Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr Modelica_4.0.0_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 4.0.0+maint.om/package.mo", uses=false)
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(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving,fileNamePrefix="Modelica_4_0_0_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetDriving",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving,fileNamePrefix="Modelica_4_0_0_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 0.001277/0.001277, allocations: 108.7 kB / 16.92 MB, free: 6.145 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001272/0.001272, allocations: 187.4 kB / 17.85 MB, free: 5.285 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo): time 1.223/1.223, allocations: 222.9 MB / 241.5 MB, free: 15.21 MB / 206.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.001012/0.001012, allocations: 43.09 kB / 300.7 MB, free: 5.754 MB / 238.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.08329/0.08432, allocations: 49.44 MB / 350.2 MB, free: 4.305 MB / 286.1 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving): time 0.01633/0.1007, allocations: 15.99 MB / 366.2 MB, free: 4.227 MB / 302.1 MB
Notification: Performance of NFInst.instExpressions: time 0.1599/0.2606, allocations: 5.12 MB / 371.3 MB, free: 9.137 MB / 302.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.003115/0.2638, allocations: 102.1 kB / 371.4 MB, free: 9.137 MB / 302.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.007866/0.2717, allocations: 4.63 MB / 376 MB, free: 9.09 MB / 302.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.005018/0.2768, allocations: 2.298 MB / 378.3 MB, free: 8.961 MB / 302.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.002253/0.279, allocations: 1.331 MB / 379.6 MB, free: 8.926 MB / 302.1 MB
Notification: Performance of NFFlatten.flatten: time 0.007138/0.2862, allocations: 6.433 MB / 386.1 MB, free: 7.242 MB / 302.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.005902/0.2921, allocations: 6.121 MB / 392.2 MB, free: 3.832 MB / 302.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.003617/0.2958, allocations: 2.479 MB / 394.7 MB, free: 2.527 MB / 302.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.003823/0.2996, allocations: 4.139 MB / 398.8 MB, free: 116 kB / 302.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.001106/0.3007, allocations: 0.6368 MB / 399.4 MB, free: 15.47 MB / 318.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.002491/0.3032, allocations: 1.408 MB / 400.9 MB, free: 14.11 MB / 318.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.002339/0.3056, allocations: 2.866 MB / 403.7 MB, free: 11.25 MB / 318.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.003353/0.3089, allocations: 3.383 MB / 407.1 MB, free: 7.863 MB / 318.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.009085/0.318, allocations: 10.8 MB / 417.9 MB, free: 13.27 MB / 334.1 MB
Notification: Performance of FrontEnd - DAE generated: time 5.851e-06/0.3181, allocations: 0 / 417.9 MB, free: 13.27 MB / 334.1 MB
Notification: Performance of FrontEnd: time 1.803e-06/0.3181, allocations: 4 kB / 417.9 MB, free: 13.26 MB / 334.1 MB
Notification: Performance of Transformations before backend: time 0.0002507/0.3183, allocations: 0 / 417.9 MB, free: 13.26 MB / 334.1 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 0.01472/0.3331, allocations: 7.068 MB / 425 MB, free: 6.234 MB / 334.1 MB
Notification: Performance of prepare preOptimizeDAE: time 4.303e-05/0.3331, allocations: 16.02 kB / 425 MB, free: 6.219 MB / 334.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.001271/0.3344, allocations: 0.9382 MB / 425.9 MB, free: 5.309 MB / 334.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.008195/0.3426, allocations: 2.242 MB / 428.2 MB, free: 3.059 MB / 334.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.008612/0.3512, allocations: 4.876 MB / 433 MB, free: 14.2 MB / 350.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0002924/0.3516, allocations: 355.6 kB / 433.4 MB, free: 13.88 MB / 350.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.001628/0.3532, allocations: 474 kB / 433.9 MB, free: 13.46 MB / 350.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.02331/0.3765, allocations: 14.02 MB / 447.9 MB, free: 14.75 MB / 366.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.000166/0.3767, allocations: 67.42 kB / 447.9 MB, free: 14.69 MB / 366.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0005257/0.3773, allocations: 211.8 kB / 448.2 MB, free: 14.52 MB / 366.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.003885/0.3812, allocations: 2.461 MB / 450.6 MB, free: 12.06 MB / 366.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02115/0.4023, allocations: 12.36 MB / 463 MB, free: 15.69 MB / 382.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.06697/0.4693, allocations: 56.27 MB / 0.5071 GB, free: 6.496 MB / 430.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.01696/0.4863, allocations: 6.849 MB / 0.5138 GB, free: 15.5 MB / 446.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.005351/0.4917, allocations: 4.685 MB / 0.5183 GB, free: 10.81 MB / 446.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.001292/0.493, allocations: 1.283 MB / 0.5196 GB, free: 9.32 MB / 446.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 4.804e-05/0.4931, allocations: 60.56 kB / 0.5196 GB, free: 9.254 MB / 446.1 MB
Notification: Performance of pre-optimization done (n=296): time 6.132e-06/0.4931, allocations: 4 kB / 0.5196 GB, free: 9.25 MB / 446.1 MB
Notification: Performance of matching and sorting (n=387): time 0.2915/0.7846, allocations: 45 MB / 0.5636 GB, free: 118.5 MB / 446.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 6.321e-05/0.7847, allocations: 200 kB / 0.5638 GB, free: 118.3 MB / 446.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.005257/0.7899, allocations: 4.682 MB / 0.5684 GB, free: 114.7 MB / 446.1 MB
Notification: Performance of collectPreVariables (initialization): time 0.0009877/0.791, allocations: 85.69 kB / 0.5684 GB, free: 114.6 MB / 446.1 MB
Notification: Performance of collectInitialEqns (initialization): time 0.001451/0.7924, allocations: 3.691 MB / 0.572 GB, free: 110.9 MB / 446.1 MB
Notification: Performance of collectInitialBindings (initialization): time 0.001656/0.7941, allocations: 1.39 MB / 0.5734 GB, free: 109.5 MB / 446.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.001951/0.7961, allocations: 1.558 MB / 0.5749 GB, free: 108 MB / 446.1 MB
Notification: Performance of setup shared object (initialization): time 4.493e-05/0.7961, allocations: 305.1 kB / 0.5752 GB, free: 107.7 MB / 446.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.004379/0.8005, allocations: 4.204 MB / 0.5793 GB, free: 103.4 MB / 446.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.005527/0.806, allocations: 8.198 MB / 0.5873 GB, free: 93.4 MB / 446.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01139/0.8175, allocations: 13.44 MB / 0.6004 GB, free: 78.59 MB / 446.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 5.901e-05/0.8175, allocations: 40 kB / 0.6005 GB, free: 78.55 MB / 446.1 MB
Notification: Performance of matching and sorting (n=1021) (initialization): time 0.0233/0.8408, allocations: 16.93 MB / 0.617 GB, free: 61.86 MB / 446.1 MB
Notification: Performance of prepare postOptimizeDAE: time 5.704e-05/0.8409, allocations: 64 kB / 0.6171 GB, free: 61.8 MB / 446.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 8.169e-05/0.841, allocations: 140 kB / 0.6172 GB, free: 61.66 MB / 446.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.01133/0.8524, allocations: 5.366 MB / 0.6225 GB, free: 56.27 MB / 446.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.004318/0.8567, allocations: 1.665 MB / 0.6241 GB, free: 54.6 MB / 446.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.03374/0.8904, allocations: 35.03 MB / 0.6583 GB, free: 19.3 MB / 446.1 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.00496/0.8954, allocations: 0.5331 MB / 0.6588 GB, free: 18.77 MB / 446.1 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.0005365/0.896, allocations: 443.9 kB / 0.6592 GB, free: 18.34 MB / 446.1 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 0.002934/0.8989, allocations: 2.851 MB / 0.662 GB, free: 15.47 MB / 446.1 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.0006578/0.8996, allocations: 470 kB / 0.6625 GB, free: 15.01 MB / 446.1 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01758/0.9172, allocations: 11.9 MB / 0.6741 GB, free: 3.035 MB / 446.1 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 6.704e-05/0.9173, allocations: 49.75 kB / 0.6741 GB, free: 2.988 MB / 446.1 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 3.526e-05/0.9173, allocations: 28 kB / 0.6742 GB, free: 2.961 MB / 446.1 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 3.683e-05/0.9173, allocations: 19.92 kB / 0.6742 GB, free: 2.941 MB / 446.1 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.2025/1.12, allocations: 23.73 MB / 0.6974 GB, free: 155.9 MB / 478.1 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.854e-05/1.12, allocations: 4.438 kB / 0.6974 GB, free: 155.9 MB / 478.1 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002492/1.122, allocations: 0.5287 MB / 0.6979 GB, free: 155.9 MB / 478.1 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.01363/1.136, allocations: 5.012 MB / 0.7028 GB, free: 155.8 MB / 478.1 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0008389/1.137, allocations: 75.19 kB / 0.7028 GB, free: 155.8 MB / 478.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.03683/1.174, allocations: 31.76 MB / 0.7339 GB, free: 143.4 MB / 478.1 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 7.464e-06/1.174, allocations: 11.59 kB / 0.7339 GB, free: 143.4 MB / 478.1 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.02477/1.199, allocations: 17.74 MB / 0.7512 GB, free: 134.1 MB / 478.1 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.00105/1.2, allocations: 0.5149 MB / 0.7517 GB, free: 133.8 MB / 478.1 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0008963/1.201, allocations: 67.92 kB / 0.7518 GB, free: 133.8 MB / 478.1 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002768/1.203, allocations: 307.5 kB / 0.7521 GB, free: 133.5 MB / 478.1 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0009134/1.204, allocations: 274.1 kB / 0.7523 GB, free: 133.2 MB / 478.1 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002828/1.205, allocations: 104 kB / 0.7524 GB, free: 133.1 MB / 478.1 MB
Notification: Performance of sorting global known variables: time 0.003588/1.208, allocations: 3.009 MB / 0.7554 GB, free: 130.1 MB / 478.1 MB
Notification: Performance of sort global known variables: time 1.31e-07/1.208, allocations: 0 / 0.7554 GB, free: 130.1 MB / 478.1 MB
Notification: Performance of remove unused functions: time 0.006496/1.215, allocations: 1.762 MB / 0.7571 GB, free: 128.3 MB / 478.1 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 0.02414/1.239, allocations: 18.44 MB / 0.7751 GB, free: 109.9 MB / 478.1 MB
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/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 4.0.0+maint.om/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 4.0.0+maint.om/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 4.0.0+maint.om/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 0.02188/1.261, allocations: 15.35 MB / 0.7901 GB, free: 94.58 MB / 478.1 MB
Notification: Performance of simCode: created event and clocks part: time 7.484e-06/1.261, allocations: 3.031 kB / 0.7901 GB, free: 94.58 MB / 478.1 MB
Notification: Performance of simCode: created simulation system equations: time 0.007285/1.268, allocations: 5.513 MB / 0.7955 GB, free: 88.98 MB / 478.1 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.003488/1.272, allocations: 0.654 MB / 0.7961 GB, free: 88.37 MB / 478.1 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.2711/1.543, allocations: 89.72 MB / 0.8837 GB, free: 151.8 MB / 478.1 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.005123/1.548, allocations: 4.375 MB / 0.888 GB, free: 151 MB / 478.1 MB
Notification: Performance of simCode: alias equations: time 0.005142/1.553, allocations: 2.353 MB / 0.8903 GB, free: 150.9 MB / 478.1 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.003061/1.556, allocations: 2.604 MB / 0.8928 GB, free: 150.9 MB / 478.1 MB
Notification: Performance of SimCode: time 1.333e-06/1.556, allocations: 0 / 0.8928 GB, free: 150.9 MB / 478.1 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 1.583/3.14, allocations: 139.6 MB / 1.029 GB, free: 30.56 MB / 478.1 MB
Notification: Performance of buildModelFMU: Generate platform static: time 17.25/20.39, allocations: 4 kB / 1.029 GB, free: 30.56 MB / 478.1 MB
(rm -f Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.pipe ; mkfifo Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.pipe ; head -c 1048576 < Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.pipe >> ../files/Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving_res.mat --tempDir=temp_Modelica_4_0_0_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetDriving_fmu --startTime=0 --stopTime=3 --timeout=50 --tolerance=1e-06 Modelica_4_0_0_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetDriving.fmu > Modelica_4.0.0_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.pipe 2>&1)
diffSimulationResults("Modelica_4.0.0_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_4.0.0_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.f,sine1.offset,sine1.phase,sine1.startTime,sine1.y,sine2.amplitude,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[2,1],wheelSet.frame2.R.T[2,2],whe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