Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.conf.json
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo", uses=false)
Using package Modelica with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo)
Using package Complex with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo)
Using package ModelicaServices with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo)
Running command: "" <> buildModelFMU(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving,fileNamePrefix="Modelica_trunk_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetDriving",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving,fileNamePrefix="Modelica_trunk_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetDriving",fmuType="me",version="2.0",platforms={"static"})
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo): time 0.001587/0.001587, allocations: 103.9 kB / 17.63 MB, free: 5.523 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo): time 0.002313/0.002313, allocations: 206.4 kB / 18.58 MB, free: 4.582 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo): time 1.574/1.574, allocations: 227.4 MB / 246.8 MB, free: 10.61 MB / 206.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.00144/0.00144, allocations: 64.47 kB / 307.1 MB, free: 0.5391 MB / 238.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.1266/0.1281, allocations: 50.53 MB / 357.6 MB, free: 14 MB / 302.1 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving): time 0.2489/0.377, allocations: 15.94 MB / 373.5 MB, free: 8.715 MB / 302.1 MB
Notification: Performance of NFInst.instExpressions: time 0.01054/0.3876, allocations: 5.172 MB / 378.7 MB, free: 8.453 MB / 302.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.003202/0.3908, allocations: 109.2 kB / 378.8 MB, free: 8.43 MB / 302.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.00914/0.4, allocations: 4.611 MB / 383.4 MB, free: 7.062 MB / 302.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.008242/0.4083, allocations: 2.26 MB / 385.7 MB, free: 6.242 MB / 302.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.002764/0.4111, allocations: 1.334 MB / 387 MB, free: 5.695 MB / 302.1 MB
Notification: Performance of NFFlatten.flatten: time 0.007606/0.4187, allocations: 6.578 MB / 393.6 MB, free: 3.008 MB / 302.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.005342/0.4241, allocations: 6.121 MB / 399.7 MB, free: 15.57 MB / 318.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.00326/0.4273, allocations: 2.471 MB / 402.2 MB, free: 14.12 MB / 318.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.004561/0.4319, allocations: 4.253 MB / 406.4 MB, free: 10.14 MB / 318.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.000973/0.4329, allocations: 0.6406 MB / 407.1 MB, free: 9.496 MB / 318.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.002294/0.4352, allocations: 1.385 MB / 408.5 MB, free: 8.152 MB / 318.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.00221/0.4374, allocations: 2.853 MB / 411.3 MB, free: 5.305 MB / 318.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.004865/0.4423, allocations: 3.362 MB / 414.7 MB, free: 1.938 MB / 318.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.01478/0.4571, allocations: 10.76 MB / 425.4 MB, free: 7.348 MB / 334.1 MB
Notification: Performance of FrontEnd - DAE generated: time 1.323e-05/0.4572, allocations: 0 / 425.4 MB, free: 7.348 MB / 334.1 MB
Notification: Performance of FrontEnd: time 2.394e-06/0.4572, allocations: 7.938 kB / 425.4 MB, free: 7.34 MB / 334.1 MB
Notification: Performance of Transformations before backend: time 0.000436/0.4576, allocations: 0 / 425.4 MB, free: 7.34 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 0.02029/0.478, allocations: 7.059 MB / 432.5 MB, free: 208 kB / 334.1 MB
Notification: Performance of prepare preOptimizeDAE: time 5.724e-05/0.478, allocations: 12.03 kB / 432.5 MB, free: 196 kB / 334.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.003406/0.4814, allocations: 0.9457 MB / 433.5 MB, free: 15.23 MB / 350.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.009964/0.4914, allocations: 2.255 MB / 435.7 MB, free: 12.97 MB / 350.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.01055/0.502, allocations: 4.569 MB / 440.3 MB, free: 8.34 MB / 350.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0003817/0.5024, allocations: 353 kB / 440.6 MB, free: 7.992 MB / 350.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.00231/0.5047, allocations: 479.6 kB / 441.1 MB, free: 7.523 MB / 350.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.03248/0.5372, allocations: 14.02 MB / 455.1 MB, free: 8.691 MB / 366.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0002865/0.5376, allocations: 63.42 kB / 455.2 MB, free: 8.629 MB / 366.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.001594/0.5392, allocations: 215.8 kB / 455.4 MB, free: 8.418 MB / 366.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.004639/0.5438, allocations: 2.461 MB / 457.9 MB, free: 5.953 MB / 366.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02976/0.5736, allocations: 12.36 MB / 470.2 MB, free: 9.578 MB / 382.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.09765/0.6713, allocations: 56.25 MB / 0.5141 GB, free: 104 kB / 430.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.0186/0.69, allocations: 6.859 MB / 0.5208 GB, free: 9.09 MB / 446.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.006033/0.6961, allocations: 4.68 MB / 0.5254 GB, free: 4.395 MB / 446.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.001374/0.6974, allocations: 1.272 MB / 0.5266 GB, free: 2.898 MB / 446.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 6.116e-05/0.6975, allocations: 64.48 kB / 0.5267 GB, free: 2.828 MB / 446.1 MB
Notification: Performance of pre-optimization done (n=296): time 6.262e-06/0.6975, allocations: 0 / 0.5267 GB, free: 2.828 MB / 446.1 MB
Notification: Performance of matching and sorting (n=387): time 0.4183/1.116, allocations: 45.01 MB / 0.5707 GB, free: 122.6 MB / 446.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 7.362e-05/1.116, allocations: 200.7 kB / 0.5708 GB, free: 122.4 MB / 446.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.005185/1.121, allocations: 4.677 MB / 0.5754 GB, free: 117.7 MB / 446.1 MB
Notification: Performance of collectPreVariables (initialization): time 0.0007755/1.122, allocations: 81.7 kB / 0.5755 GB, free: 117.7 MB / 446.1 MB
Notification: Performance of collectInitialEqns (initialization): time 0.001546/1.124, allocations: 3.695 MB / 0.5791 GB, free: 114 MB / 446.1 MB
Notification: Performance of collectInitialBindings (initialization): time 0.00118/1.125, allocations: 1.392 MB / 0.5805 GB, free: 112.6 MB / 446.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.00178/1.127, allocations: 1.557 MB / 0.582 GB, free: 111 MB / 446.1 MB
Notification: Performance of setup shared object (initialization): time 5.19e-05/1.127, allocations: 305.1 kB / 0.5823 GB, free: 110.7 MB / 446.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.004377/1.131, allocations: 4.212 MB / 0.5864 GB, free: 106.5 MB / 446.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.006467/1.137, allocations: 8.195 MB / 0.5944 GB, free: 96.4 MB / 446.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01344/1.151, allocations: 13.44 MB / 0.6075 GB, free: 81.02 MB / 446.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 9.527e-05/1.151, allocations: 40 kB / 0.6075 GB, free: 80.98 MB / 446.1 MB
Notification: Performance of matching and sorting (n=1021) (initialization): time 0.02801/1.179, allocations: 16.93 MB / 0.6241 GB, free: 63.98 MB / 446.1 MB
Notification: Performance of prepare postOptimizeDAE: time 6.878e-05/1.179, allocations: 66.81 kB / 0.6241 GB, free: 63.92 MB / 446.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 9.765e-05/1.179, allocations: 136 kB / 0.6243 GB, free: 63.79 MB / 446.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.01252/1.192, allocations: 5.364 MB / 0.6295 GB, free: 58.4 MB / 446.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.005001/1.197, allocations: 1.673 MB / 0.6311 GB, free: 56.73 MB / 446.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.03834/1.235, allocations: 35.04 MB / 0.6654 GB, free: 21.42 MB / 446.1 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.006043/1.241, allocations: 0.5225 MB / 0.6659 GB, free: 20.9 MB / 446.1 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.0008947/1.242, allocations: 443.9 kB / 0.6663 GB, free: 20.46 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 0.003574/1.246, allocations: 2.86 MB / 0.6691 GB, free: 17.6 MB / 446.1 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.0008215/1.247, allocations: 466 kB / 0.6695 GB, free: 17.14 MB / 446.1 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01919/1.266, allocations: 11.91 MB / 0.6812 GB, free: 5.16 MB / 446.1 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 9.741e-05/1.266, allocations: 47.67 kB / 0.6812 GB, free: 5.117 MB / 446.1 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 4.97e-05/1.266, allocations: 24 kB / 0.6812 GB, free: 5.094 MB / 446.1 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 5.565e-05/1.266, allocations: 19.94 kB / 0.6813 GB, free: 5.074 MB / 446.1 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.2356/1.502, allocations: 23.72 MB / 0.7044 GB, free: 135.4 MB / 462.1 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 4.47e-05/1.502, allocations: 6.219 kB / 0.7044 GB, free: 135.4 MB / 462.1 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002579/1.504, allocations: 0.5232 MB / 0.7049 GB, free: 135.4 MB / 462.1 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.01295/1.517, allocations: 5.013 MB / 0.7098 GB, free: 134.5 MB / 462.1 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0006452/1.518, allocations: 68.3 kB / 0.7099 GB, free: 134.4 MB / 462.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.03717/1.555, allocations: 31.76 MB / 0.7409 GB, free: 120 MB / 462.1 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 6.663e-06/1.555, allocations: 7.844 kB / 0.7409 GB, free: 120 MB / 462.1 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.02468/1.58, allocations: 17.75 MB / 0.7583 GB, free: 104.8 MB / 462.1 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.001045/1.581, allocations: 0.5066 MB / 0.7588 GB, free: 104.5 MB / 462.1 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0007284/1.582, allocations: 71.45 kB / 0.7588 GB, free: 104.4 MB / 462.1 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002573/1.584, allocations: 313.5 kB / 0.7591 GB, free: 104.1 MB / 462.1 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0008696/1.585, allocations: 275 kB / 0.7594 GB, free: 103.9 MB / 462.1 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002585/1.585, allocations: 99.98 kB / 0.7595 GB, free: 103.8 MB / 462.1 MB
Notification: Performance of sorting global known variables: time 0.003096/1.589, allocations: 3.002 MB / 0.7624 GB, free: 100.8 MB / 462.1 MB
Notification: Performance of sort global known variables: time 1.31e-07/1.589, allocations: 0 / 0.7624 GB, free: 100.8 MB / 462.1 MB
Notification: Performance of remove unused functions: time 0.005321/1.594, allocations: 1.761 MB / 0.7641 GB, free: 99.04 MB / 462.1 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 0.02421/1.618, allocations: 18.42 MB / 0.7821 GB, free: 80.65 MB / 462.1 MB
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/Mechanics/MultiBody/Parts/RollingWheelSet.mo:46:3-49:53:writable] Warning: Variable $DER.wheelSet.der_theta2 has attribute stateSelect=StateSelect.always, but can't be selected as a state.
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/Mechanics/MultiBody/Parts/RollingWheelSet.mo:42:3-45:53:writable] Warning: Variable $DER.wheelSet.der_theta1 has attribute stateSelect=StateSelect.always, but can't be selected as a state.
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/Mechanics/MultiBody/Parts/RollingWheelSet.mo:46:3-49:53:writable] Warning: Variable $DER.wheelSet.der_theta2 has attribute stateSelect=StateSelect.always, but can't be selected as a state.
[/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/Mechanics/MultiBody/Parts/RollingWheelSet.mo:42:3-45:53:writable] Warning: Variable $DER.wheelSet.der_theta1 has attribute stateSelect=StateSelect.always, but can't be selected as a state.
Notification: Performance of simCode: created initialization part: time 0.0223/1.64, allocations: 15.35 MB / 0.7971 GB, free: 65.3 MB / 462.1 MB
Notification: Performance of simCode: created event and clocks part: time 8.546e-06/1.64, allocations: 0 / 0.7971 GB, free: 65.3 MB / 462.1 MB
Notification: Performance of simCode: created simulation system equations: time 0.007236/1.648, allocations: 5.517 MB / 0.8025 GB, free: 59.7 MB / 462.1 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.003626/1.651, allocations: 0.6437 MB / 0.8031 GB, free: 59.09 MB / 462.1 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.2993/1.951, allocations: 89.71 MB / 0.8907 GB, free: 144.2 MB / 478.1 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.004371/1.955, allocations: 4.376 MB / 0.895 GB, free: 143.3 MB / 478.1 MB
Notification: Performance of simCode: alias equations: time 0.005073/1.96, allocations: 2.357 MB / 0.8973 GB, free: 143.2 MB / 478.1 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.002721/1.963, allocations: 2.601 MB / 0.8999 GB, free: 141.1 MB / 478.1 MB
Notification: Performance of SimCode: time 7.22e-07/1.963, allocations: 2.594 kB / 0.8999 GB, free: 141.1 MB / 478.1 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.1765/2.139, allocations: 139.5 MB / 1.036 GB, free: 12.58 MB / 478.1 MB
Notification: Performance of buildModelFMU: Generate platform static: time 16.21/18.35, allocations: 15.39 kB / 1.036 GB, free: 12.57 MB / 478.1 MB
(rm -f Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.pipe ; mkfifo Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.pipe ; head -c 1048576 < Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.pipe >> ../files/Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving_res.mat --tempDir=temp_Modelica_trunk_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetDriving_fmu --startTime=0 --stopTime=3 --timeout=50 --tolerance=1e-06 Modelica_trunk_Modelica_Mechanics_MultiBody_Examples_Elementary_RollingWheelSetDriving.fmu > Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.pipe 2>&1)
diffSimulationResults("Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/Modelica/Mechanics/MultiBody/Examples/Elementary/RollingWheelSetDriving/RollingWheelSetDriving.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/Modelica_trunk_Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
""

Variables in the reference:time,wheelSet.der_theta1,wheelSet.der_theta2,wheelSet.phi,wheelSet.theta1,wheelSet.theta2,wheelSet.x,wheelSet.y

Variables in the result:body.I[1,1],body.I[1,2],body.I[1,3],body.I[2,1],body.I[2,2],body.I[2,3],body.I[3,1],body.I[3,2],body.I[3,3],body.I_11,body.I_21,body.I_22,body.I_31,body.I_32,body.I_33,body.R_start.T[1,1],body.R_start.T[1,2],body.R_start.T[1,3],body.R_start.T[2,1],body.R_start.T[2,2],body.R_start.T[2,3],body.R_start.T[3,1],body.R_start.T[3,2],body.R_start.T[3,3],body.R_start.w[1],body.R_start.w[2],body.R_start.w[3],body.a_0[1],body.a_0[2],body.a_0[3],body.angles_fixed,body.angles_start[1],body.angles_start[2],body.angles_start[3],body.animation,body.cylinderColor[1],body.cylinderColor[2],body.cylinderColor[3],body.cylinderDiameter,body.enforceStates,body.frame_a.R.T[1,1],body.frame_a.R.T[1,2],body.frame_a.R.T[1,3],body.frame_a.R.T[2,1],body.frame_a.R.T[2,2],body.frame_a.R.T[2,3],body.frame_a.R.T[3,1],body.frame_a.R.T[3,2],body.frame_a.R.T[3,3],body.frame_a.R.w[1],body.frame_a.R.w[2],body.frame_a.R.w[3],body.frame_a.f[1],body.frame_a.f[2],body.frame_a.f[3],body.frame_a.r_0[1],body.frame_a.r_0[2],body.frame_a.r_0[3],body.frame_a.t[1],body.frame_a.t[2],body.frame_a.t[3],body.g_0[1],body.g_0[2],body.g_0[3],body.m,body.r_0[1],body.r_0[2],body.r_0[3],body.r_CM[1],body.r_CM[2],body.r_CM[3],body.sequence_angleStates[1],body.sequence_angleStates[2],body.sequence_angleStates[3],body.sequence_start[1],body.sequence_start[2],body.sequence_start[3],body.specularCoefficient,body.sphereColor[1],body.sphereColor[2],body.sphereColor[3],body.sphereDiameter,body.useQuaternions,body.v_0[1],body.v_0[2],body.v_0[3],body.w_0_fixed,body.w_0_start[1],body.w_0_start[2],body.w_0_start[3],body.w_a[1],body.w_a[2],body.w_a[3],body.z_0_fixed,body.z_0_start[1],body.z_0_start[2],body.z_0_start[3],body.z_a[1],body.z_a[2],body.z_a[3],der(body.frame_a.r_0[1]),der(body.frame_a.r_0[2]),der(body.frame_a.r_0[3]),der(body.v_0[1]),der(body.v_0[2]),der(body.v_0[3]),der(body.w_a[1]),der(body.w_a[2]),der(body.w_a[3]),der(der(fixedTranslation.frame_a.r_0[1])),der(der(fixedTranslation.frame_a.r_0[2])),der(der(fixedTranslation.frame_a.r_0[3])),der(der(wheelSet.wheelSetJoint.prismatic1.frame_b.r_0[1])),der(der(wheelSet.wheelSetJoint.prismatic1.frame_b.r_0[2])),der(der(wheelSet.wheelSetJoint.prismatic1.frame_b.r_0[3])),der(der(wheelSet.x)),der(der(wheelSet.y)),der(fixedTranslation.frame_a.r_0[1]),der(fixedTranslation.frame_a.r_0[2]),der(fixedTranslation.frame_a.r_0[3]),der(shape.frame_a.R.T[1,2]),der(shape.frame_a.R.T[2,2]),der(shape.frame_a.R.T[3,2]),der(wheelSet.body1.v_0[1]),der(wheelSet.body1.v_0[2]),der(wheelSet.body1.v_0[3]),der(wheelSet.body1.w_a[1]),der(wheelSet.body1.w_a[2]),der(wheelSet.body1.w_a[3]),der(wheelSet.body2.v_0[1]),der(wheelSet.body2.v_0[2]),der(wheelSet.body2.v_0[3]),der(wheelSet.body2.w_a[1]),der(wheelSet.body2.w_a[2]),der(wheelSet.body2.w_a[3]),der(wheelSet.der_theta1),der(wheelSet.der_theta2),der(wheelSet.frame1.R.T[2,2]),der(wheelSet.phi),der(wheelSet.theta1),der(wheelSet.theta2),der(wheelSet.wheelSetJoint.prismatic1.frame_b.r_0[1]),der(wheelSet.wheelSetJoint.prismatic1.frame_b.r_0[2]),der(wheelSet.wheelSetJoint.prismatic1.frame_b.r_0[3]),der(wheelSet.wheelSetJoint.prismatic1.v),der(wheelSet.wheelSetJoint.prismatic2.v),der(wheelSet.wheelSetJoint.revolute.R_rel.w[1]),der(wheelSet.wheelSetJoint.revolute.R_rel.w[2]),der(wheelSet.wheelSetJoint.revolute.R_rel.w[3]),der(wheelSet.wheelSetJoint.revolute.w),der(wheelSet.wheelSetJoint.revolute1.R_rel.T[1,1]),der(wheelSet.wheelSetJoint.revolute1.R_rel.T[1,2]),der(wheelSet.wheelSetJoint.revolute1.R_rel.T[1,3]),der(wheelSet.wheelSetJoint.revolute1.R_rel.T[2,1]),der(wheelSet.wheelSetJoint.revolute1.R_rel.T[2,2]),der(wheelSet.wheelSetJoint.revolute1.R_rel.T[2,3]),der(wheelSet.wheelSetJoint.revolute1.R_rel.T[3,1]),der(wheelSet.wheelSetJoint.revolute1.R_rel.T[3,2]),der(wheelSet.wheelSetJoint.revolute1.R_rel.T[3,3]),der(wheelSet.wheelSetJoint.revolute1.R_rel.w[1]),der(wheelSet.wheelSetJoint.revolute1.R_rel.w[2]),der(wheelSet.wheelSetJoint.revolute1.R_rel.w[3]),der(wheelSet.wheelSetJoint.revolute2.R_rel.T[1,1]),der(wheelSet.wheelSetJoint.revolute2.R_rel.T[1,2]),der(wheelSet.wheelSetJoint.revolute2.R_rel.T[1,3]),der(wheelSet.wheelSetJoint.revolute2.R_rel.T[2,1]),der(wheelSet.wheelSetJoint.revolute2.R_rel.T[2,2]),der(wheelSet.wheelSetJoint.revolute2.R_rel.T[2,3]),der(wheelSet.wheelSetJoint.revolute2.R_rel.T[3,1]),der(wheelSet.wheelSetJoint.revolute2.R_rel.T[3,2]),der(wheelSet.wheelSetJoint.revolute2.R_rel.T[3,3]),der(wheelSet.wheelSetJoint.revolute2.R_rel.w[1]),der(wheelSet.wheelSetJoint.revolute2.R_rel.w[2]),der(wheelSet.wheelSetJoint.revolute2.R_rel.w[3]),der(wheelSet.wheelSetJoint.rolling1.aux[1]),der(wheelSet.wheelSetJoint.rolling1.aux[2]),der(wheelSet.wheelSetJoint.rolling1.e_lat_0[1]),der(wheelSet.wheelSetJoint.rolling1.e_lat_0[2]),der(wheelSet.wheelSetJoint.rolling1.frame_a.r_0[1]),der(wheelSet.wheelSetJoint.rolling1.frame_a.r_0[2]),der(wheelSet.wheelSetJoint.rolling1.frame_a.r_0[3]),der(wheelSet.wheelSetJoint.rolling1.vContact_0[1]),der(wheelSet.wheelSetJoint.rolling1.vContact_0[2]),der(wheelSet.wheelSetJoint.rolling1.w_0[1]),der(wheelSet.wheelSetJoint.rolling1.w_0[2]),der(wheelSet.wheelSetJoint.rolling2.aux[1]),der(wheelSet.wheelSetJoint.rolling2.aux[2]),der(wheelSet.wheelSetJoint.rolling2.e_lat_0[1]),der(wheelSet.wheelSetJoint.rolling2.e_lat_0[2]),der(wheelSet.wheelSetJoint.rolling2.frame_a.r_0[1]),der(wheelSet.wheelSetJoint.rolling2.frame_a.r_0[2]),der(wheelSet.wheelSetJoint.rolling2.frame_a.r_0[3]),der(wheelSet.wheelSetJoint.rolling2.vContact_0[1]),der(wheelSet.wheelSetJoint.rolling2.vContact_0[2]),der(wheelSet.wheelSetJoint.rolling2.w_0[1]),der(wheelSet.wheelSetJoint.rolling2.w_0[2]),der(wheelSet.x),der(wheelSet.y),fixedTranslation.animation,fixedTranslation.color[1],fixedTranslation.color[2],fixedTranslation.color[3],fixedTranslation.extra,fixedTranslation.frame_a.R.T[1,1],fixedTranslation.frame_a.R.T[1,2],fixedTranslation.frame_a.R.T[1,3],fixedTranslation.frame_a.R.T[2,1],fixedTranslation.frame_a.R.T[2,2],fixedTranslation.frame_a.R.T[2,3],fixedTranslation.frame_a.R.T[3,1],fixedTranslation.frame_a.R.T[3,2],fixedTranslation.frame_a.R.T[3,3],fixedTranslation.frame_a.R.w[1],fixedTranslation.frame_a.R.w[2],fixedTranslation.frame_a.R.w[3],fixedTranslation.frame_a.f[1],fixedTranslation.frame_a.f[2],fixedTranslation.frame_a.f[3],fixedTranslation.frame_a.r_0[1],fixedTranslation.frame_a.r_0[2],fixedTranslation.frame_a.r_0[3],fixedTranslation.frame_a.t[1],fixedTranslation.frame_a.t[2],fixedTranslation.frame_a.t[3],fixedTranslation.frame_b.R.T[1,1],fixedTranslation.frame_b.R.T[1,2],fixedTranslation.frame_b.R.T[1,3],fixedTranslation.frame_b.R.T[2,1],fixedTranslation.frame_b.R.T[2,2],fixedTranslation.frame_b.R.T[2,3],fixedTranslation.frame_b.R.T[3,1],fixedTranslation.frame_b.R.T[3,2],fixedTranslation.frame_b.R.T[3,3],fixedTranslation.frame_b.R.w[1],fixedTranslation.frame_b.R.w[2],fixedTranslation.frame_b.R.w[3],fixedTranslation.frame_b.f[1],fixedTranslation.frame_b.f[2],fixedTranslation.frame_b.f[3],fixedTranslation.frame_b.r_0[1],fixedTranslation.frame_b.r_0[2],fixedTranslation.frame_b.r_0[3],fixedTranslation.frame_b.t[1],fixedTranslation.frame_b.t[2],fixedTranslation.frame_b.t[3],fixedTranslation.height,fixedTranslation.length,fixedTranslation.lengthDirection[1],fixedTranslation.lengthDirection[2],fixedTranslation.lengthDirection[3],fixedTranslation.r[1],fixedTranslation.r[2],fixedTranslation.r[3],fixedTranslation.r_shape[1],fixedTranslation.r_shape[2],fixedTranslation.r_shape[3],fixedTranslation.specularCoefficient,fixedTranslation.width,fixedTranslation.widthDirection[1],fixedTranslation.widthDirection[2],fixedTranslation.widthDirection[3],shape.animation,shape.color[1],shape.color[2],shape.color[3],shape.extra,shape.frame_a.R.T[1,1],shape.frame_a.R.T[1,2],shape.frame_a.R.T[1,3],shape.frame_a.R.T[2,1],shape.frame_a.R.T[2,2],shape.frame_a.R.T[2,3],shape.frame_a.R.T[3,1],shape.frame_a.R.T[3,2],shape.frame_a.R.T[3,3],shape.frame_a.R.w[1],shape.frame_a.R.w[2],shape.frame_a.R.w[3],shape.frame_a.f[1],shape.frame_a.f[2],shape.frame_a.f[3],shape.frame_a.r_0[1],shape.frame_a.r_0[2],shape.frame_a.r_0[3],shape.frame_a.t[1],shape.frame_a.t[2],shape.frame_a.t[3],shape.height,shape.length,shape.lengthDirection[1],shape.lengthDirection[2],shape.lengthDirection[3],shape.r_shape[1],shape.r_shape[2],shape.r_shape[3],shape.specularCoefficient,shape.width,shape.widthDirection[1],shape.widthDirection[2],shape.widthDirection[3],sine1.amplitude,sine1.continuous,sine1.f,sine1.offset,sine1.phase,sine1.startTime,sine1.y,sine2.amplitude,sine2.continuous,sine2.f,sine2.offset,sine2.phase,sine2.startTime,sine2.y,time,torque1.flange_a.phi,torque1.flange_a.tau,torque1.flange_b.phi,torque1.flange_b.tau,torque1.tau,torque2.flange_a.phi,torque2.flange_a.tau,torque2.flange_b.phi,torque2.flange_b.tau,torque2.tau,wheelSet.I_wheelAxis,wheelSet.I_wheelLong,wheelSet.R_wheel,wheelSet.animation,wheelSet.axis1.phi,wheelSet.axis1.tau,wheelSet.axis2.phi,wheelSet.axis2.tau,wheelSet.body1.I[1,1],wheelSet.body1.I[1,2],wheelSet.body1.I[1,3],wheelSet.body1.I[2,1],wheelSet.body1.I[2,2],wheelSet.body1.I[2,3],wheelSet.body1.I[3,1],wheelSet.body1.I[3,2],wheelSet.body1.I[3,3],wheelSet.body1.I_11,wheelSet.body1.I_21,wheelSet.body1.I_22,wheelSet.body1.I_31,wheelSet.body1.I_32,wheelSet.body1.I_33,wheelSet.body1.R_start.T[1,1],wheelSet.body1.R_start.T[1,2],wheelSet.body1.R_start.T[1,3],wheelSet.body1.R_start.T[2,1],wheelSet.body1.R_start.T[2,2],wheelSet.body1.R_start.T[2,3],wheelSet.body1.R_start.T[3,1],wheelSet.body1.R_start.T[3,2],wheelSet.body1.R_start.T[3,3],wheelSet.body1.R_start.w[1],wheelSet.body1.R_start.w[2],wheelSet.body1.R_start.w[3],wheelSet.body1.a_0[1],wheelSet.body1.a_0[2],wheelSet.body1.a_0[3],wheelSet.body1.angles_fixed,wheelSet.body1.angles_start[1],wheelSet.body1.angles_start[2],wheelSet.body1.angles_start[3],wheelSet.body1.animation,wheelSet.body1.cylinderColor[1],wheelSet.body1.cylinderColor[2],wheelSet.body1.cylinderColor[3],wheelSet.body1.cylinderDiameter,wheelSet.body1.enforceStates,wheelSet.body1.frame_a.R.T[1,1],wheelSet.body1.frame_a.R.T[1,2],wheelSet.body1.frame_a.R.T[1,3],wheelSet.body1.frame_a.R.T[2,1],wheelSet.body1.frame_a.R.T[2,2],wheelSet.body1.frame_a.R.T[2,3],wheelSet.body1.frame_a.R.T[3,1],wheelSet.body1.frame_a.R.T[3,2],wheelSet.body1.frame_a.R.T[3,3],wheelSet.body1.frame_a.R.w[1],wheelSet.body1.frame_a.R.w[2],wheelSet.body1.frame_a.R.w[3],wheelSet.body1.frame_a.f[1],wheelSet.body1.frame_a.f[2],wheelSet.body1.frame_a.f[3],wheelSet.body1.frame_a.r_0[1],wheelSet.body1.frame_a.r_0[2],wheelSet.body1.frame_a.r_0[3],wheelSet.body1.frame_a.t[1],wheelSet.body1.frame_a.t[2],wheelSet.body1.frame_a.t[3],wheelSet.body1.g_0[1],wheelSet.body1.g_0[2],wheelSet.body1.g_0[3],wheelSet.body1.m,wheelSet.body1.r_0[1],wheelSet.body1.r_0[2],wheelSet.body1.r_0[3],wheelSet.body1.r_CM[1],wheelSet.body1.r_CM[2],wheelSet.body1.r_CM[3],wheelSet.body1.sequence_angleStates[1],wheelSet.body1.sequence_angleStates[2],wheelSet.body1.sequence_angleStates[3],wheelSet.body1.sequence_start[1],wheelSet.body1.sequence_start[2],wheelSet.body1.sequence_start[3],wheelSet.body1.specularCoefficient,wheelSet.body1.sphereColor[1],wheelSet.body1.sphereColor[2],wheelSet.body1.sphereColor[3],wheelSet.body1.sphereDiameter,wheelSet.body1.useQuaternions,wheelSet.body1.v_0[1],wheelSet.body1.v_0[2],wheelSet.body1.v_0[3],wheelSet.body1.w_0_fixed,wheelSet.body1.w_0_start[1],wheelSet.body1.w_0_start[2],wheelSet.body1.w_0_start[3],wheelSet.body1.w_a[1],wheelSet.body1.w_a[2],wheelSet.body1.w_a[3],wheelSet.body1.z_0_fixed,wheelSet.body1.z_0_start[1],wheelSet.body1.z_0_start[2],wheelSet.body1.z_0_start[3],wheelSet.body1.z_a[1],wheelSet.body1.z_a[2],wheelSet.body1.z_a[3],wheelSet.body2.I[1,1],wheelSet.body2.I[1,2],wheelSet.body2.I[1,3],wheelSet.body2.I[2,1],wheelSet.body2.I[2,2],wheelSet.body2.I[2,3],wheelSet.body2.I[3,1],wheelSet.body2.I[3,2],wheelSet.body2.I[3,3],wheelSet.body2.I_11,wheelSet.body2.I_21,wheelSet.body2.I_22,wheelSet.body2.I_31,wheelSet.body2.I_32,wheelSet.body2.I_33,wheelSet.body2.R_start.T[1,1],wheelSet.body2.R_start.T[1,2],wheelSet.body2.R_start.T[1,3],wheelSet.body2.R_start.T[2,1],wheelSet.body2.R_start.T[2,2],wheelSet.body2.R_start.T[2,3],wheelSet.body2.R_start.T[3,1],wheelSet.body2.R_start.T[3,2],wheelSet.body2.R_start.T[3,3],wheelSet.body2.R_start.w[1],wheelSet.body2.R_start.w[2],wheelSet.body2.R_start.w[3],wheelSet.body2.a_0[1],wheelSet.body2.a_0[2],wheelSet.body2.a_0[3],wheelSet.body2.angles_fixed,wheelSet.body2.angles_start[1],wheelSet.body2.angles_start[2],wheelSet.body2.angles_start[3],wheelSet.body2.animation,wheelSet.body2.cylinderColor[1],wheelSet.body2.cylinderColor[2],wheelSet.body2.cylinderColor[3],wheelSet.body2.cylinderDiameter,wheelSet.body2.enforceStates,wheelSet.body2.frame_a.R.T[1,1],wheelSet.body2.frame_a.R.T[1,2],wheelSet.body2.frame_a.R.T[1,3],wheelSet.body2.frame_a.R.T[2,1],wheelSet.body2.frame_a.R.T[2,2],wheelSet.body2.frame_a.R.T[2,3],wheelSet.body2.frame_a.R.T[3,1],wheelSet.body2.frame_a.R.T[3,2],wheelSet.body2.frame_a.R.T[3,3],wheelSet.body2.frame_a.R.w[1],wheelSet.body2.frame_a.R.w[2],wheelSet.body2.frame_a.R.w[3],wheelSet.body2.frame_a.f[1],wheelSet.body2.frame_a.f[2],wheelSet.body2.frame_a.f[3],wheelSet.body2.frame_a.r_0[1],wheelSet.body2.frame_a.r_0[2],wheelSet.body2.frame_a.r_0[3],wheelSet.body2.frame_a.t[1],wheelSet.body2.frame_a.t[2],wheelSet.body2.frame_a.t[3],wheelSet.body2.g_0[1],wheelSet.body2.g_0[2],wheelSet.body2.g_0[3],wheelSet.body2.m,wheelSet.body2.r_0[1],wheelSet.body2.r_0[2],wheelSet.body2.r_0[3],wheelSet.body2.r_CM[1],wheelSet.body2.r_CM[2],wheelSet.body2.r_CM[3],wheelSet.body2.sequence_angleStates[1],wheelSet.body2.sequence_angleStates[2],wheelSet.body2.sequence_angleStates[3],wheelSet.body2.sequence_start[1],wheelSet.body2.sequence_start[2],wheelSet.body2.sequence_start[3],wheelSet.body2.specularCoefficient,wheelSet.body2.sphereColor[1],wheelSet.body2.sphereColor[2],wheelSet.body2.sphereColor[3],wheelSet.body2.sphereDiameter,wheelSet.body2.useQuaternions,wheelSet.body2.v_0[1],wheelSet.body2.v_0[2],wheelSet.body2.v_0[3],wheelSet.body2.w_0_fixed,wheelSet.body2.w_0_start[1],wheelSet.body2.w_0_start[2],wheelSet.body2.w_0_start[3],wheelSet.body2.w_a[1],wheelSet.body2.w_a[2],wheelSet.body2.w_a[3],wheelSet.body2.z_0_fixed,wheelSet.body2.z_0_start[1],wheelSet.body2.z_0_start[2],wheelSet.body2.z_0_start[3],wheelSet.body2.z_a[1],wheelSet.body2.z_a[2],wheelSet.body2.z_a[3],wheelSet.color[1],wheelSet.color[2],wheelSet.color[3],wheelSet.der_theta1,wheelSet.der_theta2,wheelSet.frame1.R.T[1,1],wheelSet.frame1.R.T[1,2],wheelSet.frame1.R.T[1,3],wheelSet.frame1.R.T[2,1],wheelSet.frame1.R.T[2,2],wheelSet.frame1.R.T[2,3],wheelSet.frame1.R.T[3,1],wheelSet.frame1.R.T[3,2],wheelSet.frame1.R.T[3,3],wheelSet.frame1.R.w[1],wheelSet.frame1.R.w[2],wheelSet.frame1.R.w[3],wheelSet.frame1.f[1],wheelSet.frame1.f[2],wheelSet.frame1.f[3],wheelSet.frame1.r_0[1],wheelSet.frame1.r_0[2],wheelSet.frame1.r_0[3],wheelSet.frame1.t[1],wheelSet.frame1.t[2],wheelSet.frame1.t[3],wheelSet.frame2.R.T[1,1],wheelSet.frame2.R.T[1,2],wheelSet.frame2.R.T[1,3],wheelSet.frame2.R.T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