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 0.001034/0.001035, allocations: 104.2 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 0.001158/0.001158, 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 1.277/1.277, allocations: 227.4 MB / 246.3 MB, free: 9.051 MB / 206.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.001231/0.001231, allocations: 63.33 kB / 306.4 MB, free: 0.7344 MB / 238.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.0814/0.08264, allocations: 50.52 MB / 356.9 MB, free: 14.21 MB / 302.1 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving): time 0.2201/0.3028, allocations: 71.45 MB / 428.3 MB, free: 4.039 MB / 334.1 MB
Notification: Performance of NFInst.instExpressions: time 0.02901/0.3318, allocations: 14.71 MB / 443 MB, free: 5.297 MB / 350.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.0108/0.3427, allocations: 315.2 kB / 443.4 MB, free: 4.988 MB / 350.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.00719/0.3499, allocations: 4.613 MB / 448 MB, free: 372 kB / 350.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.004389/0.3543, allocations: 2.125 MB / 450.1 MB, free: 14.23 MB / 366.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.002042/0.3564, allocations: 1.233 MB / 451.3 MB, free: 13 MB / 366.1 MB
Notification: Performance of NFFlatten.flatten: time 0.008927/0.3653, allocations: 10.01 MB / 461.3 MB, free: 2.973 MB / 366.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.005597/0.3709, allocations: 5.743 MB / 467.1 MB, free: 13.2 MB / 382.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.00255/0.3735, allocations: 2.079 MB / 469.2 MB, free: 11.11 MB / 382.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.003826/0.3773, allocations: 3.459 MB / 472.6 MB, free: 7.645 MB / 382.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.0009594/0.3783, allocations: 392 kB / 473 MB, free: 7.262 MB / 382.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.002203/0.3805, allocations: 1.194 MB / 474.2 MB, free: 6.066 MB / 382.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.002039/0.3826, allocations: 2.642 MB / 476.8 MB, free: 3.418 MB / 382.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.002431/0.385, allocations: 3.104 MB / 479.9 MB, free: 304 kB / 382.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.007172/0.3922, allocations: 10.57 MB / 490.5 MB, free: 5.699 MB / 398.1 MB
Notification: Performance of FrontEnd - DAE generated: time 4.469e-06/0.3922, allocations: 0 / 490.5 MB, free: 5.699 MB / 398.1 MB
Notification: Performance of FrontEnd: time 9.92e-07/0.3922, allocations: 0 / 490.5 MB, free: 5.699 MB / 398.1 MB
Notification: Performance of Transformations before backend: time 0.000145/0.3924, allocations: 0 / 490.5 MB, free: 5.699 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 0.01176/0.4041, allocations: 7.063 MB / 497.6 MB, free: 14.55 MB / 414.1 MB
Notification: Performance of prepare preOptimizeDAE: time 3.843e-05/0.4042, allocations: 8.031 kB / 497.6 MB, free: 14.55 MB / 414.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.001001/0.4052, allocations: 0.9418 MB / 498.5 MB, free: 13.59 MB / 414.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.007535/0.4127, allocations: 2.255 MB / 0.489 GB, free: 11.33 MB / 414.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.006442/0.4192, allocations: 4.573 MB / 0.4935 GB, free: 6.695 MB / 414.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0001905/0.4194, allocations: 353 kB / 0.4938 GB, free: 6.348 MB / 414.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.0006665/0.4201, allocations: 475.6 kB / 0.4943 GB, free: 5.883 MB / 414.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.0189/0.439, allocations: 14.02 MB / 0.508 GB, free: 7.055 MB / 430.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0001437/0.4391, allocations: 63.42 kB / 0.508 GB, free: 6.992 MB / 430.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0005684/0.4397, allocations: 219.8 kB / 0.5082 GB, free: 6.777 MB / 430.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.0036/0.4433, allocations: 2.465 MB / 0.5106 GB, free: 4.309 MB / 430.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.0198/0.4631, allocations: 12.35 MB / 0.5227 GB, free: 7.945 MB / 446.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.211/0.6741, allocations: 56.29 MB / 0.5777 GB, free: 107.3 MB / 446.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.01341/0.6876, allocations: 6.784 MB / 0.5843 GB, free: 103.6 MB / 446.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.003718/0.6913, allocations: 4.638 MB / 0.5888 GB, free: 101.1 MB / 446.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.0008585/0.6922, allocations: 1.29 MB / 0.5901 GB, free: 99.75 MB / 446.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 2.663e-05/0.6922, allocations: 68.56 kB / 0.5902 GB, free: 99.67 MB / 446.1 MB
Notification: Performance of pre-optimization done (n=287): time 4.579e-06/0.6922, allocations: 0 / 0.5902 GB, free: 99.67 MB / 446.1 MB
Notification: Performance of matching and sorting (n=378): time 0.1179/0.8101, allocations: 44.1 MB / 0.6332 GB, free: 55.61 MB / 446.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 5.761e-05/0.8102, allocations: 175 kB / 0.6334 GB, free: 55.4 MB / 446.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.004696/0.8149, allocations: 4.718 MB / 0.638 GB, free: 50.68 MB / 446.1 MB
Notification: Performance of collectPreVariables (initialization): time 0.0006945/0.8156, allocations: 81.7 kB / 0.6381 GB, free: 50.59 MB / 446.1 MB
Notification: Performance of collectInitialEqns (initialization): time 0.001494/0.8171, allocations: 3.718 MB / 0.6417 GB, free: 46.88 MB / 446.1 MB
Notification: Performance of collectInitialBindings (initialization): time 0.001148/0.8183, allocations: 1.365 MB / 0.643 GB, free: 45.52 MB / 446.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.001811/0.8201, allocations: 1.56 MB / 0.6446 GB, free: 43.95 MB / 446.1 MB
Notification: Performance of setup shared object (initialization): time 5.073e-05/0.8202, allocations: 306.6 kB / 0.6449 GB, free: 43.65 MB / 446.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.004401/0.8246, allocations: 4.197 MB / 0.649 GB, free: 39.45 MB / 446.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.005351/0.8299, allocations: 8.227 MB / 0.657 GB, free: 29.28 MB / 446.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01089/0.8408, allocations: 13.46 MB / 0.6701 GB, free: 13.84 MB / 446.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 5.072e-05/0.8409, allocations: 44 kB / 0.6702 GB, free: 13.8 MB / 446.1 MB
Notification: Performance of matching and sorting (n=1021) (initialization): time 0.02468/0.8656, allocations: 16.95 MB / 0.6867 GB, free: 12.78 MB / 462.1 MB
Notification: Performance of prepare postOptimizeDAE: time 7.896e-05/0.8657, allocations: 64 kB / 0.6868 GB, free: 12.72 MB / 462.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0001276/0.8658, allocations: 136 kB / 0.6869 GB, free: 12.59 MB / 462.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.01344/0.8793, allocations: 5.348 MB / 0.6921 GB, free: 7.219 MB / 462.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.005239/0.8845, allocations: 1.68 MB / 0.6938 GB, free: 5.535 MB / 462.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.1835/1.068, allocations: 32.45 MB / 0.7255 GB, free: 132.4 MB / 462.1 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.004865/1.073, allocations: 0.5235 MB / 0.726 GB, free: 132.3 MB / 462.1 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.0005151/1.073, allocations: 443.5 kB / 0.7264 GB, free: 132.2 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 0.003043/1.077, allocations: 2.861 MB / 0.7292 GB, free: 131 MB / 462.1 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.00059/1.077, allocations: 474.2 kB / 0.7297 GB, free: 131 MB / 462.1 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.0173/1.094, allocations: 11.9 MB / 0.7413 GB, free: 126.7 MB / 462.1 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 2.417e-05/1.094, allocations: 38.16 kB / 0.7413 GB, free: 126.7 MB / 462.1 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 1.982e-05/1.094, allocations: 22.88 kB / 0.7413 GB, free: 126.7 MB / 462.1 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 2.455e-05/1.095, allocations: 29.27 kB / 0.7414 GB, free: 126.7 MB / 462.1 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.02912/1.124, allocations: 23.66 MB / 0.7645 GB, free: 104.5 MB / 462.1 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 1.306e-05/1.124, allocations: 5.078 kB / 0.7645 GB, free: 104.5 MB / 462.1 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.001943/1.126, allocations: 0.5188 MB / 0.765 GB, free: 104 MB / 462.1 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.01087/1.137, allocations: 4.997 MB / 0.7699 GB, free: 98.98 MB / 462.1 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.000296/1.137, allocations: 74.14 kB / 0.7699 GB, free: 98.91 MB / 462.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.02919/1.166, allocations: 29.33 MB / 0.7986 GB, free: 69.55 MB / 462.1 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 4.518e-06/1.166, allocations: 4 kB / 0.7986 GB, free: 69.54 MB / 462.1 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.02219/1.188, allocations: 17.56 MB / 0.8157 GB, free: 51.88 MB / 462.1 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.0008325/1.189, allocations: 0.5028 MB / 0.8162 GB, free: 51.35 MB / 462.1 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0007947/1.19, allocations: 67.98 kB / 0.8163 GB, free: 51.28 MB / 462.1 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.00242/1.192, allocations: 309.5 kB / 0.8166 GB, free: 50.98 MB / 462.1 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.00085/1.193, allocations: 269 kB / 0.8168 GB, free: 50.72 MB / 462.1 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002742/1.193, allocations: 103.4 kB / 0.8169 GB, free: 50.62 MB / 462.1 MB
Notification: Performance of sorting global known variables: time 0.003499/1.197, allocations: 3.022 MB / 0.8199 GB, free: 47.61 MB / 462.1 MB
Notification: Performance of sort global known variables: time 9.72e-07/1.197, allocations: 0 / 0.8199 GB, free: 47.61 MB / 462.1 MB
Notification: Performance of remove unused functions: time 0.005493/1.202, allocations: 1.76 MB / 0.8216 GB, free: 45.85 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 0.02383/1.226, allocations: 18.25 MB / 0.8394 GB, free: 27.5 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 0.0145/1.241, allocations: 11.23 MB / 0.8504 GB, free: 16.22 MB / 462.1 MB
Notification: Performance of simCode: created event and clocks part: time 7.163e-06/1.241, allocations: 3.281 kB / 0.8504 GB, free: 16.22 MB / 462.1 MB
Notification: Performance of simCode: created simulation system equations: time 0.0071/1.248, allocations: 5.483 MB / 0.8558 GB, free: 10.64 MB / 462.1 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.003942/1.252, allocations: 0.6184 MB / 0.8564 GB, free: 10.03 MB / 462.1 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.2698/1.522, allocations: 92.41 MB / 0.9466 GB, free: 97.87 MB / 478.1 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.003579/1.525, allocations: 4.371 MB / 0.9509 GB, free: 93.5 MB / 478.1 MB
Notification: Performance of simCode: alias equations: time 0.004515/1.53, allocations: 2.371 MB / 0.9532 GB, free: 91.12 MB / 478.1 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.002436/1.532, allocations: 2.6 MB / 0.9557 GB, free: 88.52 MB / 478.1 MB
Notification: Performance of SimCode: time 7.31e-07/1.532, allocations: 0 / 0.9557 GB, free: 88.52 MB / 478.1 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 2.486/4.018, allocations: 136.3 MB / 1.089 GB, free: 129.3 MB / 478.1 MB
Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0002072/4.018, allocations: 255.6 kB / 1.089 GB, free: 129.1 MB / 478.1 MB
Notification: Performance of buildModelFMU: Generate platform static: time 4.88/8.899, allocations: 2.516 kB / 1.089 GB, free: 129.1 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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