Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.GearConstraint.conf.json
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/ModelicaTest 4.0.0+maint.om/package.mo", uses=false)
Using package ModelicaTest with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/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)
Running command: "" <> buildModelFMU(ModelicaTest.MultiBody.Joints.GearConstraint,fileNamePrefix="ModelicaTest_4_0_0_ModelicaTest_MultiBody_Joints_GearConstraint",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(ModelicaTest.MultiBody.Joints.GearConstraint,fileNamePrefix="ModelicaTest_4_0_0_ModelicaTest_MultiBody_Joints_GearConstraint",fmuType="me",version="2.0",platforms={"static"})
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo): time 0.001583/0.001583, allocations: 104.7 kB / 17.63 MB, free: 5.344 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001825/0.001825, allocations: 192 kB / 18.56 MB, free: 4.434 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo): time 1.515/1.515, allocations: 222.9 MB / 242.2 MB, free: 15.16 MB / 206.1 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/package.mo): time 0.2267/0.2267, allocations: 44.17 MB / 336.6 MB, free: 2.746 MB / 270.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.001208/0.001208, allocations: 60.55 kB / 408.5 MB, free: 27.13 MB / 302.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.1207/0.1219, allocations: 60.83 MB / 469.4 MB, free: 14.26 MB / 350.1 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.GearConstraint): time 0.01992/0.1419, allocations: 18.72 MB / 488.1 MB, free: 11.45 MB / 366.1 MB
Notification: Performance of NFInst.instExpressions: time 0.01294/0.1549, allocations: 5.326 MB / 493.4 MB, free: 6.109 MB / 366.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.0037/0.1587, allocations: 119.7 kB / 493.5 MB, free: 5.992 MB / 366.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.009178/0.1679, allocations: 4.785 MB / 498.3 MB, free: 1.191 MB / 366.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.01066/0.1787, allocations: 3.101 MB / 0.4897 GB, free: 14.08 MB / 382.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.002855/0.1815, allocations: 0.9087 MB / 0.4905 GB, free: 13.17 MB / 382.1 MB
Notification: Performance of NFFlatten.flatten: time 0.01305/0.1946, allocations: 8.389 MB / 0.4987 GB, free: 4.766 MB / 382.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.3037/0.4984, allocations: 6.435 MB / 0.505 GB, free: 15.14 MB / 382.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.006394/0.5048, allocations: 2.942 MB / 0.5079 GB, free: 14.97 MB / 382.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.008239/0.5131, allocations: 3.98 MB / 0.5118 GB, free: 14.54 MB / 382.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.004808/0.5179, allocations: 0.6253 MB / 0.5124 GB, free: 14.54 MB / 382.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.009585/0.5275, allocations: 1.46 MB / 0.5138 GB, free: 14.54 MB / 382.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.009727/0.5373, allocations: 3.684 MB / 0.5174 GB, free: 14.16 MB / 382.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.01081/0.5482, allocations: 4.34 MB / 0.5217 GB, free: 12.61 MB / 382.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.01879/0.567, allocations: 13.29 MB / 0.5346 GB, free: 6.273 MB / 382.1 MB
Notification: Performance of FrontEnd - DAE generated: time 6.422e-06/0.567, allocations: 0 / 0.5346 GB, free: 6.273 MB / 382.1 MB
Notification: Performance of FrontEnd: time 1.944e-06/0.5671, allocations: 0.9688 kB / 0.5346 GB, free: 6.273 MB / 382.1 MB
Notification: Performance of Transformations before backend: time 0.0006316/0.5677, allocations: 0 / 0.5346 GB, free: 6.273 MB / 382.1 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 3026
 * Number of variables: 3026
Notification: Performance of Generate backend data structure: time 0.02802/0.5957, allocations: 9.017 MB / 0.5434 GB, free: 328 kB / 382.1 MB
Notification: Performance of prepare preOptimizeDAE: time 5.427e-05/0.5958, allocations: 14.31 kB / 0.5434 GB, free: 324 kB / 382.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.005002/0.6008, allocations: 1.402 MB / 0.5448 GB, free: 15.44 MB / 398.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.04998/0.6508, allocations: 8.909 MB / 0.5535 GB, free: 8.758 MB / 398.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.0151/0.666, allocations: 5.465 MB / 0.5589 GB, free: 3.562 MB / 398.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0004899/0.6665, allocations: 445.7 kB / 0.5593 GB, free: 3.203 MB / 398.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.003057/0.6696, allocations: 0.5712 MB / 0.5598 GB, free: 2.707 MB / 398.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.04794/0.7175, allocations: 19.9 MB / 0.5793 GB, free: 14.13 MB / 430.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0005216/0.7181, allocations: 76.34 kB / 0.5793 GB, free: 14.09 MB / 430.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.003118/0.7212, allocations: 274.3 kB / 0.5796 GB, free: 13.89 MB / 430.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.007242/0.7285, allocations: 4.238 MB / 0.5837 GB, free: 9.711 MB / 430.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.04039/0.7689, allocations: 17.54 MB / 0.6009 GB, free: 8.426 MB / 446.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.1231/0.8921, allocations: 73.41 MB / 0.6726 GB, free: 14.04 MB / 0.5137 GB
Notification: Performance of preOpt comSubExp (simulation): time 0.0182/0.9103, allocations: 7.806 MB / 0.6802 GB, free: 6 MB / 0.5137 GB
Notification: Performance of preOpt resolveLoops (simulation): time 0.007991/0.9183, allocations: 5.062 MB / 0.6851 GB, free: 0.9219 MB / 0.5137 GB
Notification: Performance of preOpt evalFunc (simulation): time 0.0004347/0.9188, allocations: 61.84 kB / 0.6852 GB, free: 0.875 MB / 0.5137 GB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 8.421e-05/0.9189, allocations: 75.7 kB / 0.6853 GB, free: 0.793 MB / 0.5137 GB
Notification: Performance of pre-optimization done (n=429): time 1.263e-05/0.9189, allocations: 0 / 0.6853 GB, free: 0.793 MB / 0.5137 GB
Notification: Performance of matching and sorting (n=476): time 0.4362/1.355, allocations: 40.27 MB / 0.7246 GB, free: 170 MB / 0.5294 GB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.0001086/1.355, allocations: 227.7 kB / 0.7248 GB, free: 169.7 MB / 0.5294 GB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.01367/1.369, allocations: 6.413 MB / 0.7311 GB, free: 167.5 MB / 0.5294 GB
Notification: Performance of collectPreVariables (initialization): time 0.001277/1.37, allocations: 88.27 kB / 0.7311 GB, free: 167.4 MB / 0.5294 GB
Notification: Performance of collectInitialEqns (initialization): time 0.004651/1.375, allocations: 5.566 MB / 0.7366 GB, free: 163.1 MB / 0.5294 GB
Notification: Performance of collectInitialBindings (initialization): time 0.003023/1.378, allocations: 1.733 MB / 0.7383 GB, free: 161.9 MB / 0.5294 GB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.003482/1.381, allocations: 2.182 MB / 0.7404 GB, free: 160.8 MB / 0.5294 GB
Notification: Performance of setup shared object (initialization): time 6.52e-05/1.382, allocations: 305.1 kB / 0.7407 GB, free: 160.5 MB / 0.5294 GB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.006113/1.388, allocations: 4.811 MB / 0.7454 GB, free: 159 MB / 0.5294 GB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.01093/1.399, allocations: 10.87 MB / 0.756 GB, free: 149.3 MB / 0.5294 GB
Notification: Performance of analyzeInitialSystem (initialization): time 0.02205/1.421, allocations: 17.07 MB / 0.7727 GB, free: 131.1 MB / 0.5294 GB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.000264/1.421, allocations: 60 kB / 0.7727 GB, free: 131.1 MB / 0.5294 GB
Notification: Performance of matching and sorting (n=1446) (initialization): time 0.03217/1.453, allocations: 16.89 MB / 0.7892 GB, free: 116.2 MB / 0.5294 GB
Notification: Performance of prepare postOptimizeDAE: time 0.0001491/1.453, allocations: 99.94 kB / 0.7893 GB, free: 116.1 MB / 0.5294 GB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0003977/1.454, allocations: 208.5 kB / 0.7895 GB, free: 115.9 MB / 0.5294 GB
Notification: Performance of postOpt tearingSystem (initialization): time 0.00479/1.459, allocations: 1.827 MB / 0.7913 GB, free: 114.1 MB / 0.5294 GB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.008536/1.467, allocations: 2.511 MB / 0.7938 GB, free: 111.6 MB / 0.5294 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.01511/1.482, allocations: 15.86 MB / 0.8092 GB, free: 95.22 MB / 0.5294 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.01088/1.493, allocations: 0.6392 MB / 0.8099 GB, free: 94.58 MB / 0.5294 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.00314/1.496, allocations: 0.6132 MB / 0.8105 GB, free: 93.97 MB / 0.5294 GB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 958
 * Number of states: 0 ()
 * Number of discrete variables: 53 (torque1.torqueArrow.arrowLine.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 (1322):
 * Single equations (assignments): 1309
 * 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 0.01159/1.508, allocations: 4.101 MB / 0.8145 GB, free: 89.86 MB / 0.5294 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.00323/1.511, allocations: 0.6024 MB / 0.8151 GB, free: 89.25 MB / 0.5294 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01821/1.53, allocations: 9.461 MB / 0.8243 GB, free: 79.73 MB / 0.5294 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.0001168/1.53, allocations: 86.41 kB / 0.8244 GB, free: 79.64 MB / 0.5294 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 3.225e-05/1.53, allocations: 19.92 kB / 0.8244 GB, free: 79.62 MB / 0.5294 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 5.321e-05/1.53, allocations: 15.94 kB / 0.8244 GB, free: 79.61 MB / 0.5294 GB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.03619/1.566, allocations: 21.26 MB / 0.8452 GB, free: 58.17 MB / 0.5294 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.371e-05/1.566, allocations: 12 kB / 0.8452 GB, free: 58.16 MB / 0.5294 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.003364/1.569, allocations: 0.741 MB / 0.8459 GB, free: 57.42 MB / 0.5294 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.003732/1.573, allocations: 1.505 MB / 0.8474 GB, free: 55.9 MB / 0.5294 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0005391/1.574, allocations: 90.2 kB / 0.8475 GB, free: 55.82 MB / 0.5294 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.01309/1.587, allocations: 14.81 MB / 0.8619 GB, free: 40.45 MB / 0.5294 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 9.628e-06/1.587, allocations: 19.88 kB / 0.862 GB, free: 40.43 MB / 0.5294 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.01963/1.607, allocations: 15.18 MB / 0.8768 GB, free: 25.01 MB / 0.5294 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.002558/1.609, allocations: 0.6258 MB / 0.8774 GB, free: 24.36 MB / 0.5294 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001401/1.611, allocations: 83.98 kB / 0.8775 GB, free: 24.27 MB / 0.5294 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.00312/1.614, allocations: 291.4 kB / 0.8777 GB, free: 23.99 MB / 0.5294 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0007999/1.615, allocations: 297.8 kB / 0.878 GB, free: 23.7 MB / 0.5294 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002952/1.615, allocations: 120 kB / 0.8781 GB, free: 23.58 MB / 0.5294 GB
Notification: Performance of sorting global known variables: time 0.00619/1.621, allocations: 4.001 MB / 0.882 GB, free: 19.59 MB / 0.5294 GB
Notification: Performance of sort global known variables: time 3.8e-07/1.621, allocations: 4 kB / 0.8821 GB, free: 19.59 MB / 0.5294 GB
Notification: Performance of remove unused functions: time 0.01079/1.632, allocations: 1.987 MB / 0.884 GB, free: 17.61 MB / 0.5294 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 0.2666/1.899, allocations: 15.91 MB / 0.8995 GB, free: 159.2 MB / 0.5294 GB
Notification: Performance of simCode: created initialization part: time 0.03696/1.935, allocations: 21.5 MB / 0.9205 GB, free: 155.6 MB / 0.5294 GB
Notification: Performance of simCode: created event and clocks part: time 2.142e-05/1.936, allocations: 0 / 0.9205 GB, free: 155.6 MB / 0.5294 GB
Notification: Performance of simCode: created simulation system equations: time 0.008526/1.944, allocations: 4.795 MB / 0.9252 GB, free: 153.6 MB / 0.5294 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.009692/1.954, allocations: 0.8124 MB / 0.926 GB, free: 153.2 MB / 0.5294 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.1683/2.122, allocations: 111.7 MB / 1.035 GB, free: 41.59 MB / 0.5294 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.01187/2.134, allocations: 5.948 MB / 1.041 GB, free: 35.61 MB / 0.5294 GB
Notification: Performance of simCode: alias equations: time 0.01174/2.146, allocations: 4.004 MB / 1.045 GB, free: 31.59 MB / 0.5294 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.00763/2.154, allocations: 3.948 MB / 1.049 GB, free: 27.64 MB / 0.5294 GB
Notification: Performance of SimCode: time 1.052e-06/2.154, allocations: 3.938 kB / 1.049 GB, free: 27.64 MB / 0.5294 GB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.4447/2.598, allocations: 137.2 MB / 1.183 GB, free: 151.1 MB / 0.5606 GB
Notification: Performance of buildModelFMU: Generate platform static: time 13.21/15.81, allocations: 3.938 kB / 1.183 GB, free: 151.1 MB / 0.5606 GB
(rm -f ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.GearConstraint.pipe ; mkfifo ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.GearConstraint.pipe ; head -c 1048576 < ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.GearConstraint.pipe >> ../files/ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.GearConstraint.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.GearConstraint_res.mat --tempDir=temp_ModelicaTest_4_0_0_ModelicaTest_MultiBody_Joints_GearConstraint_fmu --startTime=0 --stopTime=5 --timeout=50 --tolerance=1e-06 ModelicaTest_4_0_0_ModelicaTest_MultiBody_Joints_GearConstraint.fmu > ModelicaTest_4.0.0_ModelicaTest.MultiBody.Joints.GearConstraint.pipe 2>&1)
diffSimulationResults("ModelicaTest_4.0.0_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_4.0.0_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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