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 0.001329/0.001329, allocations: 103.2 kB / 17.2 MB, free: 6.289 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo): time 0.001489/0.00149, allocations: 209.8 kB / 18.14 MB, free: 5.371 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo): time 1.421/1.421, allocations: 227.4 MB / 246.3 MB, free: 9.059 MB / 206.1 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo): time 0.2187/0.2187, allocations: 46.11 MB / 343.6 MB, free: 11.6 MB / 286.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.001462/0.001463, allocations: 79.55 kB / 416.9 MB, free: 20.1 MB / 302.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.119/0.1205, allocations: 62.45 MB / 479.4 MB, free: 5.633 MB / 350.1 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.GearConstraint): time 0.3405/0.461, allocations: 77.48 MB / 0.5438 GB, free: 14.84 MB / 398.1 MB
Notification: Performance of NFInst.instExpressions: time 0.04008/0.5011, allocations: 15.01 MB / 0.5585 GB, free: 4.32 MB / 398.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.01815/0.5193, allocations: 348.2 kB / 0.5588 GB, free: 4.262 MB / 398.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.009525/0.5289, allocations: 4.743 MB / 0.5634 GB, free: 1.164 MB / 398.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.01075/0.5397, allocations: 2.874 MB / 0.5662 GB, free: 14.4 MB / 414.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.003086/0.5428, allocations: 0.8387 MB / 0.5671 GB, free: 13.56 MB / 414.1 MB
Notification: Performance of NFFlatten.flatten: time 0.01872/0.5615, allocations: 12.15 MB / 0.5789 GB, free: 1.391 MB / 414.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.01042/0.572, allocations: 6.269 MB / 0.5851 GB, free: 11.07 MB / 430.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.005737/0.5778, allocations: 2.569 MB / 0.5876 GB, free: 8.492 MB / 430.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.006848/0.5847, allocations: 4.19 MB / 0.5917 GB, free: 4.289 MB / 430.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.002224/0.5869, allocations: 447.9 kB / 0.5921 GB, free: 3.852 MB / 430.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.004251/0.5912, allocations: 1.319 MB / 0.5934 GB, free: 2.531 MB / 430.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.005357/0.5966, allocations: 3.487 MB / 0.5968 GB, free: 15.04 MB / 446.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.008357/0.6049, allocations: 4.104 MB / 0.6008 GB, free: 10.91 MB / 446.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.01828/0.6233, allocations: 12.93 MB / 0.6134 GB, free: 13.93 MB / 462.1 MB
Notification: Performance of FrontEnd - DAE generated: time 7.524e-06/0.6233, allocations: 4 kB / 0.6134 GB, free: 13.93 MB / 462.1 MB
Notification: Performance of FrontEnd: time 1.603e-06/0.6233, allocations: 0 / 0.6134 GB, free: 13.93 MB / 462.1 MB
Notification: Performance of Transformations before backend: time 0.0005413/0.6239, allocations: 0 / 0.6134 GB, free: 13.93 MB / 462.1 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 0.02503/0.6489, allocations: 8.904 MB / 0.6221 GB, free: 4.938 MB / 462.1 MB
Notification: Performance of prepare preOptimizeDAE: time 4.88e-05/0.649, allocations: 8.875 kB / 0.6221 GB, free: 4.93 MB / 462.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.004206/0.6532, allocations: 1.398 MB / 0.6235 GB, free: 3.52 MB / 462.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.04637/0.6996, allocations: 8.909 MB / 0.6322 GB, free: 10.59 MB / 478.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.01244/0.712, allocations: 5.247 MB / 0.6373 GB, free: 5.254 MB / 478.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0004671/0.7125, allocations: 439.7 kB / 0.6377 GB, free: 4.824 MB / 478.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.002904/0.7155, allocations: 0.5699 MB / 0.6383 GB, free: 4.254 MB / 478.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.04467/0.7601, allocations: 19.71 MB / 0.6575 GB, free: 15.51 MB / 0.4981 GB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0003839/0.7606, allocations: 71.39 kB / 0.6576 GB, free: 15.44 MB / 0.4981 GB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.002451/0.763, allocations: 279.7 kB / 0.6579 GB, free: 15.17 MB / 0.4981 GB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.006796/0.7699, allocations: 4.176 MB / 0.6619 GB, free: 10.98 MB / 0.4981 GB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.03753/0.8074, allocations: 17.38 MB / 0.6789 GB, free: 9.574 MB / 0.5137 GB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.5435/1.351, allocations: 72.99 MB / 0.7502 GB, free: 127.9 MB / 0.5294 GB
Notification: Performance of preOpt comSubExp (simulation): time 0.01544/1.366, allocations: 7.807 MB / 0.7578 GB, free: 124.6 MB / 0.5294 GB
Notification: Performance of preOpt resolveLoops (simulation): time 0.00504/1.371, allocations: 5.064 MB / 0.7628 GB, free: 122.5 MB / 0.5294 GB
Notification: Performance of preOpt evalFunc (simulation): time 0.0002255/1.372, allocations: 68.56 kB / 0.7628 GB, free: 122.5 MB / 0.5294 GB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 4.031e-05/1.372, allocations: 68.47 kB / 0.7629 GB, free: 122.5 MB / 0.5294 GB
Notification: Performance of pre-optimization done (n=429): time 6.072e-06/1.372, allocations: 0 / 0.7629 GB, free: 122.5 MB / 0.5294 GB
Notification: Performance of matching and sorting (n=476): time 0.08906/1.461, allocations: 40.22 MB / 0.8022 GB, free: 95.45 MB / 0.5294 GB
Notification: Performance of inlineWhenForInitialization (initialization): time 9.289e-05/1.461, allocations: 226.8 kB / 0.8024 GB, free: 95.18 MB / 0.5294 GB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.009314/1.47, allocations: 6.394 MB / 0.8086 GB, free: 88.78 MB / 0.5294 GB
Notification: Performance of collectPreVariables (initialization): time 0.0008599/1.471, allocations: 89.7 kB / 0.8087 GB, free: 88.69 MB / 0.5294 GB
Notification: Performance of collectInitialEqns (initialization): time 0.002933/1.474, allocations: 5.526 MB / 0.8141 GB, free: 83.16 MB / 0.5294 GB
Notification: Performance of collectInitialBindings (initialization): time 0.001941/1.476, allocations: 1.732 MB / 0.8158 GB, free: 81.45 MB / 0.5294 GB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.004747/1.481, allocations: 2.177 MB / 0.8179 GB, free: 79.26 MB / 0.5294 GB
Notification: Performance of setup shared object (initialization): time 4.284e-05/1.481, allocations: 305.1 kB / 0.8182 GB, free: 78.96 MB / 0.5294 GB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.006129/1.487, allocations: 4.804 MB / 0.8229 GB, free: 74.15 MB / 0.5294 GB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.008594/1.496, allocations: 10.84 MB / 0.8335 GB, free: 60.38 MB / 0.5294 GB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01685/1.513, allocations: 17.04 MB / 0.8501 GB, free: 40.38 MB / 0.5294 GB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0003529/1.513, allocations: 60 kB / 0.8502 GB, free: 40.32 MB / 0.5294 GB
Notification: Performance of matching and sorting (n=1443) (initialization): time 0.03255/1.546, allocations: 16.86 MB / 0.8667 GB, free: 23.42 MB / 0.5294 GB
Notification: Performance of prepare postOptimizeDAE: time 0.0002728/1.546, allocations: 95.94 kB / 0.8668 GB, free: 23.33 MB / 0.5294 GB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0003373/1.546, allocations: 212 kB / 0.867 GB, free: 23.12 MB / 0.5294 GB
Notification: Performance of postOpt tearingSystem (initialization): time 0.004622/1.551, allocations: 1.82 MB / 0.8687 GB, free: 21.29 MB / 0.5294 GB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.007992/1.559, allocations: 2.503 MB / 0.8712 GB, free: 18.78 MB / 0.5294 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.01426/1.573, allocations: 14.7 MB / 0.8855 GB, free: 3.562 MB / 0.5294 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.007449/1.581, allocations: 0.6395 MB / 0.8862 GB, free: 2.926 MB / 0.5294 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001825/1.583, allocations: 0.6132 MB / 0.8868 GB, free: 2.312 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 0.007213/1.59, allocations: 4.07 MB / 0.8907 GB, free: 14.23 MB / 0.545 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001598/1.591, allocations: 0.5938 MB / 0.8913 GB, free: 13.63 MB / 0.545 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01661/1.608, allocations: 9.459 MB / 0.9006 GB, free: 4.109 MB / 0.545 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.0001172/1.608, allocations: 83.97 kB / 0.9006 GB, free: 4.027 MB / 0.545 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 3.482e-05/1.608, allocations: 15.94 kB / 0.9006 GB, free: 4.012 MB / 0.545 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 6.437e-05/1.608, allocations: 19.88 kB / 0.9007 GB, free: 3.992 MB / 0.545 GB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.262/1.87, allocations: 21.19 MB / 0.9214 GB, free: 185.8 MB / 0.5607 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 4.687e-05/1.87, allocations: 10.75 kB / 0.9214 GB, free: 185.8 MB / 0.5607 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.003441/1.874, allocations: 0.7393 MB / 0.9221 GB, free: 185.8 MB / 0.5607 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.003937/1.878, allocations: 1.502 MB / 0.9236 GB, free: 185.8 MB / 0.5607 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0005448/1.878, allocations: 87.47 kB / 0.9236 GB, free: 185.8 MB / 0.5607 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.01454/1.893, allocations: 13.72 MB / 0.937 GB, free: 179.1 MB / 0.5607 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 1.452e-05/1.893, allocations: 20.47 kB / 0.9371 GB, free: 179.1 MB / 0.5607 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.01836/1.911, allocations: 15.18 MB / 0.9519 GB, free: 173.2 MB / 0.5607 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.00179/1.913, allocations: 0.6141 MB / 0.9525 GB, free: 173.1 MB / 0.5607 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0008653/1.914, allocations: 86.23 kB / 0.9526 GB, free: 173 MB / 0.5607 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002405/1.916, allocations: 289.1 kB / 0.9528 GB, free: 173 MB / 0.5607 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0007157/1.917, allocations: 289.8 kB / 0.9531 GB, free: 172.9 MB / 0.5607 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002698/1.917, allocations: 126.5 kB / 0.9532 GB, free: 172.9 MB / 0.5607 GB
Notification: Performance of sorting global known variables: time 0.004334/1.922, allocations: 3.995 MB / 0.9571 GB, free: 171.6 MB / 0.5607 GB
Notification: Performance of sort global known variables: time 2.4e-07/1.922, allocations: 0 / 0.9571 GB, free: 171.6 MB / 0.5607 GB
Notification: Performance of remove unused functions: time 0.006581/1.928, allocations: 1.951 MB / 0.9591 GB, free: 171.3 MB / 0.5607 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 0.01628/1.945, allocations: 15.9 MB / 0.9746 GB, free: 163.5 MB / 0.5607 GB
Notification: Performance of simCode: created initialization part: time 0.01421/1.959, allocations: 11.84 MB / 0.9861 GB, free: 153 MB / 0.5607 GB
Notification: Performance of simCode: created event and clocks part: time 1.097e-05/1.959, allocations: 0 / 0.9861 GB, free: 153 MB / 0.5607 GB
Notification: Performance of simCode: created simulation system equations: time 0.005354/1.964, allocations: 4.789 MB / 0.9908 GB, free: 148.2 MB / 0.5607 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.005851/1.97, allocations: 0.7778 MB / 0.9916 GB, free: 147.4 MB / 0.5607 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.1376/2.108, allocations: 115.2 MB / 1.104 GB, free: 19.04 MB / 0.5607 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.007426/2.115, allocations: 5.911 MB / 1.11 GB, free: 13.08 MB / 0.5607 GB
Notification: Performance of simCode: alias equations: time 0.007859/2.123, allocations: 3.996 MB / 1.114 GB, free: 9.078 MB / 0.5607 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.005188/2.128, allocations: 3.92 MB / 1.118 GB, free: 5.16 MB / 0.5607 GB
Notification: Performance of SimCode: time 1.363e-06/2.128, allocations: 0 / 1.118 GB, free: 5.16 MB / 0.5607 GB
Notification: Performance of buildModelFMU: Generate the FMI files: time 3.071/5.199, allocations: 133.8 MB / 1.248 GB, free: 114.9 MB / 0.5763 GB
Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0002442/5.199, allocations: 221.6 kB / 1.248 GB, free: 114.7 MB / 0.5763 GB
Notification: Performance of buildModelFMU: Generate platform static: time 6.002/11.2, allocations: 4.062 kB / 1.249 GB, free: 114.7 MB / 0.5763 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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