Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr Modelica_3.2.3_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.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 3.2.3+maint.om/package.mo", uses=false)
Using package Modelica with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+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(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving,fileNamePrefix="Modelica_3_2_3_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetDriving",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving,fileNamePrefix="Modelica_3_2_3_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 4.0.0+maint.om/package.mo): time 0.0009819/0.0009819, allocations: 100.2 kB / 17.58 MB, free: 5.418 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001023/0.001023, allocations: 192.1 kB / 18.51 MB, free: 4.508 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.219/1.219, allocations: 205.1 MB / 224.4 MB, free: 12.32 MB / 190.1 MB
Notification: Modelica requested package Complex of version 3.2.3. Complex 4.0.0 is used instead which states that it is fully compatible without conversion script needed.
Notification: Modelica requested package ModelicaServices of version 3.2.3. ModelicaServices 4.0.0 is used instead which states that it is fully compatible without conversion script needed.
Notification: Performance of FrontEnd - loaded program: time 0.001331/0.001331, allocations: 51.92 kB / 280.8 MB, free: 3.074 MB / 222.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.08906/0.0904, allocations: 46.63 MB / 327.4 MB, free: 4.375 MB / 270.1 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving): time 0.01798/0.1084, allocations: 16.08 MB / 343.5 MB, free: 4.215 MB / 286.1 MB
Notification: Performance of NFInst.instExpressions: time 0.01191/0.1204, allocations: 5.137 MB / 348.6 MB, free: 15.06 MB / 302.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.003198/0.1237, allocations: 103.7 kB / 348.7 MB, free: 14.96 MB / 302.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.008326/0.132, allocations: 4.634 MB / 353.3 MB, free: 10.31 MB / 302.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.006077/0.1381, allocations: 2.307 MB / 355.6 MB, free: 7.996 MB / 302.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.00286/0.141, allocations: 1.338 MB / 357 MB, free: 6.656 MB / 302.1 MB
Notification: Performance of NFFlatten.flatten: time 0.008344/0.1494, allocations: 6.496 MB / 363.5 MB, free: 148 kB / 302.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.008934/0.1583, allocations: 6.152 MB / 369.6 MB, free: 9.93 MB / 318.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.004571/0.1629, allocations: 2.505 MB / 372.1 MB, free: 7.418 MB / 318.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.005851/0.1688, allocations: 4.15 MB / 376.3 MB, free: 3.258 MB / 318.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.001936/0.1707, allocations: 0.6406 MB / 376.9 MB, free: 2.617 MB / 318.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.003637/0.1744, allocations: 1.397 MB / 378.3 MB, free: 1.219 MB / 318.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.1593/0.3337, allocations: 2.88 MB / 381.2 MB, free: 21.36 MB / 318.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.00697/0.3408, allocations: 3.398 MB / 384.6 MB, free: 20.6 MB / 318.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.01145/0.3522, allocations: 10.85 MB / 395.4 MB, free: 19.37 MB / 318.1 MB
Notification: Performance of FrontEnd - DAE generated: time 6.943e-06/0.3523, allocations: 1.406 kB / 395.4 MB, free: 19.37 MB / 318.1 MB
Notification: Performance of FrontEnd: time 1.963e-06/0.3523, allocations: 0 / 395.4 MB, free: 19.37 MB / 318.1 MB
Notification: Performance of Transformations before backend: time 0.0002319/0.3525, allocations: 0 / 395.4 MB, free: 19.37 MB / 318.1 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 0.01339/0.3659, allocations: 7.116 MB / 402.6 MB, free: 16.1 MB / 318.1 MB
Notification: Performance of prepare preOptimizeDAE: time 4.267e-05/0.366, allocations: 9.625 kB / 402.6 MB, free: 16.1 MB / 318.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.001052/0.367, allocations: 0.942 MB / 403.5 MB, free: 15.63 MB / 318.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.007452/0.3745, allocations: 2.247 MB / 405.8 MB, free: 14.48 MB / 318.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.006501/0.381, allocations: 5.362 MB / 411.1 MB, free: 11.48 MB / 318.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0001404/0.3812, allocations: 351.2 kB / 411.5 MB, free: 11.36 MB / 318.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.000641/0.3818, allocations: 468.7 kB / 411.9 MB, free: 11.23 MB / 318.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.01664/0.3985, allocations: 14.03 MB / 426 MB, free: 1.656 MB / 318.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0001537/0.3987, allocations: 65.5 kB / 426 MB, free: 1.617 MB / 318.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0005422/0.3992, allocations: 218.7 kB / 426.2 MB, free: 1.445 MB / 318.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.003742/0.403, allocations: 2.463 MB / 428.7 MB, free: 15.01 MB / 334.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02321/0.4262, allocations: 12.35 MB / 441 MB, free: 2.863 MB / 334.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.07698/0.5032, allocations: 56.33 MB / 497.4 MB, free: 10.06 MB / 398.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.01695/0.5202, allocations: 6.845 MB / 0.4924 GB, free: 3.062 MB / 398.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.00537/0.5256, allocations: 4.683 MB / 0.497 GB, free: 14.38 MB / 414.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.001262/0.5269, allocations: 1.282 MB / 0.4982 GB, free: 12.89 MB / 414.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 5.305e-05/0.527, allocations: 63.94 kB / 0.4983 GB, free: 12.82 MB / 414.1 MB
Notification: Performance of pre-optimization done (n=296): time 6.221e-06/0.527, allocations: 0 / 0.4983 GB, free: 12.82 MB / 414.1 MB
Notification: Performance of matching and sorting (n=387): time 0.3193/0.8463, allocations: 45.2 MB / 0.5424 GB, free: 141.7 MB / 430.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 9.999e-05/0.8464, allocations: 194.6 kB / 0.5426 GB, free: 141.5 MB / 430.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.007712/0.8541, allocations: 4.736 MB / 0.5472 GB, free: 139.8 MB / 430.1 MB
Notification: Performance of collectPreVariables (initialization): time 0.001251/0.8554, allocations: 81.27 kB / 0.5473 GB, free: 139.7 MB / 430.1 MB
Notification: Performance of collectInitialEqns (initialization): time 0.002455/0.8579, allocations: 3.716 MB / 0.5509 GB, free: 136.9 MB / 430.1 MB
Notification: Performance of collectInitialBindings (initialization): time 0.001964/0.8599, allocations: 1.395 MB / 0.5523 GB, free: 135.8 MB / 430.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.002371/0.8623, allocations: 1.553 MB / 0.5538 GB, free: 135.1 MB / 430.1 MB
Notification: Performance of setup shared object (initialization): time 7.649e-05/0.8623, allocations: 304.9 kB / 0.5541 GB, free: 134.8 MB / 430.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.005281/0.8676, allocations: 4.207 MB / 0.5582 GB, free: 133.2 MB / 430.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.008263/0.8759, allocations: 8.199 MB / 0.5662 GB, free: 124.8 MB / 430.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01495/0.8909, allocations: 13.43 MB / 0.5793 GB, free: 110.4 MB / 430.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.000136/0.8911, allocations: 40 kB / 0.5794 GB, free: 110.3 MB / 430.1 MB
Notification: Performance of matching and sorting (n=1021) (initialization): time 0.03358/0.9246, allocations: 16.93 MB / 0.5959 GB, free: 93.61 MB / 430.1 MB
Notification: Performance of prepare postOptimizeDAE: time 0.0002467/0.9249, allocations: 68.03 kB / 0.596 GB, free: 93.54 MB / 430.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0003064/0.9253, allocations: 136 kB / 0.5961 GB, free: 93.41 MB / 430.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.01348/0.9388, allocations: 5.354 MB / 0.6013 GB, free: 88.03 MB / 430.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.006065/0.9449, allocations: 1.679 MB / 0.603 GB, free: 86.35 MB / 430.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.04771/0.9926, allocations: 35.04 MB / 0.6372 GB, free: 51.05 MB / 430.1 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.009248/1.002, allocations: 0.5264 MB / 0.6377 GB, free: 50.52 MB / 430.1 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.002307/1.004, allocations: 447.9 kB / 0.6381 GB, free: 50.09 MB / 430.1 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 626
 * 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 (854):
 * Single equations (assignments): 845
 * Array equations: 4
 * 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 0.008153/1.012, allocations: 2.863 MB / 0.6409 GB, free: 47.22 MB / 430.1 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001857/1.014, allocations: 477.8 kB / 0.6414 GB, free: 46.75 MB / 430.1 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.02482/1.039, allocations: 11.9 MB / 0.653 GB, free: 34.78 MB / 430.1 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 8.73e-05/1.039, allocations: 48 kB / 0.6531 GB, free: 34.73 MB / 430.1 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 9.047e-05/1.039, allocations: 24 kB / 0.6531 GB, free: 34.71 MB / 430.1 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 8.791e-05/1.039, allocations: 23.88 kB / 0.6531 GB, free: 34.68 MB / 430.1 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.04754/1.087, allocations: 23.75 MB / 0.6763 GB, free: 10.8 MB / 430.1 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 5.712e-05/1.087, allocations: 4 kB / 0.6763 GB, free: 10.8 MB / 430.1 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.00267/1.09, allocations: 0.5307 MB / 0.6768 GB, free: 10.27 MB / 430.1 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.2071/1.297, allocations: 5.01 MB / 0.6817 GB, free: 129.7 MB / 430.1 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0009195/1.298, allocations: 74.47 kB / 0.6818 GB, free: 129.7 MB / 430.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.03801/1.336, allocations: 31.77 MB / 0.7128 GB, free: 119.1 MB / 430.1 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 6.292e-06/1.336, allocations: 7.844 kB / 0.7128 GB, free: 119.1 MB / 430.1 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.02784/1.364, allocations: 17.75 MB / 0.7301 GB, free: 106.6 MB / 430.1 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.003679/1.368, allocations: 1.25 MB / 0.7314 GB, free: 105.7 MB / 430.1 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001835/1.369, allocations: 60 kB / 0.7314 GB, free: 105.6 MB / 430.1 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.004297/1.374, allocations: 305.8 kB / 0.7317 GB, free: 105.4 MB / 430.1 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.001576/1.375, allocations: 275.6 kB / 0.732 GB, free: 105.3 MB / 430.1 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0006412/1.376, allocations: 107.7 kB / 0.7321 GB, free: 105.2 MB / 430.1 MB
Notification: Performance of sorting global known variables: time 0.007172/1.383, allocations: 3.038 MB / 0.735 GB, free: 102.7 MB / 430.1 MB
Notification: Performance of sort global known variables: time 5.61e-07/1.383, allocations: 0 / 0.735 GB, free: 102.7 MB / 430.1 MB
Notification: Performance of remove unused functions: time 0.01342/1.397, allocations: 1.768 MB / 0.7368 GB, free: 100.9 MB / 430.1 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 16
 * 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 (232):
 * Single equations (assignments): 223
 * Array equations: 4
 * 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 0.03475/1.431, allocations: 18.46 MB / 0.7548 GB, free: 83.34 MB / 430.1 MB
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/Mechanics/MultiBody/Parts.mo:2763:5-2766:55: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 3.2.3+maint.om/Mechanics/MultiBody/Parts.mo:2759:5-2762:55: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 3.2.3+maint.om/Mechanics/MultiBody/Parts.mo:2763:5-2766:55: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 3.2.3+maint.om/Mechanics/MultiBody/Parts.mo:2759:5-2762:55: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 0.02922/1.461, allocations: 15.35 MB / 0.7698 GB, free: 67.95 MB / 430.1 MB
Notification: Performance of simCode: created event and clocks part: time 1.225e-05/1.461, allocations: 4.062 kB / 0.7698 GB, free: 67.95 MB / 430.1 MB
Notification: Performance of simCode: created simulation system equations: time 0.0112/1.472, allocations: 5.508 MB / 0.7752 GB, free: 62.34 MB / 430.1 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.009451/1.481, allocations: 0.652 MB / 0.7758 GB, free: 61.71 MB / 430.1 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.3781/1.86, allocations: 90.26 MB / 0.8639 GB, free: 141.6 MB / 446.1 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.006569/1.866, allocations: 4.395 MB / 0.8682 GB, free: 140.7 MB / 446.1 MB
Notification: Performance of simCode: alias equations: time 0.005497/1.872, allocations: 2.355 MB / 0.8705 GB, free: 140.7 MB / 446.1 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.003981/1.876, allocations: 2.614 MB / 0.8731 GB, free: 138.7 MB / 446.1 MB
Notification: Performance of SimCode: time 1.072e-06/1.876, allocations: 2.719 kB / 0.8731 GB, free: 138.7 MB / 446.1 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 1.446/3.322, allocations: 140 MB / 1.01 GB, free: 134.3 MB / 446.1 MB
Notification: Performance of buildModelFMU: Generate platform static: time 14.91/18.23, allocations: 6.312 kB / 1.01 GB, free: 134.3 MB / 446.1 MB
(rm -f Modelica_3.2.3_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.pipe ; mkfifo Modelica_3.2.3_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.pipe ; head -c 1048576 < Modelica_3.2.3_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.pipe >> ../files/Modelica_3.2.3_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=Modelica_3.2.3_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving_res.mat --tempDir=temp_Modelica_3_2_3_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetDriving_fmu --startTime=0 --stopTime=3 --timeout=50 --tolerance=1e-06 Modelica_3_2_3_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetDriving.fmu > Modelica_3.2.3_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.pipe 2>&1)
diffSimulationResults("Modelica_3.2.3_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v3.2.3+build.4/Modelica/Mechanics/MultiBody/Examples/Elementary/RollingWheelSetDriving/RollingWheelSetDriving.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/Modelica_3.2.3_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],body.z_a_start[1],body.z_a_start[2],body.z_a_start[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.freqHz,sine1.offset,sine1.phase,sine1.startTime,sine1.y,sine2.amplitude,sine2.freqHz,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.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.body1.z_a_start[1],wheelSet.body1.z_a_start[2],wheelSet.body1.z_a_start[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.body2.z_a_start[1],wheelSet.body2.z_a_start[2],wheelSet.body2.z_a_start[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.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