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 0.001571/0.001572, allocations: 117.4 kB / 17.33 MB, free: 6.008 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo): time 0.001814/0.001814, allocations: 205.8 kB / 18.27 MB, free: 5.09 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo): time 1.284/1.284, allocations: 227.4 MB / 246.4 MB, free: 9.09 MB / 206.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.001101/0.001101, allocations: 61.06 kB / 306.6 MB, free: 0.6367 MB / 238.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.07741/0.07852, allocations: 50.53 MB / 357.1 MB, free: 14.1 MB / 302.1 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving): time 0.1974/0.276, allocations: 71.43 MB / 428.5 MB, free: 4.062 MB / 334.1 MB
Notification: Performance of NFInst.instExpressions: time 0.0299/0.3059, allocations: 14.62 MB / 443.1 MB, free: 5.41 MB / 350.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.01095/0.3169, allocations: 315.2 kB / 443.5 MB, free: 5.102 MB / 350.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.007391/0.3243, allocations: 4.453 MB / 447.9 MB, free: 0.6367 MB / 350.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.004779/0.3291, allocations: 2.106 MB / 450 MB, free: 14.52 MB / 366.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.002186/0.3313, allocations: 1.264 MB / 451.3 MB, free: 13.26 MB / 366.1 MB
Notification: Performance of NFFlatten.flatten: time 0.008709/0.34, allocations: 7.675 MB / 459 MB, free: 5.566 MB / 366.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.007878/0.3479, allocations: 6.413 MB / 465.4 MB, free: 15.12 MB / 382.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.003635/0.3516, allocations: 2.477 MB / 467.8 MB, free: 12.63 MB / 382.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.004525/0.3562, allocations: 3.662 MB / 471.5 MB, free: 8.961 MB / 382.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.001417/0.3576, allocations: 0.6406 MB / 472.1 MB, free: 8.32 MB / 382.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.002798/0.3604, allocations: 1.397 MB / 473.5 MB, free: 6.922 MB / 382.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.002836/0.3632, allocations: 2.899 MB / 476.4 MB, free: 4.016 MB / 382.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.003276/0.3665, allocations: 3.389 MB / 479.8 MB, free: 0.6094 MB / 382.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.008622/0.3752, allocations: 10.81 MB / 490.6 MB, free: 5.766 MB / 398.1 MB
Notification: Performance of FrontEnd - DAE generated: time 4.188e-06/0.3752, allocations: 3.938 kB / 490.6 MB, free: 5.762 MB / 398.1 MB
Notification: Performance of FrontEnd: time 1.422e-06/0.3752, allocations: 0 / 490.6 MB, free: 5.762 MB / 398.1 MB
Notification: Performance of Transformations before backend: time 0.0001524/0.3754, allocations: 0 / 490.6 MB, free: 5.762 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 0.01374/0.3891, allocations: 7.074 MB / 497.7 MB, free: 14.61 MB / 414.1 MB
Notification: Performance of prepare preOptimizeDAE: time 3.852e-05/0.3892, allocations: 8.031 kB / 497.7 MB, free: 14.6 MB / 414.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.001208/0.3904, allocations: 0.9418 MB / 498.7 MB, free: 13.65 MB / 414.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.007839/0.3982, allocations: 2.255 MB / 0.4892 GB, free: 11.38 MB / 414.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.007177/0.4054, allocations: 4.573 MB / 0.4937 GB, free: 6.75 MB / 414.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0002399/0.4057, allocations: 349 kB / 0.494 GB, free: 6.406 MB / 414.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.0009512/0.4066, allocations: 475.6 kB / 0.4944 GB, free: 5.941 MB / 414.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.02324/0.4299, allocations: 14.02 MB / 0.5081 GB, free: 7.113 MB / 430.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0002206/0.4301, allocations: 55.44 kB / 0.5082 GB, free: 7.059 MB / 430.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.001126/0.4313, allocations: 227.8 kB / 0.5084 GB, free: 6.836 MB / 430.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.003857/0.4351, allocations: 2.461 MB / 0.5108 GB, free: 4.371 MB / 430.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.0202/0.4553, allocations: 12.35 MB / 0.5229 GB, free: 8.004 MB / 446.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.1887/0.644, allocations: 56.29 MB / 0.5778 GB, free: 107.6 MB / 446.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.01413/0.6582, allocations: 6.789 MB / 0.5845 GB, free: 103.8 MB / 446.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.003829/0.6621, allocations: 4.64 MB / 0.589 GB, free: 101.3 MB / 446.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.0008687/0.663, allocations: 1.281 MB / 0.5903 GB, free: 99.88 MB / 446.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 2.592e-05/0.663, allocations: 68.5 kB / 0.5903 GB, free: 99.8 MB / 446.1 MB
Notification: Performance of pre-optimization done (n=287): time 4.539e-06/0.663, allocations: 4.938 kB / 0.5903 GB, free: 99.8 MB / 446.1 MB
Notification: Performance of matching and sorting (n=378): time 0.1172/0.7802, allocations: 44.09 MB / 0.6334 GB, free: 55.73 MB / 446.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 4.248e-05/0.7803, allocations: 167 kB / 0.6335 GB, free: 55.53 MB / 446.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.004482/0.7848, allocations: 4.726 MB / 0.6382 GB, free: 50.8 MB / 446.1 MB
Notification: Performance of collectPreVariables (initialization): time 0.0003239/0.7851, allocations: 77.7 kB / 0.6382 GB, free: 50.72 MB / 446.1 MB
Notification: Performance of collectInitialEqns (initialization): time 0.001269/0.7864, allocations: 3.716 MB / 0.6419 GB, free: 47 MB / 446.1 MB
Notification: Performance of collectInitialBindings (initialization): time 0.0007639/0.7871, allocations: 1.372 MB / 0.6432 GB, free: 45.64 MB / 446.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.001683/0.7888, allocations: 1.556 MB / 0.6447 GB, free: 44.08 MB / 446.1 MB
Notification: Performance of setup shared object (initialization): time 2.683e-05/0.7889, allocations: 306.6 kB / 0.645 GB, free: 43.78 MB / 446.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.004066/0.7929, allocations: 4.201 MB / 0.6491 GB, free: 39.57 MB / 446.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.005207/0.7982, allocations: 8.23 MB / 0.6572 GB, free: 29.4 MB / 446.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.009982/0.8081, allocations: 13.46 MB / 0.6703 GB, free: 13.96 MB / 446.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 3.877e-05/0.8082, allocations: 40 kB / 0.6703 GB, free: 13.93 MB / 446.1 MB
Notification: Performance of matching and sorting (n=1021) (initialization): time 0.02272/0.8309, allocations: 16.95 MB / 0.6869 GB, free: 12.92 MB / 462.1 MB
Notification: Performance of prepare postOptimizeDAE: time 6.962e-05/0.831, allocations: 64 kB / 0.6869 GB, free: 12.86 MB / 462.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 9.959e-05/0.8311, allocations: 140 kB / 0.6871 GB, free: 12.72 MB / 462.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.01232/0.8434, allocations: 5.363 MB / 0.6923 GB, free: 7.336 MB / 462.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.004601/0.8481, allocations: 1.684 MB / 0.694 GB, free: 5.648 MB / 462.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.1782/1.026, allocations: 35.04 MB / 0.7282 GB, free: 131.8 MB / 462.1 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.004833/1.031, allocations: 0.5204 MB / 0.7287 GB, free: 131.7 MB / 462.1 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.0005031/1.032, allocations: 451 kB / 0.7291 GB, free: 131.6 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 0.002958/1.035, allocations: 2.859 MB / 0.7319 GB, free: 130.4 MB / 462.1 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.0006005/1.035, allocations: 481.1 kB / 0.7324 GB, free: 130.4 MB / 462.1 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.0175/1.053, allocations: 11.9 MB / 0.744 GB, free: 125.7 MB / 462.1 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 3.659e-05/1.053, allocations: 40 kB / 0.744 GB, free: 125.6 MB / 462.1 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 2.638e-05/1.053, allocations: 27.94 kB / 0.744 GB, free: 125.6 MB / 462.1 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 3.575e-05/1.053, allocations: 17.39 kB / 0.7441 GB, free: 125.6 MB / 462.1 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.03035/1.083, allocations: 23.66 MB / 0.7672 GB, free: 102.4 MB / 462.1 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 2.355e-05/1.083, allocations: 6.688 kB / 0.7672 GB, free: 102.4 MB / 462.1 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002188/1.086, allocations: 0.5217 MB / 0.7677 GB, free: 101.9 MB / 462.1 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.01078/1.096, allocations: 5.009 MB / 0.7726 GB, free: 96.94 MB / 462.1 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0003992/1.097, allocations: 84.5 kB / 0.7727 GB, free: 96.86 MB / 462.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.03014/1.127, allocations: 31.76 MB / 0.8037 GB, free: 65.07 MB / 462.1 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 4.048e-06/1.127, allocations: 10.5 kB / 0.8037 GB, free: 65.06 MB / 462.1 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.02154/1.148, allocations: 17.56 MB / 0.8208 GB, free: 47.39 MB / 462.1 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.0008658/1.149, allocations: 0.5105 MB / 0.8213 GB, free: 46.86 MB / 462.1 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0006241/1.15, allocations: 67.98 kB / 0.8214 GB, free: 46.79 MB / 462.1 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002378/1.152, allocations: 311.5 kB / 0.8217 GB, free: 46.49 MB / 462.1 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.000836/1.153, allocations: 267 kB / 0.822 GB, free: 46.23 MB / 462.1 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002679/1.153, allocations: 95.98 kB / 0.822 GB, free: 46.14 MB / 462.1 MB
Notification: Performance of sorting global known variables: time 0.002953/1.156, allocations: 3.026 MB / 0.825 GB, free: 43.12 MB / 462.1 MB
Notification: Performance of sort global known variables: time 1.51e-07/1.156, allocations: 3.062 kB / 0.825 GB, free: 43.12 MB / 462.1 MB
Notification: Performance of remove unused functions: time 0.004989/1.161, allocations: 1.76 MB / 0.8267 GB, free: 41.36 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 0.02199/1.183, allocations: 18.26 MB / 0.8445 GB, free: 22.98 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 0.01934/1.203, allocations: 15.31 MB / 0.8595 GB, free: 7.602 MB / 462.1 MB
Notification: Performance of simCode: created event and clocks part: time 5.36e-06/1.203, allocations: 4 kB / 0.8595 GB, free: 7.598 MB / 462.1 MB
Notification: Performance of simCode: created simulation system equations: time 0.006306/1.209, allocations: 5.473 MB / 0.8649 GB, free: 2.027 MB / 462.1 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.003004/1.212, allocations: 0.6697 MB / 0.8655 GB, free: 1.379 MB / 462.1 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.2338/1.446, allocations: 92.4 MB / 0.9557 GB, free: 89.41 MB / 478.1 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.004128/1.45, allocations: 4.372 MB / 0.96 GB, free: 85.02 MB / 478.1 MB
Notification: Performance of simCode: alias equations: time 0.004293/1.454, allocations: 2.372 MB / 0.9623 GB, free: 82.64 MB / 478.1 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.002473/1.457, allocations: 2.608 MB / 0.9649 GB, free: 80.04 MB / 478.1 MB
Notification: Performance of SimCode: time 6.82e-07/1.457, allocations: 0 / 0.9649 GB, free: 80.04 MB / 478.1 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 3.847/5.304, allocations: 139.5 MB / 1.101 GB, free: 122.3 MB / 478.1 MB
Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0001772/5.304, allocations: 252.8 kB / 1.101 GB, free: 122.1 MB / 478.1 MB
Notification: Performance of buildModelFMU: Generate platform static: time 5.138/10.44, allocations: 0 / 1.101 GB, free: 122.1 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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