Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr DroneLibrary_DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.conf.json
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica_DeviceDrivers 2.1.1/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/DroneLibrary 1.0.0/package.mo", uses=false)
Using package DroneLibrary with version 1.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/DroneLibrary 1.0.0/package.mo)
Using package Modelica with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo)
Using package Complex with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo)
Using package ModelicaServices with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo)
Using package Modelica_DeviceDrivers with version 2.1.1 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica_DeviceDrivers 2.1.1/package.mo)
Running command: translateModel(DroneLibrary.Examples.DroneWithIdealPower.DroneForVR,tolerance=1e-06,outputFormat="empty",numberOfIntervals=5000,variableFilter="",fileNamePrefix="DroneLibrary_DroneLibrary.Examples.DroneWithIdealPower.DroneForVR")
translateModel(DroneLibrary.Examples.DroneWithIdealPower.DroneForVR,tolerance=1e-06,outputFormat="empty",numberOfIntervals=5000,variableFilter="",fileNamePrefix="DroneLibrary_DroneLibrary.Examples.DroneWithIdealPower.DroneForVR")
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica_DeviceDrivers 2.1.1/package.mo): time 0.05953/0.05953, allocations: 12.04 MB / 27.92 MB, free: 1.52 MB / 19.63 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo): time 0.001106/0.001106, allocations: 111.4 kB / 31.62 MB, free: 4.703 MB / 26.18 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001512/0.001512, allocations: 204.3 kB / 35.44 MB, free: 0.8984 MB / 26.18 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo): time 1.361/1.361, allocations: 222.9 MB / 262 MB, free: 8.5 MB / 206.1 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/DroneLibrary 1.0.0/package.mo): time 0.05664/0.05664, allocations: 13.68 MB / 328.7 MB, free: 0.6367 MB / 254.1 MB
Notification: Skipped loading package Visualization (1.6,default) using MODELICAPATH /home/hudson/saved_omc/libraries/.openmodelica/libraries/ (uses-annotation may be wrong).
Notification: Performance of FrontEnd - loaded program: time 0.0223/0.0223, allocations: 18.42 MB / 414.6 MB, free: 26.99 MB / 302.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.09726/0.1196, allocations: 55.41 MB / 470 MB, free: 5.473 MB / 334.1 MB
Notification: Performance of NFInst.instantiate(DroneLibrary.Examples.DroneWithIdealPower.DroneForVR): time 0.8196/0.9392, allocations: 407.1 MB / 0.8566 GB, free: 7.266 MB / 0.545 GB
Notification: Performance of NFInst.instExpressions: time 0.1454/1.085, allocations: 64.44 MB / 0.9195 GB, free: 7.18 MB / 0.6075 GB
Notification: Performance of NFInst.updateImplicitVariability: time 0.07799/1.163, allocations: 1.488 MB / 0.921 GB, free: 5.688 MB / 0.6075 GB
Notification: Performance of NFTyping.typeComponents: time 0.4517/1.614, allocations: 23.25 MB / 0.9437 GB, free: 3.559 MB / 0.6232 GB
Notification: Performance of NFTyping.typeBindings: time 0.02174/1.636, allocations: 7.046 MB / 0.9505 GB, free: 3.309 MB / 0.6232 GB
Notification: Performance of NFTyping.typeClassSections: time 0.01164/1.648, allocations: 4.502 MB / 0.9549 GB, free: 3.238 MB / 0.6232 GB
Notification: Performance of NFFlatten.flatten: time 0.04195/1.69, allocations: 25.69 MB / 0.98 GB, free: 3.172 MB / 0.6232 GB
Notification: Performance of NFFlatten.resolveConnections: time 0.0598/1.75, allocations: 36.16 MB / 1.015 GB, free: 14.66 MB / 0.6388 GB
Notification: Performance of NFEvalConstants.evaluate: time 0.02443/1.774, allocations: 11.21 MB / 1.026 GB, free: 13.58 MB / 0.6388 GB
Notification: Performance of NFSimplifyModel.simplify: time 0.02669/1.801, allocations: 15.36 MB / 1.041 GB, free: 3.277 MB / 0.6388 GB
Notification: Performance of NFPackage.collectConstants: time 0.01051/1.811, allocations: 3.051 MB / 1.044 GB, free: 232 kB / 0.6388 GB
Notification: Performance of NFFlatten.collectFunctions: time 0.01513/1.827, allocations: 5.404 MB / 1.05 GB, free: 11.01 MB / 0.6544 GB
Notification: Performance of NFScalarize.scalarize: time 0.02124/1.848, allocations: 13.19 MB / 1.062 GB, free: 13.97 MB / 0.67 GB
Notification: Performance of NFVerifyModel.verify: time 0.03152/1.879, allocations: 15.02 MB / 1.077 GB, free: 14.99 MB / 0.6857 GB
Notification: Performance of NFConvertDAE.convert: time 0.0463/1.926, allocations: 40.93 MB / 1.117 GB, free: 6.887 MB / 0.7169 GB
Notification: Performance of FrontEnd - DAE generated: time 8.356e-06/1.926, allocations: 0 / 1.117 GB, free: 6.887 MB / 0.7169 GB
Notification: Performance of FrontEnd: time 2.525e-06/1.926, allocations: 0 / 1.117 GB, free: 6.887 MB / 0.7169 GB
Notification: Performance of Transformations before backend: time 0.001888/1.928, allocations: 0 / 1.117 GB, free: 6.887 MB / 0.7169 GB
Error: Too few equations, under-determined system. The model has 7645 equation(s) and 7735 variable(s).
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/Mechanics/MultiBody/Frames/Orientation.mo:6:3-6:71:writable] Warning: Variable droneChassis1.frame_a4.R.T[3,3] does not have any remaining equation to be solved in.
  The original equations were:
  Equation 2979: DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.droneChassis1.bodyCylinder.frame_a.R.equalityConstraint(droneChassis1.bodyCylinder.frame_a.R, droneChassis1.frame_a4.R) = {0.0, 0.0, 0.0}, which needs to solve for droneChassis1.frame_a4.R.w[1], droneChassis1.frame_a4.R.w[2], droneChassis1.frame_a4.R.w[3]
  Equation 2427: droneChassis1.frame_a4.R.T[3,3] = frame_a.R.T[3,3], which needs to solve for frame_a.R.T[3,3]
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/Mechanics/MultiBody/Frames/Orientation.mo:6:3-6:71:writable] Warning: Variable droneChassis1.frame_a4.R.T[3,2] does not have any remaining equation to be solved in.
  The original equations were:
  Equation 2979: DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.droneChassis1.bodyCylinder.frame_a.R.equalityConstraint(droneChassis1.bodyCylinder.frame_a.R, droneChassis1.frame_a4.R) = {0.0, 0.0, 0.0}, which needs to solve for droneChassis1.frame_a4.R.w[1], droneChassis1.frame_a4.R.w[2], droneChassis1.frame_a4.R.w[3]
  Equation 2426: droneChassis1.frame_a4.R.T[3,2] = frame_a.R.T[3,2], which needs to solve for frame_a.R.T[3,2]
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/Mechanics/MultiBody/Frames/Orientation.mo:6:3-6:71:writable] Warning: Variable droneChassis1.frame_a4.R.T[3,1] does not have any remaining equation to be solved in.
  The original equations were:
  Equation 2979: DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.droneChassis1.bodyCylinder.frame_a.R.equalityConstraint(droneChassis1.bodyCylinder.frame_a.R, droneChassis1.frame_a4.R) = {0.0, 0.0, 0.0}, which needs to solve for droneChassis1.frame_a4.R.w[1], droneChassis1.frame_a4.R.w[2], droneChassis1.frame_a4.R.w[3]
  Equation 2425: droneChassis1.frame_a4.R.T[3,1] = frame_a.R.T[3,1], which needs to solve for frame_a.R.T[3,1]
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/Mechanics/MultiBody/Frames/Orientation.mo:6:3-6:71:writable] Warning: Variable droneChassis1.frame_a4.R.T[2,3] does not have any remaining equation to be solved in.
  The original equations were:
  Equation 2979: DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.droneChassis1.bodyCylinder.frame_a.R.equalityConstraint(droneChassis1.bodyCylinder.frame_a.R, droneChassis1.frame_a4.R) = {0.0, 0.0, 0.0}, which needs to solve for droneChassis1.frame_a4.R.w[1], droneChassis1.frame_a4.R.w[2], droneChassis1.frame_a4.R.w[3]
  Equation 2424: droneChassis1.frame_a4.R.T[2,3] = frame_a.R.T[2,3], which needs to solve for frame_a.R.T[2,3]
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/Mechanics/MultiBody/Frames/Orientation.mo:6:3-6:71:writable] Warning: Variable droneChassis1.frame_a4.R.T[2,2] does not have any remaining equation to be solved in.
  The original equations were:
  Equation 2979: DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.droneChassis1.bodyCylinder.frame_a.R.equalityConstraint(droneChassis1.bodyCylinder.frame_a.R, droneChassis1.frame_a4.R) = {0.0, 0.0, 0.0}, which needs to solve for droneChassis1.frame_a4.R.w[1], droneChassis1.frame_a4.R.w[2], droneChassis1.frame_a4.R.w[3]
  Equation 2423: droneChassis1.frame_a4.R.T[2,2] = frame_a.R.T[2,2], which needs to solve for frame_a.R.T[2,2]
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/Mechanics/MultiBody/Frames/Orientation.mo:6:3-6:71:writable] Warning: Variable droneChassis1.frame_a4.R.T[2,1] does not have any remaining equation to be solved in.
  The original equations were:
  Equation 2979: DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.droneChassis1.bodyCylinder.frame_a.R.equalityConstraint(droneChassis1.bodyCylinder.frame_a.R, droneChassis1.frame_a4.R) = {0.0, 0.0, 0.0}, which needs to solve for droneChassis1.frame_a4.R.w[1], droneChassis1.frame_a4.R.w[2], droneChassis1.frame_a4.R.w[3]
  Equation 2422: droneChassis1.frame_a4.R.T[2,1] = frame_a.R.T[2,1], which needs to solve for frame_a.R.T[2,1]
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/Mechanics/MultiBody/Frames/Orientation.mo:6:3-6:71:writable] Warning: Variable droneChassis1.frame_a4.R.T[1,3] does not have any remaining equation to be solved in.
  The original equations were:
  Equation 2979: DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.droneChassis1.bodyCylinder.frame_a.R.equalityConstraint(droneChassis1.bodyCylinder.frame_a.R, droneChassis1.frame_a4.R) = {0.0, 0.0, 0.0}, which needs to solve for droneChassis1.frame_a4.R.w[1], droneChassis1.frame_a4.R.w[2], droneChassis1.frame_a4.R.w[3]
  Equation 2421: droneChassis1.frame_a4.R.T[1,3] = frame_a.R.T[1,3], which needs to solve for frame_a.R.T[1,3]
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/Mechanics/MultiBody/Frames/Orientation.mo:6:3-6:71:writable] Warning: Variable droneChassis1.frame_a4.R.T[1,2] does not have any remaining equation to be solved in.
  The original equations were:
  Equation 2979: DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.droneChassis1.bodyCylinder.frame_a.R.equalityConstraint(droneChassis1.bodyCylinder.frame_a.R, droneChassis1.frame_a4.R) = {0.0, 0.0, 0.0}, which needs to solve for droneChassis1.frame_a4.R.w[1], droneChassis1.frame_a4.R.w[2], droneChassis1.frame_a4.R.w[3]
  Equation 2420: droneChassis1.frame_a4.R.T[1,2] = frame_a.R.T[1,2], which needs to solve for frame_a.R.T[1,2]
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/Mechanics/MultiBody/Frames/Orientation.mo:6:3-6:71:writable] Warning: Variable droneChassis1.frame_a4.R.T[1,1] does not have any remaining equation to be solved in.
  The original equations were:
  Equation 2979: DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.droneChassis1.bodyCylinder.frame_a.R.equalityConstraint(droneChassis1.bodyCylinder.frame_a.R, droneChassis1.frame_a4.R) = {0.0, 0.0, 0.0}, which needs to solve for droneChassis1.frame_a4.R.w[1], droneChassis1.frame_a4.R.w[2], droneChassis1.frame_a4.R.w[3]
  Equation 2419: droneChassis1.frame_a4.R.T[1,1] = frame_a.R.T[1,1], which needs to solve for frame_a.R.T[1,1]
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/Mechanics/MultiBody/Frames/Orientation.mo:6:3-6:71:writable] Warning: Variable droneChassis1.pointMass.frame_a.R.T[2,3] does not have any remaining equation to be solved in.
  The original equations were:
  Equation 3320: droneChassis1.pointMass.frame_a.f = Modelica.Mechanics.MultiBody.Frames.resolve2(droneChassis1.pointMass.frame_a.R, droneChassis1.pointMass.a_0 - DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.world.gravityAcceleration(droneChassis1.pointMass.r_0, Modelica.Mechanics.MultiBody.Types.GravityTypes.UniformGravity, {0.0, 0.0, -world.g}, world.mu)) * droneChassis1.pointMass.m, which needs to solve for droneChassis1.pointMass.frame_a.R.T[3,1], droneChassis1.pointMass.frame_a.R.T[3,2], droneChassis1.pointMass.frame_a.R.T[3,3]
  Equation 2984: DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.droneChassis1.pointMass.frame_a.R.equalityConstraint(droneChassis1.pointMass.frame_a.R, droneChassis1.bodyCylinder.frame_b.R) = {0.0, 0.0, 0.0}, which needs to solve for droneChassis1.pointMass.frame_a.R.w[1], droneChassis1.pointMass.frame_a.R.w[2], droneChassis1.pointMass.frame_a.R.w[3]
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/Mechanics/MultiBody/Frames/Orientation.mo:6:3-6:71:writable] Warning: Variable droneChassis1.pointMass.frame_a.R.T[2,2] does not have any remaining equation to be solved in.
  The original equations were:
  Equation 3320: droneChassis1.pointMass.frame_a.f = Modelica.Mechanics.MultiBody.Frames.resolve2(droneChassis1.pointMass.frame_a.R, droneChassis1.pointMass.a_0 - DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.world.gravityAcceleration(droneChassis1.pointMass.r_0, Modelica.Mechanics.MultiBody.Types.GravityTypes.UniformGravity, {0.0, 0.0, -world.g}, world.mu)) * droneChassis1.pointMass.m, which needs to solve for droneChassis1.pointMass.frame_a.R.T[3,1], droneChassis1.pointMass.frame_a.R.T[3,2], droneChassis1.pointMass.frame_a.R.T[3,3]
  Equation 2984: DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.droneChassis1.pointMass.frame_a.R.equalityConstraint(droneChassis1.pointMass.frame_a.R, droneChassis1.bodyCylinder.frame_b.R) = {0.0, 0.0, 0.0}, which needs to solve for droneChassis1.pointMass.frame_a.R.w[1], droneChassis1.pointMass.frame_a.R.w[2], droneChassis1.pointMass.frame_a.R.w[3]
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/Mechanics/MultiBody/Frames/Orientation.mo:6:3-6:71:writable] Warning: Variable droneChassis1.pointMass.frame_a.R.T[2,1] does not have any remaining equation to be solved in.
  The original equations were:
  Equation 3320: droneChassis1.pointMass.frame_a.f = Modelica.Mechanics.MultiBody.Frames.resolve2(droneChassis1.pointMass.frame_a.R, droneChassis1.pointMass.a_0 - DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.world.gravityAcceleration(droneChassis1.pointMass.r_0, Modelica.Mechanics.MultiBody.Types.GravityTypes.UniformGravity, {0.0, 0.0, -world.g}, world.mu)) * droneChassis1.pointMass.m, which needs to solve for droneChassis1.pointMass.frame_a.R.T[3,1], droneChassis1.pointMass.frame_a.R.T[3,2], droneChassis1.pointMass.frame_a.R.T[3,3]
  Equation 2984: DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.droneChassis1.pointMass.frame_a.R.equalityConstraint(droneChassis1.pointMass.frame_a.R, droneChassis1.bodyCylinder.frame_b.R) = {0.0, 0.0, 0.0}, which needs to solve for droneChassis1.pointMass.frame_a.R.w[1], droneChassis1.pointMass.frame_a.R.w[2], droneChassis1.pointMass.frame_a.R.w[3]
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/Mechanics/MultiBody/Frames/Orientation.mo:6:3-6:71:writable] Warning: Variable droneChassis1.pointMass.frame_a.R.T[1,3] does not have any remaining equation to be solved in.
  The original equations were:
  Equation 3320: droneChassis1.pointMass.frame_a.f = Modelica.Mechanics.MultiBody.Frames.resolve2(droneChassis1.pointMass.frame_a.R, droneChassis1.pointMass.a_0 - DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.world.gravityAcceleration(droneChassis1.pointMass.r_0, Modelica.Mechanics.MultiBody.Types.GravityTypes.UniformGravity, {0.0, 0.0, -world.g}, world.mu)) * droneChassis1.pointMass.m, which needs to solve for droneChassis1.pointMass.frame_a.R.T[3,1], droneChassis1.pointMass.frame_a.R.T[3,2], droneChassis1.pointMass.frame_a.R.T[3,3]
  Equation 2984: DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.droneChassis1.pointMass.frame_a.R.equalityConstraint(droneChassis1.pointMass.frame_a.R, droneChassis1.bodyCylinder.frame_b.R) = {0.0, 0.0, 0.0}, which needs to solve for droneChassis1.pointMass.frame_a.R.w[1], droneChassis1.pointMass.frame_a.R.w[2], droneChassis1.pointMass.frame_a.R.w[3]
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/Mechanics/MultiBody/Frames/Orientation.mo:6:3-6:71:writable] Warning: Variable droneChassis1.pointMass.frame_a.R.T[1,2] does not have any remaining equation to be solved in.
  The original equations were:
  Equation 3320: droneChassis1.pointMass.frame_a.f = Modelica.Mechanics.MultiBody.Frames.resolve2(droneChassis1.pointMass.frame_a.R, droneChassis1.pointMass.a_0 - DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.world.gravityAcceleration(droneChassis1.pointMass.r_0, Modelica.Mechanics.MultiBody.Types.GravityTypes.UniformGravity, {0.0, 0.0, -world.g}, world.mu)) * droneChassis1.pointMass.m, which needs to solve for droneChassis1.pointMass.frame_a.R.T[3,1], droneChassis1.pointMass.frame_a.R.T[3,2], droneChassis1.pointMass.frame_a.R.T[3,3]
  Equation 2984: DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.droneChassis1.pointMass.frame_a.R.equalityConstraint(droneChassis1.pointMass.frame_a.R, droneChassis1.bodyCylinder.frame_b.R) = {0.0, 0.0, 0.0}, which needs to solve for droneChassis1.pointMass.frame_a.R.w[1], droneChassis1.pointMass.frame_a.R.w[2], droneChassis1.pointMass.frame_a.R.w[3]
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/Mechanics/MultiBody/Frames/Orientation.mo:6:3-6:71:writable] Warning: Variable droneChassis1.pointMass.frame_a.R.T[1,1] does not have any remaining equation to be solved in.
  The original equations were:
  Equation 3320: droneChassis1.pointMass.frame_a.f = Modelica.Mechanics.MultiBody.Frames.resolve2(droneChassis1.pointMass.frame_a.R, droneChassis1.pointMass.a_0 - DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.world.gravityAcceleration(droneChassis1.pointMass.r_0, Modelica.Mechanics.MultiBody.Types.GravityTypes.UniformGravity, {0.0, 0.0, -world.g}, world.mu)) * droneChassis1.pointMass.m, which needs to solve for droneChassis1.pointMass.frame_a.R.T[3,1], droneChassis1.pointMass.frame_a.R.T[3,2], droneChassis1.pointMass.frame_a.R.T[3,3]
  Equation 2984: DroneLibrary.Examples.DroneWithIdealPower.DroneForVR.droneChassis1.pointMass.frame_a.R.equalityConstraint(droneChassis1.pointMass.frame_a.R, droneChassis1.bodyCylinder.frame_b.R) = {0.0, 0.0, 0.0}, which needs to solve for droneChassis1.pointMass.frame_a.R.w[1], droneChassis1.pointMass.frame_a.R.w[2], droneChassis1.pointMass.frame_a.R.w[3]