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 0.001309/0.001309, allocations: 116.1 kB / 17.33 MB, free: 6.016 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo): time 0.001267/0.001267, allocations: 213.8 kB / 18.27 MB, free: 5.098 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo): time 1.405/1.405, allocations: 227.4 MB / 246.4 MB, free: 10.79 MB / 206.1 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo): time 0.2284/0.2284, allocations: 46.09 MB / 343.8 MB, free: 11.78 MB / 286.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.00164/0.00164, allocations: 82.67 kB / 417.2 MB, free: 20.01 MB / 302.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.1165/0.1181, allocations: 62.44 MB / 479.6 MB, free: 5.543 MB / 350.1 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.GearConstraint): time 0.3096/0.4277, allocations: 77.48 MB / 0.544 GB, free: 15.06 MB / 398.1 MB
Notification: Performance of NFInst.instExpressions: time 0.04038/0.4682, allocations: 14.92 MB / 0.5586 GB, free: 4.527 MB / 398.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.01795/0.4862, allocations: 336.7 kB / 0.5589 GB, free: 4.477 MB / 398.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.009701/0.4959, allocations: 4.586 MB / 0.5634 GB, free: 1.492 MB / 398.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.009139/0.5051, allocations: 2.847 MB / 0.5662 GB, free: 14.73 MB / 414.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.002843/0.508, allocations: 0.8543 MB / 0.567 GB, free: 13.88 MB / 414.1 MB
Notification: Performance of NFFlatten.flatten: time 0.01376/0.5218, allocations: 8.83 MB / 0.5756 GB, free: 5.031 MB / 414.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.0119/0.5337, allocations: 6.747 MB / 0.5822 GB, free: 14.23 MB / 430.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.006144/0.5399, allocations: 2.963 MB / 0.5851 GB, free: 11.26 MB / 430.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.006492/0.5464, allocations: 4.377 MB / 0.5894 GB, free: 6.871 MB / 430.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.002444/0.5489, allocations: 0.6211 MB / 0.59 GB, free: 6.25 MB / 430.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.004522/0.5534, allocations: 1.459 MB / 0.5914 GB, free: 4.789 MB / 430.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.005155/0.5586, allocations: 3.674 MB / 0.595 GB, free: 1.105 MB / 430.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.008289/0.5669, allocations: 4.315 MB / 0.5992 GB, free: 12.76 MB / 446.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.01611/0.5831, allocations: 13.16 MB / 0.6121 GB, free: 15.57 MB / 462.1 MB
Notification: Performance of FrontEnd - DAE generated: time 5.811e-06/0.5831, allocations: 0 / 0.6121 GB, free: 15.57 MB / 462.1 MB
Notification: Performance of FrontEnd: time 1.813e-06/0.5831, allocations: 4 kB / 0.6121 GB, free: 15.56 MB / 462.1 MB
Notification: Performance of Transformations before backend: time 0.0004939/0.5836, allocations: 0 / 0.6121 GB, free: 15.56 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 0.02415/0.6078, allocations: 8.927 MB / 0.6208 GB, free: 6.543 MB / 462.1 MB
Notification: Performance of prepare preOptimizeDAE: time 5.577e-05/0.6079, allocations: 12.03 kB / 0.6208 GB, free: 6.531 MB / 462.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.004199/0.6121, allocations: 1.394 MB / 0.6222 GB, free: 5.125 MB / 462.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.04956/0.6616, allocations: 8.901 MB / 0.6309 GB, free: 12.2 MB / 478.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.01343/0.6751, allocations: 5.243 MB / 0.636 GB, free: 6.871 MB / 478.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0005192/0.6757, allocations: 439.7 kB / 0.6364 GB, free: 6.441 MB / 478.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.002583/0.6783, allocations: 0.5777 MB / 0.637 GB, free: 5.863 MB / 478.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.04089/0.7192, allocations: 19.72 MB / 0.6562 GB, free: 1.113 MB / 494.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0003366/0.7195, allocations: 67.41 kB / 0.6563 GB, free: 1.047 MB / 494.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.002525/0.7221, allocations: 271.7 kB / 0.6565 GB, free: 0.7812 MB / 494.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.006965/0.7291, allocations: 4.168 MB / 0.6606 GB, free: 12.61 MB / 0.4981 GB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.03715/0.7662, allocations: 17.39 MB / 0.6776 GB, free: 11.19 MB / 0.5137 GB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.5655/1.332, allocations: 73 MB / 0.7489 GB, free: 129.2 MB / 0.5294 GB
Notification: Performance of preOpt comSubExp (simulation): time 0.01537/1.347, allocations: 7.804 MB / 0.7565 GB, free: 125.9 MB / 0.5294 GB
Notification: Performance of preOpt resolveLoops (simulation): time 0.005792/1.353, allocations: 5.061 MB / 0.7614 GB, free: 123.8 MB / 0.5294 GB
Notification: Performance of preOpt evalFunc (simulation): time 0.0002181/1.353, allocations: 58.95 kB / 0.7615 GB, free: 123.8 MB / 0.5294 GB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 4.568e-05/1.353, allocations: 75.5 kB / 0.7616 GB, free: 123.7 MB / 0.5294 GB
Notification: Performance of pre-optimization done (n=429): time 6.011e-06/1.353, allocations: 0 / 0.7616 GB, free: 123.7 MB / 0.5294 GB
Notification: Performance of matching and sorting (n=476): time 0.08515/1.438, allocations: 40.23 MB / 0.8009 GB, free: 97.28 MB / 0.5294 GB
Notification: Performance of inlineWhenForInitialization (initialization): time 8.285e-05/1.439, allocations: 226.8 kB / 0.8011 GB, free: 97.02 MB / 0.5294 GB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.008028/1.447, allocations: 6.398 MB / 0.8073 GB, free: 90.61 MB / 0.5294 GB
Notification: Performance of collectPreVariables (initialization): time 0.001007/1.448, allocations: 90.17 kB / 0.8074 GB, free: 90.52 MB / 0.5294 GB
Notification: Performance of collectInitialEqns (initialization): time 0.002828/1.45, allocations: 5.52 MB / 0.8128 GB, free: 85 MB / 0.5294 GB
Notification: Performance of collectInitialBindings (initialization): time 0.001752/1.452, allocations: 1.734 MB / 0.8145 GB, free: 83.28 MB / 0.5294 GB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.002581/1.455, allocations: 2.177 MB / 0.8166 GB, free: 81.1 MB / 0.5294 GB
Notification: Performance of setup shared object (initialization): time 4.747e-05/1.455, allocations: 305.1 kB / 0.8169 GB, free: 80.8 MB / 0.5294 GB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.005497/1.46, allocations: 4.808 MB / 0.8216 GB, free: 75.99 MB / 0.5294 GB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.007908/1.468, allocations: 10.84 MB / 0.8322 GB, free: 62.22 MB / 0.5294 GB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01587/1.484, allocations: 17.05 MB / 0.8488 GB, free: 42.21 MB / 0.5294 GB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001667/1.484, allocations: 60 kB / 0.8489 GB, free: 42.16 MB / 0.5294 GB
Notification: Performance of matching and sorting (n=1443) (initialization): time 0.02749/1.512, allocations: 16.85 MB / 0.8653 GB, free: 25.27 MB / 0.5294 GB
Notification: Performance of prepare postOptimizeDAE: time 0.0001226/1.512, allocations: 93.22 kB / 0.8654 GB, free: 25.18 MB / 0.5294 GB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0002786/1.512, allocations: 216.3 kB / 0.8656 GB, free: 24.97 MB / 0.5294 GB
Notification: Performance of postOpt tearingSystem (initialization): time 0.004465/1.517, allocations: 1.835 MB / 0.8674 GB, free: 23.12 MB / 0.5294 GB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.008372/1.525, allocations: 2.499 MB / 0.8699 GB, free: 20.62 MB / 0.5294 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.0143/1.54, allocations: 15.85 MB / 0.8854 GB, free: 4.219 MB / 0.5294 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.008663/1.548, allocations: 0.6357 MB / 0.886 GB, free: 3.582 MB / 0.5294 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.00195/1.55, allocations: 0.6093 MB / 0.8866 GB, free: 2.973 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 0.00888/1.559, allocations: 4.077 MB / 0.8906 GB, free: 14.88 MB / 0.545 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001527/1.561, allocations: 0.6054 MB / 0.8911 GB, free: 14.27 MB / 0.545 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01588/1.577, allocations: 9.462 MB / 0.9004 GB, free: 4.75 MB / 0.545 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.0001402/1.577, allocations: 91.97 kB / 0.9005 GB, free: 4.66 MB / 0.545 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 2.622e-05/1.577, allocations: 8 kB / 0.9005 GB, free: 4.652 MB / 0.545 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 5.923e-05/1.577, allocations: 19.92 kB / 0.9005 GB, free: 4.633 MB / 0.545 GB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.3083/1.885, allocations: 21.2 MB / 0.9212 GB, free: 186.2 MB / 0.5607 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 7.354e-05/1.885, allocations: 12.62 kB / 0.9212 GB, free: 186.2 MB / 0.5607 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.004438/1.89, allocations: 0.7378 MB / 0.9219 GB, free: 186.2 MB / 0.5607 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.005191/1.895, allocations: 1.509 MB / 0.9234 GB, free: 186.2 MB / 0.5607 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0008739/1.896, allocations: 87.67 kB / 0.9235 GB, free: 186.2 MB / 0.5607 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.01746/1.913, allocations: 14.8 MB / 0.9379 GB, free: 178.5 MB / 0.5607 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 1.39e-05/1.913, allocations: 17.03 kB / 0.938 GB, free: 178.5 MB / 0.5607 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.02201/1.935, allocations: 15.19 MB / 0.9528 GB, free: 172.6 MB / 0.5607 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.001338/1.937, allocations: 0.6172 MB / 0.9534 GB, free: 172.5 MB / 0.5607 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001153/1.938, allocations: 82.8 kB / 0.9535 GB, free: 172.5 MB / 0.5607 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002718/1.941, allocations: 292.2 kB / 0.9538 GB, free: 172.4 MB / 0.5607 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.000848/1.941, allocations: 291.9 kB / 0.954 GB, free: 172.3 MB / 0.5607 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0003081/1.942, allocations: 125.5 kB / 0.9542 GB, free: 172.3 MB / 0.5607 GB
Notification: Performance of sorting global known variables: time 0.00636/1.948, allocations: 3.996 MB / 0.9581 GB, free: 171 MB / 0.5607 GB
Notification: Performance of sort global known variables: time 3.91e-07/1.948, allocations: 0 / 0.9581 GB, free: 171 MB / 0.5607 GB
Notification: Performance of remove unused functions: time 0.01128/1.959, allocations: 1.942 MB / 0.9599 GB, free: 170.8 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 0.02146/1.981, allocations: 15.91 MB / 0.9755 GB, free: 163.1 MB / 0.5607 GB
Notification: Performance of simCode: created initialization part: time 0.03356/2.015, allocations: 21.5 MB / 0.9965 GB, free: 143 MB / 0.5607 GB
Notification: Performance of simCode: created event and clocks part: time 1.772e-05/2.015, allocations: 0 / 0.9965 GB, free: 143 MB / 0.5607 GB
Notification: Performance of simCode: created simulation system equations: time 0.006475/2.021, allocations: 4.783 MB / 1.001 GB, free: 138.3 MB / 0.5607 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.006232/2.027, allocations: 0.8163 MB / 1.002 GB, free: 137.5 MB / 0.5607 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.1687/2.196, allocations: 115.2 MB / 1.114 GB, free: 9.125 MB / 0.5607 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.009388/2.206, allocations: 5.915 MB / 1.12 GB, free: 3.164 MB / 0.5607 GB
Notification: Performance of simCode: alias equations: time 0.009441/2.215, allocations: 4.003 MB / 1.124 GB, free: 15.15 MB / 0.5763 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.007807/2.223, allocations: 3.916 MB / 1.128 GB, free: 11.24 MB / 0.5763 GB
Notification: Performance of SimCode: time 1.042e-06/2.223, allocations: 4 kB / 1.128 GB, free: 11.23 MB / 0.5763 GB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.4942/2.717, allocations: 136.5 MB / 1.261 GB, free: 107.6 MB / 0.5763 GB
Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0001949/2.717, allocations: 222.3 kB / 1.261 GB, free: 107.3 MB / 0.5763 GB
Notification: Performance of buildModelFMU: Generate platform static: time 5.516/8.234, allocations: 0 / 1.261 GB, free: 107.3 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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