelica_trunk_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetDriving.fmu > Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.pipe 2>&1)
diffSimulationResults("Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/Modelica/Mechanics/MultiBody/Examples/Elementary/RollingWheelSetDriving/RollingWheelSetDriving.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
""

Variables in the reference:time,wheelSet.der_theta1,wheelSet.der_theta2,wheelSet.phi,wheelSet.theta1,wheelSet.theta2,wheelSet.x,wheelSet.y

Variables in the result:body.I[1,1],body.I[1,2],body.I[1,3],body.I[2,1],body.I[2,2],body.I[2,3],body.I[3,1],body.I[3,2],body.I[3,3],body.I_11,body.I_21,body.I_22,body.I_31,body.I_32,body.I_33,body.R_start.T[1,1],body.R_start.T[1,2],body.R_start.T[1,3],body.R_start.T[2,1],body.R_start.T[2,2],body.R_start.T[2,3],body.R_start.T[3,1],body.R_start.T[3,2],body.R_start.T[3,3],body.R_start.w[1],body.R_start.w[2],body.R_start.w[3],body.a_0[1],body.a_0[2],body.a_0[3],body.angles_fixed,body.angles_start[1],body.angles_start[2],body.angles_start[3],body.animation,body.cylinderColor[1],body.cylinderColor[2],body.cylinderColor[3],body.cylinderDiameter,body.enforceStates,body.frame_a.R.T[1,1],body.frame_a.R.T[1,2],body.frame_a.R.T[1,3],body.frame_a.R.T[2,1],body.frame_a.R.T[2,2],body.frame_a.R.T[2,3],body.frame_a.R.T[3,1],body.frame_a.R.T[3,2],body.frame_a.R.T[3,3],body.frame_a.R.w[1],body.frame_a.R.w[2],body.frame_a.R.w[3],body.frame_a.f[1],body.frame_a.f[2],body.frame_a.f[3],body.frame_a.r_0[1],body.frame_a.r_0[2],body.frame_a.r_0[3],body.frame_a.t[1],body.frame_a.t[2],body.frame_a.t[3],body.g_0[1],body.g_0[2],body.g_0[3],body.m,body.r_0[1],body.r_0[2],body.r_0[3],body.r_CM[1],body.r_CM[2],body.r_CM[3],body.sequence_angleStates[1],body.sequence_angleStates[2],body.sequence_angleStates[3],body.sequence_start[1],body.sequence_start[2],body.sequence_start[3],body.specularCoefficient,body.sphereColor[1],body.sphereColor[2],body.sphereColor[3],body.sphereDiameter,body.useQuaternions,body.v_0[1],body.v_0[2],body.v_0[3],body.w_0_fixed,body.w_0_start[1],body.w_0_start[2],body.w_0_start[3],body.w_a[1],body.w_a[2],body.w_a[3],body.z_0_fixed,body.z_0_start[1],body.z_0_start[2],body.z_0_start[3],body.z_a[1],body.z_a[2],body.z_a[3],der(body.frame_a.r_0[1]),der(body.frame_a.r_0[2]),der(body.frame_a.r_0[3]),der(body.v_0[1]),der(body.v_0[2]),der(body.v_0[3]),der(body.w_a[1]),der(body.w_a[2]),der(body.w_a[3]),der(der(fixedTranslation.frame_a.r_0[1])),der(der(fixedTranslation.frame_a.r_0[2])),der(der(fixedTranslation.frame_a.r_0[3])),der(der(wheelSet.wheelSetJoint.prismatic1.frame_b.r_0[1])),der(der(wheelSet.wheelSetJoint.prismatic1.frame_b.r_0[2])),der(der(wheelSet.wheelSetJoint.prismatic1.frame_b.r_0[3])),der(der(wheelSet.x)),der(der(wheelSet.y)),der(fixedTranslation.frame_a.r_0[1]),der(fixedTranslation.frame_a.r_0[2]),der(fixedTranslation.frame_a.r_0[3]),der(shape.frame_a.R.T[1,2]),der(shape.frame_a.R.T[2,2]),der(shape.frame_a.R.T[3,2]),der(wheelSet.body1.v_0[1]),der(wheelSet.body1.v_0[2]),der(wheelSet.body1.v_0[3]),der(wheelSet.body1.w_a[1]),der(wheelSet.body1.w_a[2]),der(wheelSet.body1.w_a[3]),der(wheelSet.body2.v_0[1]),der(wheelSet.body2.v_0[2]),der(wheelSet.body2.v_0[3]),der(wheelSet.body2.w_a[1]),der(wheelSet.body2.w_a[2]),der(wheelSet.body2.w_a[3]),der(wheelSet.der_theta1),der(wheelSet.der_theta2),der(wheelSet.frame1.R.T[2,2]),der(wheelSet.phi),der(wheelSet.theta1),der(wheelSet.theta2),der(wheelSet.wheelSetJoint.prismatic1.frame_b.r_0[1]),der(wheelSet.wheelSetJoint.prismatic1.frame_b.r_0[2]),der(wheelSet.wheelSetJoint.prismatic1.frame_b.r_0[3]),der(wheelSet.wheelSetJoint.prismatic1.v),der(wheelSet.wheelSetJoint.prismatic2.v),der(wheelSet.wheelSetJoint.revolute.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.specularCoefficient,fixedTranslation.width,fixedTranslation.widthDirection[1],fixedTranslation.widthDirection[2],fixedTranslation.widthDirection[3],shape.animation,shape.color[1],shape.color[2],shape.color[3],shape.extra,shape.frame_a.R.T[1,1],shape.frame_a.R.T[1,2],shape.frame_a.R.T[1,3],shape.frame_a.R.T[2,1],shape.frame_a.R.T[2,2],shape.frame_a.R.T[2,3],shape.frame_a.R.T[3,1],shape.frame_a.R.T[3,2],shape.frame_a.R.T[3,3],shape.frame_a.R.w[1],shape.frame_a.R.w[2],shape.frame_a.R.w[3],shape.frame_a.f[1],shape.frame_a.f[2],shape.frame_a.f[3],shape.frame_a.r_0[1],shape.frame_a.r_0[2],shape.frame_a.r_0[3],shape.frame_a.t[1],shape.frame_a.t[2],shape.frame_a.t[3],shape.height,shape.length,shape.lengthDirection[1],shape.lengthDirection[2],shape.lengthDirection[3],shape.r_shape[1],shape.r_shape[2],shape.r_shape[3],shape.specularCoefficient,shape.width,shape.widthDirection[1],shape.widthDirection[2],shape.widthDirection[3],sine1.amplitude,sine1.continuous,sine1.f,sine1.offset,sine1.phase,sine1.startTime,sine1.y,sine2.amplitude,sine2.continuous,sine2.f,sine2.offset,sine2.phase,sine2.startTime,sine2.y,time,torque1.flange_a.phi,torque1.flange_a.tau,torque1.flange_b.phi,torque1.flange_b.tau,torque1.tau,torque2.flange_a.phi,torque2.flange_a.tau,torque2.flange_b.phi,torque2.flange_b.tau,torque2.tau,wheelSet.I_wheelAxis,wheelSet.I_wheelLong,wheelSet.R_wheel,wheelSet.animation,wheelSet.axis1.phi,wheelSet.axis1.tau,wheelSet.axis2.phi,wheelSet.axis2.tau,wheelSet.body1.I[1,1],wheelSet.body1.I[1,2],wheelSet.body1.I[1,3],wheelSet.body1.I[2,1],wheelSet.body1.I[2,2],wheelSet.body1.I[2,3],wheelSet.body1.I[3,1],wheelSet.body1.I[3,2],wheelSet.body1.I[3,3],wheelSet.body1.I_11,wheelSet.body1.I_21,wheelSet.body1.I_22,wheelSet.body1.I_31,wheelSet.body1.I_32,wheelSet.body1.I_33,wheelSet.body1.R_start.T[1,1],wheelSet.body1.R_start.T[1,2],wheelSet.body1.R_start.T[1,3],wheelSet.body1.R_start.T[2,1],wheelSet.body1.R_start.T[2,2],wheelSet.body1.R_start.T[2,3],wheelSet.body1.R_start.T[3,1],wheelSet.body1.R_start.T[3,2],wheelSet.body1.R_start.T[3,3],wheelSet.body1.R_start.w[1],wheelSet.body1.R_start.w[2],wheelSet.body1.R_start.w[3],wheelSet.body1.a_0[1],wheelSet.body1.a_0[2],wheelSet.body1.a_0[3],wheelSet.body1.angles_fixed,wheelSet.body1.angles_start[1],wheelSet.body1.angles_start[2],wheelSet.body1.angles_start[3],wheelSet.body1.animation,wheelSet.body1.cylinderColor[1],wheelSet.body1.cylinderColor[2],wheelSet.body1.cylinderColor[3],wheelSet.body1.cylinderDiameter,wheelSet.body1.enforceStates,wheelSet.body1.frame_a.R.T[1,1],wheelSet.body1.frame_a.R.T[1,2],wheelSet.body1.frame_a.R.T[1,3],wheelSet.body1.frame_a.R.T[2,1],wheelSet.body1.frame_a.R.T[2,2],wheelSet.body1.frame_a.R.T[2,3],wheelSet.body1.frame_a.R.T[3,1],wheelSet.body1.frame_a.R.T[3,2],wheelSet.body1.frame_a.R.T[3,3],wheelSet.body1.frame_a.R.w[1],wheelSet.body1.frame_a.R.w[2],wheelSet.body1.frame_a.R.w[3],wheelSet.body1.frame_a.f[1],wheelSet.body1.frame_a.f[2],wheelSet.body1.frame_a.f[3],wheelSet.body1.frame_a.r_0[1],wheelSet.body1.frame_a.r_0[2],wheelSet.body1.frame_a.r_0[3],wheelSet.body1.frame_a.t[1],wheelSet.body1.frame_a.t[2],wheelSet.body1.frame_a.t[3],wheelSet.body1.g_0[1],wheelSet.body1.g_0[2],wheelSet.body1.g_0[3],wheelSet.body1.m,wheelSet.body1.r_0[1],wheelSet.body1.r_0[2],wheelSet.body1.r_0[3],wheelSet.body1.r_CM[1],wheelSet.body1.r_CM[2],wheelSet.body1.r_CM[3],wheelSet.body1.sequence_angleStates[1],wheelSet.body1.sequence_angleStates[2],wheelSet.body1.sequence_angleStates[3],wheelSet.body1.sequence_start[1],wheelSet.body1.sequence_start[2],wheelSet.body1.sequence_start[3],wheelSet.body1.specularCoefficient,wheelSet.body1.sphereColor[1],wheelSet.body1.sphereColor[2],wheelSet.body1.sphereColor[3],wheelSet.body1.sphereDiameter,wheelSet.body1.useQuaternions,wheelSet.body1.v_0[1],wheelSet.body1.v_0[2],wheelSet.body1.v_0[3],wheelSet.body1.w_0_fixed,wheelSet.body1.w_0_start[1],wheelSet.body1.w_0_start[2],wheelSet.body1.w_0_start[3],wheelSet.body1.w_a[1],wheelSet.body1.w_a[2],wheelSet.body1.w_a[3],wheelSet.body1.z_0_fixed,wheelSet.body1.z_0_start[1],wheelSet.body1.z_0_start[2],wheelSet.body1.z_0_start[3],wheelSet.body1.z_a[1],wheelSet.body1.z_a[2],wheelSet.body1.z_a[3],wheelSet.body2.I[1,1],wheelSet.body2.I[1,2],wheelSet.body2.I[1,3],wheelSet.body2.I[2,1],wheelSet.body2.I[2,2],wheelSet.body2.I[2,3],wheelSet.body2.I[3,1],wheelSet.body2.I[3,2],wheelSet.body2.I[3,3],wheelSet.body2.I_11,wheelSet.body2.I_21,wheelSet.body2.I_22,wheelSet.body2.I_31,wheelSet.body2.I_32,wheelSet.body2.I_33,wheelSet.body2.R_start.T[1,1],wheelSet.body2.R_start.T[1,2],wheelSet.body2.R_start.T[1,3],wheelSet.body2.R_start.T[2,1],wheelSet.body2.R_start.T[2,2],wheelSet.body2.R_start.T[2,3],wheelSet.body2.R_start.T[3,1],wheelSet.body2.R_start.T[3,2],wheelSet.body2.R_start.T[3,3],wheelSet.body2.R_start.w[1],wheelSet.body2.R_start.w[2],wheelSet.body2.R_start.w[3],wheelSet.body2.a_0[1],wheelSet.body2.a_0[2],wheelSet.body2.a_0[3],wheelSet.body2.angles_fixed,wheelSet.body2.angles_start[1],wheelSet.body2.angles_start[2],wheelSet.body2.angles_start[3],wheelSet.body2.animation,wheelSet.body2.cylinderColor[1],wheelSet.body2.cylinderColor[2],wheelSet.body2.cylinderColor[3],wheelSet.body2.cylinderDiameter,wheelSet.body2.enforceStates,wheelSet.body2.frame_a.R.T[1,1],wheelSet.body2.frame_a.R.T[1,2],wheelSet.body2.frame_a.R.T[1,3],wheelSet.body2.frame_a.R.T[2,1],wheelSet.body2.frame_a.R.T[2,2],wheelSet.body2.frame_a.R.T[2,3],wheelSet.body2.frame_a.R.T[3,1],wheelSet.body2.frame_a.R.T[3,2],wheelSet.body2.frame_a.R.T[3,3],wheelSet.body2.frame_a.R.w[1],wheelSet.body2.frame_a.R.w[2],wheelSet.body2.frame_a.R.w[3],wheelSet.body2.frame_a.f[1],wheelSet.body2.frame_a.f[2],wheelSet.body2.frame_a.f[3],wheelSet.body2.frame_a.r_0[1],wheelSet.body2.frame_a.r_0[2],wheelSet.body2.frame_a.r_0[3],wheelSet.body2.frame_a.t[1],wheelSet.body2.frame_a.t[2],wheelSet.body2.frame_a.t[3],wheelSet.body2.g_0[1],wheelSet.body2.g_0[2],wheelSet.body2.g_0[3],wheelSet.body2.m,wheelSet.body2.r_0[1],wheelSet.body2.r_0[2],wheelSet.body2.r_0[3],wheelSet.body2.r_CM[1],wheelSet.body2.r_CM[2],wheelSet.body2.r_CM[3],wheelSet.body2.sequence_angleStates[1],wheelSet.body2.sequence_angleStates[2],wheelSet.body2.sequence_angleStates[3],wheelSet.body2.sequence_start[1],wheelSet.body2.sequence_start[2],wheelSet.body2.sequence_start[3],wheelSet.body2.specularCoefficient,wheelSet.body2.sphereColor[1],wheelSet.body2.sphereColor[2],wheelSet.body2.sphereColor[3],wheelSet.body2.sphereDiameter,wheelSet.body2.useQuaternions,wheelSet.body2.v_0[1],wheelSet.body2.v_0[2],wheelSet.body2.v_0[3],wheelSet.body2.w_0_fixed,wheelSet.body2.w_0_start[1],wheelSet.body2.w_0_start[2],wheelSet.body2.w_0_start[3],wheelSet.body2.w_a[1],wheelSet.body2.w_a[2],wheelSet.body2.w_a[3],wheelSet.body2.z_0_fixed,wheelSet.body2.z_0_start[1],wheelSet.body2.z_0_start[2],wheelSet.body2.z_0_start[3],wheelSet.body2.z_a[1],wheelSet.body2.z_a[2],wheelSet.body2.z_a[3],wheelSet.color[1],wheelSet.color[2],wheelSet.color[3],wheelSet.der_theta1,wheelSet.der_theta2,wheelSet.frame1.R.T[1,1],wheelSet.frame1.R.T[1,2],wheelSet.frame1.R.T[1,3],wheelSet.frame1.R.T[2,1],wheelSet.frame1.R.T[2,2],wheelSet.frame1.R.T[2,3],wheelSet.frame1.R.T[3,1],wheelSet.frame1.R.T[3,2],wheelSet.frame1.R.T[3,3],wheelSet.frame1.R.w[1],wheelSet.frame1.R.w[2],wheelSet.frame1.R.w[3],wheelSet.frame1.f[1],wheelSet.frame1.f[2],wheelSet.frame1.f[3],wheelSet.frame1.r_0[1],wheelSet.frame1.r_0[2],wheelSet.frame1.r_0[3],wheelSet.frame1.t[1],wheelSet.frame1.t[2],wheelSet.frame1.t[3],wheelSet.frame2.R.T[1,1],wheelSet.frame2.R.T[1,2],wheelSet.frame2.R.T[1,3],wheelSet.frame2.R.T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