Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr URDFModelica_main_URDFModelica.Examples.Physics.PhysicsTest.conf.json loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.1.0+maint.om/package.mo", uses=false) [Timeout 180] "Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.1.0+maint.om/package.mo): time 0.001486/0.001486, allocations: 101.6 kB / 16.45 MB, free: 6.449 MB / 14.72 MB " [Timeout remaining time 180] loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.1.0+maint.om/package.mo", uses=false) [Timeout 180] "Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.1.0+maint.om/package.mo): time 0.001427/0.001427, allocations: 210.4 kB / 19.43 MB, free: 3.637 MB / 14.72 MB " [Timeout remaining time 180] loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.1.0+maint.om/package.mo", uses=false) [Timeout 180] "Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.1.0+maint.om/package.mo): time 1.542/1.542, allocations: 230.6 MB / 252.8 MB, free: 8.934 MB / 206.1 MB " [Timeout remaining time 178] loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/URDFModelica main/package.mo", uses=false) [Timeout 180] "Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/URDFModelica main/package.mo): time 0.141/0.141, allocations: 26.35 MB / 335.2 MB, free: 10.64 MB / 270.1 MB " [Timeout remaining time 180] Using package URDFModelica with version 0.3.2 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/URDFModelica main/package.mo) Using package Modelica with version 4.1.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.1.0+maint.om/package.mo) Using package Complex with version 4.1.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.1.0+maint.om/package.mo) Using package ModelicaServices with version 4.1.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.1.0+maint.om/package.mo) Running command: "" <> buildModelFMU(URDFModelica.Examples.Physics.PhysicsTest,fileNamePrefix="URDFModelica_main_URDFModelica_Examples_Physics_PhysicsTest",fmuType="me",version="2.0",platforms={"static"}) "" <> buildModelFMU(URDFModelica.Examples.Physics.PhysicsTest,fileNamePrefix="URDFModelica_main_URDFModelica_Examples_Physics_PhysicsTest",fmuType="me",version="2.0",platforms={"static"}) [Timeout 660] "Notification: URDFModelica requested package Modelica of version 4.0.0. Modelica 4.1.0 is used instead which states that it is fully compatible without conversion script needed. Notification: Performance of FrontEnd - loaded program: time 0.002305/0.002305, allocations: 63.91 kB / 466.5 MB, free: 9.895 MB / 334.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.4128/0.4151, allocations: 58.82 MB / 0.513 GB, free: 8.461 MB / 382.1 MB Notification: Performance of NFInst.instantiate(URDFModelica.Examples.Physics.PhysicsTest): time 0.104/0.519, allocations: 89.33 MB / 0.6002 GB, free: 2.332 MB / 446.1 MB Notification: Performance of NFInst.instExpressions: time 0.08169/0.6007, allocations: 35.82 MB / 0.6352 GB, free: 14.41 MB / 494.1 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.023/0.6237, allocations: 1.134 MB / 0.6363 GB, free: 13.27 MB / 494.1 MB Notification: Performance of NFTyping.typeComponents: time 0.08476/0.7085, allocations: 41.91 MB / 0.6772 GB, free: 3.234 MB / 0.5137 GB Notification: Performance of NFTyping.typeBindings: time 0.03883/0.7473, allocations: 13.6 MB / 0.6905 GB, free: 5.582 MB / 0.5294 GB Notification: Performance of NFTyping.typeClassSections: time 0.02257/0.7699, allocations: 9.589 MB / 0.6999 GB, free: 11.98 MB / 0.545 GB Notification: Performance of NFFlatten.flatten: time 0.4491/1.219, allocations: 92.43 MB / 0.7901 GB, free: 18.09 MB / 0.5606 GB Notification: Performance of NFFlatten.resolveConnections: time 0.1415/1.361, allocations: 82.84 MB / 0.871 GB, free: 9.219 MB / 0.6075 GB Notification: Performance of NFEvalConstants.evaluate: time 0.06285/1.423, allocations: 30.55 MB / 0.9009 GB, free: 13.05 MB / 0.6387 GB Notification: Performance of NFSimplifyModel.simplify: time 0.06426/1.488, allocations: 36.09 MB / 0.9361 GB, free: 11.62 MB / 0.67 GB Notification: Performance of NFPackage.collectConstants: time 0.02932/1.517, allocations: 9.328 MB / 0.9452 GB, free: 2.293 MB / 0.67 GB Notification: Performance of NFFlatten.collectFunctions: time 0.03007/1.547, allocations: 10.08 MB / 0.9551 GB, free: 8.34 MB / 0.6856 GB Notification: Performance of NFScalarize.scalarize: time 0.7847/2.332, allocations: 32.87 MB / 0.9872 GB, free: 88.79 MB / 0.7013 GB Notification: Performance of NFVerifyModel.verify: time 0.1051/2.437, allocations: 38.83 MB / 1.025 GB, free: 82.21 MB / 0.7013 GB Notification: Performance of NFConvertDAE.convert: time 0.1665/2.603, allocations: 134.5 MB / 1.156 GB, free: 14.27 MB / 0.7013 GB Notification: Performance of FrontEnd - DAE generated: time 1.185e-05/2.603, allocations: 3.984 kB / 1.156 GB, free: 14.27 MB / 0.7013 GB Notification: Performance of FrontEnd: time 2.675e-06/2.603, allocations: 0 / 1.156 GB, free: 14.27 MB / 0.7013 GB Notification: Performance of Transformations before backend: time 0.004667/2.608, allocations: 0 / 1.156 GB, free: 14.27 MB / 0.7013 GB Notification: Model statistics after passing the front-end and creating the data structures used by the back-end: * Number of equations: 15142 * Number of variables: 15142 Notification: Performance of Generate backend data structure: time 0.2536/2.862, allocations: 76.94 MB / 1.232 GB, free: 4.887 MB / 0.7482 GB Notification: Performance of prepare preOptimizeDAE: time 4.943e-05/2.862, allocations: 10.56 kB / 1.232 GB, free: 4.879 MB / 0.7482 GB Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.04265/2.904, allocations: 7.641 MB / 1.239 GB, free: 13.41 MB / 0.7638 GB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.05438/2.959, allocations: 8.982 MB / 1.248 GB, free: 4.391 MB / 0.7638 GB Notification: Performance of preOpt evaluateParameters (simulation): time 0.5762/3.535, allocations: 71 MB / 1.317 GB, free: 114.1 MB / 0.7638 GB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.003761/3.539, allocations: 3.781 MB / 1.321 GB, free: 112.3 MB / 0.7638 GB Notification: Performance of preOpt expandDerOperator (simulation): time 0.0208/3.559, allocations: 4.563 MB / 1.325 GB, free: 110.9 MB / 0.7638 GB Notification: Performance of preOpt clockPartitioning (simulation): time 0.2705/3.83, allocations: 124.7 MB / 1.447 GB, free: 14.7 MB / 0.7794 GB Notification: Performance of preOpt findStateOrder (simulation): time 0.002479/3.832, allocations: 346.7 kB / 1.447 GB, free: 14.49 MB / 0.7794 GB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.01833/3.851, allocations: 1.947 MB / 1.449 GB, free: 12.73 MB / 0.7794 GB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.02488/3.876, allocations: 13.94 MB / 1.463 GB, free: 14.91 MB / 0.795 GB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.2451/4.121, allocations: 100.5 MB / 1.561 GB, free: 11.52 MB / 0.8888 GB Notification: Performance of preOpt removeSimpleEquations (simulation): time 1.714/5.834, allocations: 465.9 MB / 2.016 GB, free: 243.2 MB / 0.9045 GB Notification: Performance of preOpt comSubExp (simulation): time 0.2063/6.041, allocations: 83.4 MB / 2.098 GB, free: 234.6 MB / 0.9045 GB Notification: Performance of preOpt resolveLoops (simulation): time 0.04108/6.082, allocations: 32.12 MB / 2.129 GB, free: 233.9 MB / 0.9045 GB Notification: Performance of preOpt evalFunc (simulation): time 0.1635/6.245, allocations: 102 MB / 2.228 GB, free: 160.8 MB / 0.9045 GB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 0.0001336/6.245, allocations: 245.8 kB / 2.229 GB, free: 160.5 MB / 0.9045 GB Notification: Performance of pre-optimization done (n=2022): time 1.744e-05/6.245, allocations: 0.8125 kB / 2.229 GB, free: 160.5 MB / 0.9045 GB Notification: Performance of matching and sorting (n=2648): time 2.222/8.467, allocations: 462 MB / 2.68 GB, free: 292.2 MB / 0.9045 GB Notification: Performance of inlineWhenForInitialization (initialization): time 0.001283/8.468, allocations: 2.013 MB / 2.682 GB, free: 290.6 MB / 0.9045 GB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.08833/8.557, allocations: 50.62 MB / 2.731 GB, free: 273.5 MB / 0.9045 GB Notification: Performance of collectPreVariables (initialization): time 0.005373/8.562, allocations: 467.9 kB / 2.732 GB, free: 273.1 MB / 0.9045 GB Notification: Performance of collectInitialEqns (initialization): time 0.02321/8.585, allocations: 33.07 MB / 2.764 GB, free: 252.3 MB / 0.9045 GB Notification: Performance of collectInitialBindings (initialization): time 0.01107/8.596, allocations: 9.82 MB / 2.774 GB, free: 244.8 MB / 0.9045 GB Notification: Performance of simplifyInitialFunctions (initialization): time 0.02876/8.625, allocations: 11.07 MB / 2.784 GB, free: 239.5 MB / 0.9045 GB Notification: Performance of setup shared object (initialization): time 3.438e-05/8.625, allocations: 305.1 kB / 2.785 GB, free: 239.2 MB / 0.9045 GB Notification: Performance of preBalanceInitialSystem (initialization): time 0.04348/8.669, allocations: 32.38 MB / 2.816 GB, free: 226 MB / 0.9045 GB Notification: Performance of partitionIndependentBlocks (initialization): time 0.05421/8.723, allocations: 55.27 MB / 2.87 GB, free: 176.3 MB / 0.9045 GB Notification: Performance of analyzeInitialSystem (initialization): time 0.6797/9.402, allocations: 176.3 MB / 3.043 GB, free: 203.8 MB / 0.9045 GB Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0007155/9.403, allocations: 218.7 kB / 3.043 GB, free: 203.8 MB / 0.9045 GB Notification: Performance of matching and sorting (n=6878) (initialization): time 0.2226/9.626, allocations: 118.7 MB / 3.159 GB, free: 154.4 MB / 0.9045 GB Notification: Performance of prepare postOptimizeDAE: time 0.0004296/9.626, allocations: 332.6 kB / 3.159 GB, free: 154 MB / 0.9045 GB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0009161/9.627, allocations: 0.7461 MB / 3.16 GB, free: 153.3 MB / 0.9045 GB Notification: Tearing is skipped for strong component 10 because system size of 707 exceeds maximum system size for tearing of linear systems (200). To adjust the maximum system size for tearing use --maxSizeLinearTearing=. Notification: Performance of postOpt tearingSystem (initialization): time 0.003721/9.631, allocations: 2.391 MB / 3.162 GB, free: 151.3 MB / 0.9045 GB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.03401/9.665, allocations: 10.29 MB / 3.172 GB, free: 142.4 MB / 0.9045 GB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.003382/9.668, allocations: 3.944 MB / 3.176 GB, free: 138.8 MB / 0.9045 GB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.0409/9.709, allocations: 3.226 MB / 3.179 GB, free: 136.4 MB / 0.9045 GB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.008969/9.718, allocations: 2.693 MB / 3.182 GB, free: 133.8 MB / 0.9045 GB Warning: Assuming fixed start value for the following 20 variables: $STATESET1.x[3]:VARIABLE(start = /*Real*/($STATESET1.A[3,1]) * $START.physicsRun.freeMotion.Q[4] + /*Real*/($STATESET1.A[3,2]) * $START.physicsRun.freeMotion.Q[3] + /*Real*/($STATESET1.A[3,3]) * $START.physicsRun.freeMotion.Q[2] + /*Real*/($STATESET1.A[3,4]) * $START.physicsRun.freeMotion.Q[1] fixed = true ) type: Real [3] $STATESET1.x[2]:VARIABLE(start = /*Real*/($STATESET1.A[2,1]) * $START.physicsRun.freeMotion.Q[4] + /*Real*/($STATESET1.A[2,2]) * $START.physicsRun.freeMotion.Q[3] + /*Real*/($STATESET1.A[2,3]) * $START.physicsRun.freeMotion.Q[2] + /*Real*/($STATESET1.A[2,4]) * $START.physicsRun.freeMotion.Q[1] fixed = true ) type: Real [3] $STATESET1.x[1]:VARIABLE(start = /*Real*/($STATESET1.A[1,1]) * $START.physicsRun.freeMotion.Q[4] + /*Real*/($STATESET1.A[1,2]) * $START.physicsRun.freeMotion.Q[3] + /*Real*/($STATESET1.A[1,3]) * $START.physicsRun.freeMotion.Q[2] + /*Real*/($STATESET1.A[1,4]) * $START.physicsRun.freeMotion.Q[1] fixed = true ) type: Real [3] physicsRun.physics.right_front_wheel_joint.revolute.w:VARIABLE(start = 0.0 unit = \"rad/s\" fixed = true stateSelect=StateSelect.prefer ) \"First derivative of angle phi (relative angular velocity)\" type: Real physicsRun.physics.right_back_wheel_joint.revolute.w:VARIABLE(start = 0.0 unit = \"rad/s\" fixed = true stateSelect=StateSelect.prefer ) \"First derivative of angle phi (relative angular velocity)\" type: Real physicsRun.physics.left_front_wheel_joint.revolute.w:VARIABLE(start = 0.0 unit = \"rad/s\" fixed = true stateSelect=StateSelect.prefer ) \"First derivative of angle phi (relative angular velocity)\" type: Real physicsRun.physics.left_back_wheel_joint.revolute.w:VARIABLE(start = 0.0 unit = \"rad/s\" fixed = true stateSelect=StateSelect.prefer ) \"First derivative of angle phi (relative angular velocity)\" type: Real physicsRun.physics.gripper_extension.prismatic.v:VARIABLE(start = 0.0 unit = \"m/s\" fixed = true stateSelect=StateSelect.prefer ) \"First derivative of s (relative velocity)\" type: Real physicsRun.physics.left_gripper_joint.revolute.w:VARIABLE(start = 0.0 unit = \"rad/s\" fixed = true stateSelect=StateSelect.prefer ) \"First derivative of angle phi (relative angular velocity)\" type: Real physicsRun.physics.right_gripper_joint.revolute.w:VARIABLE(start = 0.0 unit = \"rad/s\" fixed = true stateSelect=StateSelect.prefer ) \"First derivative of angle phi (relative angular velocity)\" type: Real physicsRun.physics.head_swivel.revolute.w:VARIABLE(start = 0.0 unit = \"rad/s\" fixed = true stateSelect=StateSelect.prefer ) \"First derivative of angle phi (relative angular velocity)\" type: Real physicsRun.freeMotion.r_rel_a[1]:VARIABLE(start = 0.0 unit = \"m\" fixed = true stateSelect=StateSelect.always ) \"Position vector from origin of frame_a to origin of frame_b, resolved in frame_a\" type: Real [3] physicsRun.freeMotion.r_rel_a[2]:VARIABLE(start = 0.0 unit = \"m\" fixed = true stateSelect=StateSelect.always ) \"Position vector from origin of frame_a to origin of frame_b, resolved in frame_a\" type: Real [3] physicsRun.freeMotion.r_rel_a[3]:VARIABLE(start = 1.0 unit = \"m\" fixed = true stateSelect=StateSelect.always ) \"Position vector from origin of frame_a to origin of frame_b, resolved in frame_a\" type: Real [3] physicsRun.freeMotion.v_rel_a[1]:VARIABLE(start = 0.0 unit = \"m/s\" fixed = true stateSelect=StateSelect.always ) \"= der(r_rel_a), i.e., velocity of origin of frame_b with respect to origin of frame_a, resolved in frame_a\" type: Real [3] physicsRun.freeMotion.v_rel_a[2]:VARIABLE(start = 0.0 unit = \"m/s\" fixed = true stateSelect=StateSelect.always ) \"= der(r_rel_a), i.e., velocity of origin of frame_b with respect to origin of frame_a, resolved in frame_a\" type: Real [3] physicsRun.freeMotion.v_rel_a[3]:VARIABLE(start = 0.0 unit = \"m/s\" fixed = true stateSelect=StateSelect.always ) \"= der(r_rel_a), i.e., velocity of origin of frame_b with respect to origin of frame_a, resolved in frame_a\" type: Real [3] physicsRun.freeMotion.w_rel_b[1]:VARIABLE(start = physicsRun.freeMotion.w_rel_a_start[1] unit = \"rad/s\" fixed = true stateSelect=StateSelect.always protected = true ) \"Dummy or relative angular velocity of frame_b with respect to frame_a, resolved in frame_b\" type: Real [3] physicsRun.freeMotion.w_rel_b[2]:VARIABLE(start = physicsRun.freeMotion.w_rel_a_start[2] unit = \"rad/s\" fixed = true stateSelect=StateSelect.always protected = true ) \"Dummy or relative angular velocity of frame_b with respect to frame_a, resolved in frame_b\" type: Real [3] physicsRun.freeMotion.w_rel_b[3]:VARIABLE(start = physicsRun.freeMotion.w_rel_a_start[3] unit = \"rad/s\" fixed = true stateSelect=StateSelect.always protected = true ) \"Dummy or relative angular velocity of frame_b with respect to frame_a, resolved in frame_b\" type: Real [3] Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 3494 * Number of states: 0 () * Number of discrete variables: 550 (physicsRun.physics.right_gripper_joint.torqueLimitLow.y,physicsRun.physics.right_gripper_joint.torqueLimitHigh.y,physicsRun.physics.right_gripper_joint.speedLimitLow.y,physicsRun.physics.right_gripper_joint.speedLimitHigh.y,physicsRun.physics.right_gripper_joint.posLimitLow.y,physicsRun.physics.right_gripper_joint.posLimitHigh.y,physicsRun.physics.left_gripper_joint.torqueLimitLow.y,physicsRun.physics.left_gripper_joint.torqueLimitHigh.y,physicsRun.physics.left_gripper_joint.speedLimitLow.y,physicsRun.physics.left_gripper_joint.speedLimitHigh.y,physicsRun.physics.left_gripper_joint.posLimitLow.y,physicsRun.physics.left_gripper_joint.posLimitHigh.y,physicsRun.physics.gripper_extension.forceLimitLow.y,physicsRun.physics.gripper_extension.forceLimitHigh.y,physicsRun.physics.gripper_extension.speedLimitLow.y,physicsRun.physics.gripper_extension.speedLimitHigh.y,physicsRun.physics.gripper_extension.posLimitLow.y,physicsRun.physics.gripper_extension.posLimitHigh.y,physicsRun.collisionPoint[7].collisionNormal.elastoGap.contact,physicsRun.collisionPoint[6].collisionNormal.elastoGap.contact,physicsRun.collisionPoint[5].collisionNormal.elastoGap.contact,physicsRun.collisionPoint[4].collisionNormal.elastoGap.contact,physicsRun.collisionPoint[3].collisionNormal.elastoGap.contact,physicsRun.collisionPoint[2].collisionNormal.elastoGap.contact,physicsRun.collisionPoint[1].collisionNormal.elastoGap.contact,translationalPTP.noWphase,translationalPTP.moving[1],rotationalPTP.noWphase,rotationalPTP.moving[7],physicsRun.physics.box.visualBox.color[1],physicsRun.physics.box.visualBox.color[2],physicsRun.physics.box.visualBox.color[3],physicsRun.physics.head.visualSphere.color[1],physicsRun.physics.head.visualSphere.color[2],physicsRun.physics.head.visualSphere.color[3],physicsRun.physics.right_tip.visualMesh.color[1],physicsRun.physics.right_tip.visualMesh.color[2],physicsRun.physics.right_tip.visualMesh.color[3],physicsRun.physics.right_gripper.visualMesh.color[1],physicsRun.physics.right_gripper.visualMesh.color[2],physicsRun.physics.right_gripper.visualMesh.color[3],physicsRun.physics.left_tip.visualMesh.color[1],physicsRun.physics.left_tip.visualMesh.color[2],physicsRun.physics.left_tip.visualMesh.color[3],physicsRun.physics.left_gripper.visualMesh.color[1],physicsRun.physics.left_gripper.visualMesh.color[2],physicsRun.physics.left_gripper.visualMesh.color[3],physicsRun.physics.gripper_pole.visualCylinder.color[1],physicsRun.physics.gripper_pole.visualCylinder.color[2],physicsRun.physics.gripper_pole.visualCylinder.color[3],physicsRun.physics.left_back_wheel.visualCylinder.color[1],physicsRun.physics.left_back_wheel.visualCylinder.color[2],physicsRun.physics.left_back_wheel.visualCylinder.color[3],physicsRun.physics.left_front_wheel.visualCylinder.color[1],physicsRun.physics.left_front_wheel.visualCylinder.color[2],physicsRun.physics.left_front_wheel.visualCylinder.color[3],physicsRun.physics.left_base.visualBox.color[1],physicsRun.physics.left_base.visualBox.color[2],physicsRun.physics.left_base.visualBox.color[3],physicsRun.physics.left_leg.visualBox.color[1],physicsRun.physics.left_leg.visualBox.color[2],physicsRun.physics.left_leg.visualBox.color[3],physicsRun.physics.right_back_wheel.visualCylinder.color[1],physicsRun.physics.right_back_wheel.visualCylinder.color[2],physicsRun.physics.right_back_wheel.visualCylinder.color[3],physicsRun.physics.right_front_wheel.visualCylinder.color[1],physicsRun.physics.right_front_wheel.visualCylinder.color[2],physicsRun.physics.right_front_wheel.visualCylinder.color[3],physicsRun.physics.right_base.visualBox.color[1],physicsRun.physics.right_base.visualBox.color[2],physicsRun.physics.right_base.visualBox.color[3],physicsRun.physics.right_leg.visualBox.color[1],physicsRun.physics.right_leg.visualBox.color[2],physicsRun.physics.right_leg.visualBox.color[3],physicsRun.physics.base_link.visualCylinder.color[1],physicsRun.physics.base_link.visualCylinder.color[2],physicsRun.physics.base_link.visualCylinder.color[3],physicsRun.freeMotion.arrow.twoHeadedArrow,physicsRun.freeMotion.arrow.headAtOrigin,physicsRun.freeMotion.arrowColor[3],physicsRun.freeMotion.arrowColor[2],physicsRun.freeMotion.arrowColor[1],physicsRun.physics.tobox.fixedRotation.color[3],physicsRun.physics.tobox.fixedRotation.color[2],physicsRun.physics.tobox.fixedRotation.color[1],physicsRun.physics.head_swivel.revolute.cylinderColor[3],physicsRun.physics.head_swivel.revolute.cylinderColor[2],physicsRun.physics.head_swivel.revolute.cylinderColor[1],physicsRun.physics.head_swivel.fixedRotation.color[3],physicsRun.physics.head_swivel.fixedRotation.color[2],physicsRun.physics.head_swivel.fixedRotation.color[1],physicsRun.physics.right_tip_joint.fixedRotation.color[3],physicsRun.physics.right_tip_joint.fixedRotation.color[2],physicsRun.physics.right_tip_joint.fixedRotation.color[1],physicsRun.physics.right_gripper_joint.revolute.cylinderColor[3],physicsRun.physics.right_gripper_joint.revolute.cylinderColor[2],physicsRun.physics.right_gripper_joint.revolute.cylinderColor[1],physicsRun.physics.right_gripper_joint.fixedRotation.color[3],physicsRun.physics.right_gripper_joint.fixedRotation.color[2],physicsRun.physics.right_gripper_joint.fixedRotation.color[1],physicsRun.physics.left_tip_joint.fixedRotation.color[3],physicsRun.physics.left_tip_joint.fixedRotation.color[2],physicsRun.physics.left_tip_joint.fixedRotation.color[1],physicsRun.physics.left_gripper_joint.revolute.cylinderColor[3],physicsRun.physics.left_gripper_joint.revolute.cylinderColor[2],physicsRun.physics.left_gripper_joint.revolute.cylinderColor[1],physicsRun.physics.left_gripper_joint.fixedRotation.color[3],physicsRun.physics.left_gripper_joint.fixedRotation.color[2],physicsRun.physics.left_gripper_joint.fixedRotation.color[1],physicsRun.physics.gripper_extension.prismatic.boxColor[3],physicsRun.physics.gripper_extension.prismatic.boxColor[2],physicsRun.physics.gripper_extension.prismatic.boxColor[1],physicsRun.physics.gripper_extension.fixedRotation.color[3],physicsRun.physics.gripper_extension.fixedRotation.color[2],physicsRun.physics.gripper_extension.fixedRotation.color[1],physicsRun.physics.left_back_wheel_joint.revolute.cylinderColor[3],physicsRun.physics.left_back_wheel_joint.revolute.cylinderColor[2],physicsRun.physics.left_back_wheel_joint.revolute.cylinderColor[1],physicsRun.physics.left_back_wheel_joint.fixedRotation.color[3],physicsRun.physics.left_back_wheel_joint.fixedRotation.color[2],physicsRun.physics.left_back_wheel_joint.fixedRotation.color[1],physicsRun.physics.left_front_wheel_joint.revolute.cylinderColor[3],physicsRun.physics.left_front_wheel_joint.revolute.cylinderColor[2],physicsRun.physics.left_front_wheel_joint.revolute.cylinderColor[1],physicsRun.physics.left_front_wheel_joint.fixedRotation.color[3],physicsRun.physics.left_front_wheel_joint.fixedRotation.color[2],physicsRun.physics.left_front_wheel_joint.fixedRotation.color[1],physicsRun.physics.left_base_joint.fixedRotation.color[3],physicsRun.physics.left_base_joint.fixedRotation.color[2],physicsRun.physics.left_base_joint.fixedRotation.color[1],physicsRun.physics.base_to_left_leg.fixedRotation.color[3],physicsRun.physics.base_to_left_leg.fixedRotation.color[2],physicsRun.physics.base_to_left_leg.fixedRotation.color[1],physicsRun.physics.right_back_wheel_joint.revolute.cylinderColor[3],physicsRun.physics.right_back_wheel_joint.revolute.cylinderColor[2],physicsRun.physics.right_back_wheel_joint.revolute.cylinderColor[1],physicsRun.physics.right_back_wheel_joint.fixedRotation.color[3],physicsRun.physics.right_back_wheel_joint.fixedRotation.color[2],physicsRun.physics.right_back_wheel_joint.fixedRotation.color[1],physicsRun.physics.right_front_wheel_joint.revolute.cylinderColor[3],physicsRun.physics.right_front_wheel_joint.revolute.cylinderColor[2],physicsRun.physics.right_front_wheel_joint.revolute.cylinderColor[1],physicsRun.physics.right_front_wheel_joint.fixedRotation.color[3],physicsRun.physics.right_front_wheel_joint.fixedRotation.color[2],physicsRun.physics.right_front_wheel_joint.fixedRotation.color[1],physicsRun.physics.right_base_joint.fixedRotation.color[3],physicsRun.physics.right_base_joint.fixedRotation.color[2],physicsRun.physics.right_base_joint.fixedRotation.color[1],physicsRun.physics.base_to_right_leg.fixedRotation.color[3],physicsRun.physics.base_to_right_leg.fixedRotation.color[2],physicsRun.physics.base_to_right_leg.fixedRotation.color[1],physicsRun.physics.box.collisionBox.color[3],physicsRun.physics.box.collisionBox.color[2],physicsRun.physics.box.collisionBox.color[1],physicsRun.physics.box.body.sphereColor[3],physicsRun.physics.box.body.sphereColor[2],physicsRun.physics.box.body.sphereColor[1],physicsRun.physics.box.trafoCollision.color[3],physicsRun.physics.box.trafoCollision.color[2],physicsRun.physics.box.trafoCollision.color[1],physicsRun.physics.box.trafoVisual.color[3],physicsRun.physics.box.trafoVisual.color[2],physicsRun.physics.box.trafoVisual.color[1],physicsRun.physics.box.trafoInertial.color[3],physicsRun.physics.box.trafoInertial.color[2],physicsRun.physics.box.trafoInertial.color[1],physicsRun.physics.head.collisionSphere.color[3],physicsRun.physics.head.collisionSphere.color[2],physicsRun.physics.head.collisionSphere.color[1],physicsRun.physics.head.body.sphereColor[3],physicsRun.physics.head.body.sphereColor[2],physicsRun.physics.head.body.sphereColor[1],physicsRun.physics.head.trafoCollision.color[3],physicsRun.physics.head.trafoCollision.color[2],physicsRun.physics.head.trafoCollision.color[1],physicsRun.physics.head.trafoVisual.color[3],physicsRun.physics.head.trafoVisual.color[2],physicsRun.physics.head.trafoVisual.color[1],physicsRun.physics.head.trafoInertial.color[3],physicsRun.physics.head.trafoInertial.color[2],physicsRun.physics.head.trafoInertial.color[1],physicsRun.physics.right_tip.collisionMesh.color[3],physicsRun.physics.right_tip.collisionMesh.color[2],physicsRun.physics.right_tip.collisionMesh.color[1],physicsRun.physics.right_tip.body.sphereColor[3],physicsRun.physics.right_tip.body.sphereColor[2],physicsRun.physics.right_tip.body.sphereColor[1],physicsRun.physics.right_tip.trafoCollision.color[3],physicsRun.physics.right_tip.trafoCollision.color[2],physicsRun.physics.right_tip.trafoCollision.color[1],physicsRun.physics.right_tip.trafoVisual.color[3],physicsRun.physics.right_tip.trafoVisual.color[2],physicsRun.physics.right_tip.trafoVisual.color[1],physicsRun.physics.right_tip.trafoInertial.color[3],physicsRun.physics.right_tip.trafoInertial.color[2],physicsRun.physics.right_tip.trafoInertial.color[1],physicsRun.physics.right_gripper.collisionMesh.color[3],physicsRun.physics.right_gripper.collisionMesh.color[2],physicsRun.physics.right_gripper.collisionMesh.color[1],physicsRun.physics.right_gripper.body.sphereColor[3],physicsRun.physics.right_gripper.body.sphereColor[2],physicsRun.physics.right_gripper.body.sphereColor[1],physicsRun.physics.right_gripper.trafoCollision.color[3],physicsRun.physics.right_gripper.trafoCollision.color[2],physicsRun.physics.right_gripper.trafoCollision.color[1],physicsRun.physics.right_gripper.trafoVisual.color[3],physicsRun.physics.right_gripper.trafoVisual.color[2],physicsRun.physics.right_gripper.trafoVisual.color[1],physicsRun.physics.right_gripper.trafoInertial.color[3],physicsRun.physics.right_gripper.trafoInertial.color[2],physicsRun.physics.right_gripper.trafoInertial.color[1],physicsRun.physics.left_tip.collisionMesh.color[3],physicsRun.physics.left_tip.collisionMesh.color[2],physicsRun.physics.left_tip.collisionMesh.color[1],physicsRun.physics.left_tip.body.sphereColor[3],physicsRun.physics.left_tip.body.sphereColor[2],physicsRun.physics.left_tip.body.sphereColor[1],physicsRun.physics.left_tip.trafoCollision.color[3],physicsRun.physics.left_tip.trafoCollision.color[2],physicsRun.physics.left_tip.trafoCollision.color[1],physicsRun.physics.left_tip.trafoVisual.color[3],physicsRun.physics.left_tip.trafoVisual.color[2],physicsRun.physics.left_tip.trafoVisual.color[1],physicsRun.physics.left_tip.trafoInertial.color[3],physicsRun.physics.left_tip.trafoInertial.color[2],physicsRun.physics.left_tip.trafoInertial.color[1],physicsRun.physics.left_gripper.collisionMesh.color[3],physicsRun.physics.left_gripper.collisionMesh.color[2],physicsRun.physics.left_gripper.collisionMesh.color[1],physicsRun.physics.left_gripper.body.sphereColor[3],physicsRun.physics.left_gripper.body.sphereColor[2],physicsRun.physics.left_gripper.body.sphereColor[1],physicsRun.physics.left_gripper.trafoCollision.color[3],physicsRun.physics.left_gripper.trafoCollision.color[2],physicsRun.physics.left_gripper.trafoCollision.color[1],physicsRun.physics.left_gripper.trafoVisual.color[3],physicsRun.physics.left_gripper.trafoVisual.color[2],physicsRun.physics.left_gripper.trafoVisual.color[1],physicsRun.physics.left_gripper.trafoInertial.color[3],physicsRun.physics.left_gripper.trafoInertial.color[2],physicsRun.physics.left_gripper.trafoInertial.color[1],physicsRun.physics.gripper_pole.collisionCylinder.color[3],physicsRun.physics.gripper_pole.collisionCylinder.color[2],physicsRun.physics.gripper_pole.collisionCylinder.color[1],physicsRun.physics.gripper_pole.body.sphereColor[3],physicsRun.physics.gripper_pole.body.sphereColor[2],physicsRun.physics.gripper_pole.body.sphereColor[1],physicsRun.physics.gripper_pole.trafoCollision.color[3],physicsRun.physics.gripper_pole.trafoCollision.color[2],physicsRun.physics.gripper_pole.trafoCollision.color[1],physicsRun.physics.gripper_pole.trafoVisual.color[3],physicsRun.physics.gripper_pole.trafoVisual.color[2],physicsRun.physics.gripper_pole.trafoVisual.color[1],physicsRun.physics.gripper_pole.trafoInertial.color[3],physicsRun.physics.gripper_pole.trafoInertial.color[2],physicsRun.physics.gripper_pole.trafoInertial.color[1],physicsRun.physics.left_back_wheel.collisionCylinder.color[3],physicsRun.physics.left_back_wheel.collisionCylinder.color[2],physicsRun.physics.left_back_wheel.collisionCylinder.color[1],physicsRun.physics.left_back_wheel.body.sphereColor[3],physicsRun.physics.left_back_wheel.body.sphereColor[2],physicsRun.physics.left_back_wheel.body.sphereColor[1],physicsRun.physics.left_back_wheel.trafoCollision.color[3],physicsRun.physics.left_back_wheel.trafoCollision.color[2],physicsRun.physics.left_back_wheel.trafoCollision.color[1],physicsRun.physics.left_back_wheel.trafoVisual.color[3],physicsRun.physics.left_back_wheel.trafoVisual.color[2],physicsRun.physics.left_back_wheel.trafoVisual.color[1],physicsRun.physics.left_back_wheel.trafoInertial.color[3],physicsRun.physics.left_back_wheel.trafoInertial.color[2],physicsRun.physics.left_back_wheel.trafoInertial.color[1],physicsRun.physics.left_front_wheel.collisionCylinder.color[3],physicsRun.physics.left_front_wheel.collisionCylinder.color[2],physicsRun.physics.left_front_wheel.collisionCylinder.color[1],physicsRun.physics.left_front_wheel.body.sphereColor[3],physicsRun.physics.left_front_wheel.body.sphereColor[2],physicsRun.physics.left_front_wheel.body.sphereColor[1],physicsRun.physics.left_front_wheel.trafoCollision.color[3],physicsRun.physics.left_front_wheel.trafoCollision.color[2],physicsRun.physics.left_front_wheel.trafoCollision.color[1],physicsRun.physics.left_front_wheel.trafoVisual.color[3],physicsRun.physics.left_front_wheel.trafoVisual.color[2],physicsRun.physics.left_front_wheel.trafoVisual.color[1],physicsRun.physics.left_front_wheel.trafoInertial.color[3],physicsRun.physics.left_front_wheel.trafoInertial.color[2],physicsRun.physics.left_front_wheel.trafoInertial.color[1],physicsRun.physics.left_base.collisionBox.color[3],physicsRun.physics.left_base.collisionBox.color[2],physicsRun.physics.left_base.collisionBox.color[1],physicsRun.physics.left_base.body.sphereColor[3],physicsRun.physics.left_base.body.sphereColor[2],physicsRun.physics.left_base.body.sphereColor[1],physicsRun.physics.left_base.trafoCollision.color[3],physicsRun.physics.left_base.trafoCollision.color[2],physicsRun.physics.left_base.trafoCollision.color[1],physicsRun.physics.left_base.trafoVisual.color[3],physicsRun.physics.left_base.trafoVisual.color[2],physicsRun.physics.left_base.trafoVisual.color[1],physicsRun.physics.left_base.trafoInertial.color[3],physicsRun.physics.left_base.trafoInertial.color[2],physicsRun.physics.left_base.trafoInertial.color[1],physicsRun.physics.left_leg.collisionBox.color[3],physicsRun.physics.left_leg.collisionBox.color[2],physicsRun.physics.left_leg.collisionBox.color[1],physicsRun.physics.left_leg.body.sphereColor[3],physicsRun.physics.left_leg.body.sphereColor[2],physicsRun.physics.left_leg.body.sphereColor[1],physicsRun.physics.left_leg.trafoCollision.color[3],physicsRun.physics.left_leg.trafoCollision.color[2],physicsRun.physics.left_leg.trafoCollision.color[1],physicsRun.physics.left_leg.trafoVisual.color[3],physicsRun.physics.left_leg.trafoVisual.color[2],physicsRun.physics.left_leg.trafoVisual.color[1],physicsRun.physics.left_leg.trafoInertial.color[3],physicsRun.physics.left_leg.trafoInertial.color[2],physicsRun.physics.left_leg.trafoInertial.color[1],physicsRun.physics.right_back_wheel.collisionCylinder.color[3],physicsRun.physics.right_back_wheel.collisionCylinder.color[2],physicsRun.physics.right_back_wheel.collisionCylinder.color[1],physicsRun.physics.right_back_wheel.body.sphereColor[3],physicsRun.physics.right_back_wheel.body.sphereColor[2],physicsRun.physics.right_back_wheel.body.sphereColor[1],physicsRun.physics.right_back_wheel.trafoCollision.color[3],physicsRun.physics.right_back_wheel.trafoCollision.color[2],physicsRun.physics.right_back_wheel.trafoCollision.color[1],physicsRun.physics.right_back_wheel.trafoVisual.color[3],physicsRun.physics.right_back_wheel.trafoVisual.color[2],physicsRun.physics.right_back_wheel.trafoVisual.color[1],physicsRun.physics.right_back_wheel.trafoInertial.color[3],physicsRun.physics.right_back_wheel.trafoInertial.color[2],physicsRun.physics.right_back_wheel.trafoInertial.color[1],physicsRun.physics.right_front_wheel.collisionCylinder.color[3],physicsRun.physics.right_front_wheel.collisionCylinder.color[2],physicsRun.physics.right_front_wheel.collisionCylinder.color[1],physicsRun.physics.right_front_wheel.body.sphereColor[3],physicsRun.physics.right_front_wheel.body.sphereColor[2],physicsRun.physics.right_front_wheel.body.sphereColor[1],physicsRun.physics.right_front_wheel.trafoCollision.color[3],physicsRun.physics.right_front_wheel.trafoCollision.color[2],physicsRun.physics.right_front_wheel.trafoCollision.color[1],physicsRun.physics.right_front_wheel.trafoVisual.color[3],physicsRun.physics.right_front_wheel.trafoVisual.color[2],physicsRun.physics.right_front_wheel.trafoVisual.color[1],physicsRun.physics.right_front_wheel.trafoInertial.color[3],physicsRun.physics.right_front_wheel.trafoInertial.color[2],physicsRun.physics.right_front_wheel.trafoInertial.color[1],physicsRun.physics.right_base.collisionBox.color[3],physicsRun.physics.right_base.collisionBox.color[2],physicsRun.physics.right_base.collisionBox.color[1],physicsRun.physics.right_base.body.sphereColor[3],physicsRun.physics.right_base.body.sphereColor[2],physicsRun.physics.right_base.body.sphereColor[1],physicsRun.physics.right_base.trafoCollision.color[3],physicsRun.physics.right_base.trafoCollision.color[2],physicsRun.physics.right_base.trafoCollision.color[1],physicsRun.physics.right_base.trafoVisual.color[3],physicsRun.physics.right_base.trafoVisual.color[2],physicsRun.physics.right_base.trafoVisual.color[1],physicsRun.physics.right_base.trafoInertial.color[3],physicsRun.physics.right_base.trafoInertial.color[2],physicsRun.physics.right_base.trafoInertial.color[1],physicsRun.physics.right_leg.collisionBox.color[3],physicsRun.physics.right_leg.collisionBox.color[2],physicsRun.physics.right_leg.collisionBox.color[1],physicsRun.physics.right_leg.body.sphereColor[3],physicsRun.physics.right_leg.body.sphereColor[2],physicsRun.physics.right_leg.body.sphereColor[1],physicsRun.physics.right_leg.trafoCollision.color[3],physicsRun.physics.right_leg.trafoCollision.color[2],physicsRun.physics.right_leg.trafoCollision.color[1],physicsRun.physics.right_leg.trafoVisual.color[3],physicsRun.physics.right_leg.trafoVisual.color[2],physicsRun.physics.right_leg.trafoVisual.color[1],physicsRun.physics.right_leg.trafoInertial.color[3],physicsRun.physics.right_leg.trafoInertial.color[2],physicsRun.physics.right_leg.trafoInertial.color[1],physicsRun.physics.base_link.collisionCylinder.color[3],physicsRun.physics.base_link.collisionCylinder.color[2],physicsRun.physics.base_link.collisionCylinder.color[1],physicsRun.physics.base_link.body.sphereColor[3],physicsRun.physics.base_link.body.sphereColor[2],physicsRun.physics.base_link.body.sphereColor[1],physicsRun.physics.base_link.trafoCollision.color[3],physicsRun.physics.base_link.trafoCollision.color[2],physicsRun.physics.base_link.trafoCollision.color[1],physicsRun.physics.base_link.trafoVisual.color[3],physicsRun.physics.base_link.trafoVisual.color[2],physicsRun.physics.base_link.trafoVisual.color[1],physicsRun.physics.base_link.trafoInertial.color[3],physicsRun.physics.base_link.trafoInertial.color[2],physicsRun.physics.base_link.trafoInertial.color[1],physicsRun.fixed[7].color[3],physicsRun.fixed[7].color[2],physicsRun.fixed[7].color[1],physicsRun.fixed[6].color[3],physicsRun.fixed[6].color[2],physicsRun.fixed[6].color[1],physicsRun.fixed[5].color[3],physicsRun.fixed[5].color[2],physicsRun.fixed[5].color[1],physicsRun.fixed[4].color[3],physicsRun.fixed[4].color[2],physicsRun.fixed[4].color[1],physicsRun.fixed[3].color[3],physicsRun.fixed[3].color[2],physicsRun.fixed[3].color[1],physicsRun.fixed[2].color[3],physicsRun.fixed[2].color[2],physicsRun.fixed[2].color[1],physicsRun.fixed[1].color[3],physicsRun.fixed[1].color[2],physicsRun.fixed[1].color[1],physicsRun.collisionPoint[7].friction.force.connectionLineColor[3],physicsRun.collisionPoint[7].friction.force.connectionLineColor[2],physicsRun.collisionPoint[7].friction.force.connectionLineColor[1],physicsRun.collisionPoint[7].friction.force.forceColor[3],physicsRun.collisionPoint[7].friction.force.forceColor[2],physicsRun.collisionPoint[7].friction.force.forceColor[1],physicsRun.collisionPoint[7].friction.prismaticY.boxColor[3],physicsRun.collisionPoint[7].friction.prismaticY.boxColor[2],physicsRun.collisionPoint[7].friction.prismaticY.boxColor[1],physicsRun.collisionPoint[7].friction.prismaticX.boxColor[3],physicsRun.collisionPoint[7].friction.prismaticX.boxColor[2],physicsRun.collisionPoint[7].friction.prismaticX.boxColor[1],physicsRun.collisionPoint[7].collisionNormal.prismaticZ.boxColor[3],physicsRun.collisionPoint[7].collisionNormal.prismaticZ.boxColor[2],physicsRun.collisionPoint[7].collisionNormal.prismaticZ.boxColor[1],physicsRun.collisionPoint[7].spherical.sphereColor[3],physicsRun.collisionPoint[7].spherical.sphereColor[2],physicsRun.collisionPoint[7].spherical.sphereColor[1],physicsRun.collisionPoint[6].friction.force.connectionLineColor[3],physicsRun.collisionPoint[6].friction.force.connectionLineColor[2],physicsRun.collisionPoint[6].friction.force.connectionLineColor[1],physicsRun.collisionPoint[6].friction.force.forceColor[3],physicsRun.collisionPoint[6].friction.force.forceColor[2],physicsRun.collisionPoint[6].friction.force.forceColor[1],physicsRun.collisionPoint[6].friction.prismaticY.boxColor[3],physicsRun.collisionPoint[6].friction.prismaticY.boxColor[2],physicsRun.collisionPoint[6].friction.prismaticY.boxColor[1],physicsRun.collisionPoint[6].friction.prismaticX.boxColor[3],physicsRun.collisionPoint[6].friction.prismaticX.boxColor[2],physicsRun.collisionPoint[6].friction.prismaticX.boxColor[1],physicsRun.collisionPoint[6].collisionNormal.prismaticZ.boxColor[3],physicsRun.collisionPoint[6].collisionNormal.prismaticZ.boxColor[2],physicsRun.collisionPoint[6].collisionNormal.prismaticZ.boxColor[1],physicsRun.collisionPoint[6].spherical.sphereColor[3],physicsRun.collisionPoint[6].spherical.sphereColor[2],physicsRun.collisionPoint[6].spherical.sphereColor[1],physicsRun.collisionPoint[5].friction.force.connectionLineColor[3],physicsRun.collisionPoint[5].friction.force.connectionLineColor[2],physicsRun.collisionPoint[5].friction.force.connectionLineColor[1],physicsRun.collisionPoint[5].friction.force.forceColor[3],physicsRun.collisionPoint[5].friction.force.forceColor[2],physicsRun.collisionPoint[5].friction.force.forceColor[1],physicsRun.collisionPoint[5].friction.prismaticY.boxColor[3],physicsRun.collisionPoint[5].friction.prismaticY.boxColor[2],physicsRun.collisionPoint[5].friction.prismaticY.boxColor[1],physicsRun.collisionPoint[5].friction.prismaticX.boxColor[3],physicsRun.collisionPoint[5].friction.prismaticX.boxColor[2],physicsRun.collisionPoint[5].friction.prismaticX.boxColor[1],physicsRun.collisionPoint[5].collisionNormal.prismaticZ.boxColor[3],physicsRun.collisionPoint[5].collisionNormal.prismaticZ.boxColor[2],physicsRun.collisionPoint[5].collisionNormal.prismaticZ.boxColor[1],physicsRun.collisionPoint[5].spherical.sphereColor[3],physicsRun.collisionPoint[5].spherical.sphereColor[2],physicsRun.collisionPoint[5].spherical.sphereColor[1],physicsRun.collisionPoint[4].friction.force.connectionLineColor[3],physicsRun.collisionPoint[4].friction.force.connectionLineColor[2],physicsRun.collisionPoint[4].friction.force.connectionLineColor[1],physicsRun.collisionPoint[4].friction.force.forceColor[3],physicsRun.collisionPoint[4].friction.force.forceColor[2],physicsRun.collisionPoint[4].friction.force.forceColor[1],physicsRun.collisionPoint[4].friction.prismaticY.boxColor[3],physicsRun.collisionPoint[4].friction.prismaticY.boxColor[2],physicsRun.collisionPoint[4].friction.prismaticY.boxColor[1],physicsRun.collisionPoint[4].friction.prismaticX.boxColor[3],physicsRun.collisionPoint[4].friction.prismaticX.boxColor[2],physicsRun.collisionPoint[4].friction.prismaticX.boxColor[1],physicsRun.collisionPoint[4].collisionNormal.prismaticZ.boxColor[3],physicsRun.collisionPoint[4].collisionNormal.prismaticZ.boxColor[2],physicsRun.collisionPoint[4].collisionNormal.prismaticZ.boxColor[1],physicsRun.collisionPoint[4].spherical.sphereColor[3],physicsRun.collisionPoint[4].spherical.sphereColor[2],physicsRun.collisionPoint[4].spherical.sphereColor[1],physicsRun.collisionPoint[3].friction.force.connectionLineColor[3],physicsRun.collisionPoint[3].friction.force.connectionLineColor[2],physicsRun.collisionPoint[3].friction.force.connectionLineColor[1],physicsRun.collisionPoint[3].friction.force.forceColor[3],physicsRun.collisionPoint[3].friction.force.forceColor[2],physicsRun.collisionPoint[3].friction.force.forceColor[1],physicsRun.collisionPoint[3].friction.prismaticY.boxColor[3],physicsRun.collisionPoint[3].friction.prismaticY.boxColor[2],physicsRun.collisionPoint[3].friction.prismaticY.boxColor[1],physicsRun.collisionPoint[3].friction.prismaticX.boxColor[3],physicsRun.collisionPoint[3].friction.prismaticX.boxColor[2],physicsRun.collisionPoint[3].friction.prismaticX.boxColor[1],physicsRun.collisionPoint[3].collisionNormal.prismaticZ.boxColor[3],physicsRun.collisionPoint[3].collisionNormal.prismaticZ.boxColor[2],physicsRun.collisionPoint[3].collisionNormal.prismaticZ.boxColor[1],physicsRun.collisionPoint[3].spherical.sphereColor[3],physicsRun.collisionPoint[3].spherical.sphereColor[2],physicsRun.collisionPoint[3].spherical.sphereColor[1],physicsRun.collisionPoint[2].friction.force.connectionLineColor[3],physicsRun.collisionPoint[2].friction.force.connectionLineColor[2],physicsRun.collisionPoint[2].friction.force.connectionLineColor[1],physicsRun.collisionPoint[2].friction.force.forceColor[3],physicsRun.collisionPoint[2].friction.force.forceColor[2],physicsRun.collisionPoint[2].friction.force.forceColor[1],physicsRun.collisionPoint[2].friction.prismaticY.boxColor[3],physicsRun.collisionPoint[2].friction.prismaticY.boxColor[2],physicsRun.collisionPoint[2].friction.prismaticY.boxColor[1],physicsRun.collisionPoint[2].friction.prismaticX.boxColor[3],physicsRun.collisionPoint[2].friction.prismaticX.boxColor[2],physicsRun.collisionPoint[2].friction.prismaticX.boxColor[1],physicsRun.collisionPoint[2].collisionNormal.prismaticZ.boxColor[3],physicsRun.collisionPoint[2].collisionNormal.prismaticZ.boxColor[2],physicsRun.collisionPoint[2].collisionNormal.prismaticZ.boxColor[1],physicsRun.collisionPoint[2].spherical.sphereColor[3],physicsRun.collisionPoint[2].spherical.sphereColor[2],physicsRun.collisionPoint[2].spherical.sphereColor[1],physicsRun.collisionPoint[1].friction.force.connectionLineColor[3],physicsRun.collisionPoint[1].friction.force.connectionLineColor[2],physicsRun.collisionPoint[1].friction.force.connectionLineColor[1],physicsRun.collisionPoint[1].friction.force.forceColor[3],physicsRun.collisionPoint[1].friction.force.forceColor[2],physicsRun.collisionPoint[1].friction.force.forceColor[1],physicsRun.collisionPoint[1].friction.prismaticY.boxColor[3],physicsRun.collisionPoint[1].friction.prismaticY.boxColor[2],physicsRun.collisionPoint[1].friction.prismaticY.boxColor[1],physicsRun.collisionPoint[1].friction.prismaticX.boxColor[3],physicsRun.collisionPoint[1].friction.prismaticX.boxColor[2],physicsRun.collisionPoint[1].friction.prismaticX.boxColor[1],physicsRun.collisionPoint[1].collisionNormal.prismaticZ.boxColor[3],physicsRun.collisionPoint[1].collisionNormal.prismaticZ.boxColor[2],physicsRun.collisionPoint[1].collisionNormal.prismaticZ.boxColor[1],physicsRun.collisionPoint[1].spherical.sphereColor[3],physicsRun.collisionPoint[1].spherical.sphereColor[2],physicsRun.collisionPoint[1].spherical.sphereColor[1],physicsRun.world.groundColor[3],physicsRun.world.groundColor[2],physicsRun.world.groundColor[1],physicsRun.world.gravitySphereColor[3],physicsRun.world.gravitySphereColor[2],physicsRun.world.gravitySphereColor[1],physicsRun.world.gravityArrowColor[3],physicsRun.world.gravityArrowColor[2],physicsRun.world.gravityArrowColor[1],physicsRun.world.axisColor_x[3],physicsRun.world.axisColor_x[2],physicsRun.world.axisColor_x[1]) * Number of discrete states: 0 () * Number of clocked states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for initialization (5520): * Single equations (assignments): 5383 * Array equations: 127 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 10 * Torn equation systems: 0 * Mixed (continuous/discrete) equation systems: 0 Notification: Equation system details (not torn): * Constant Jacobian (size): 0 systems * Linear Jacobian (size,density): 9 systems {(707,0.4%), (3,100.0%), (3,100.0%), (3,100.0%), (3,100.0%), (3,100.0%), (3,100.0%), (3,100.0%), (4,100.0%)} * Non-linear Jacobian (size): 1 system {2} * Without analytic Jacobian (size): 0 systems Notification: Performance of prepare postOptimizeDAE: time 0.04842/9.767, allocations: 34.22 MB / 3.215 GB, free: 99.94 MB / 0.9045 GB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.009536/9.776, allocations: 4.303 MB / 3.219 GB, free: 98.09 MB / 0.9045 GB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.4715/10.25, allocations: 84.17 MB / 3.302 GB, free: 250.2 MB / 0.9045 GB Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.148/10.4, allocations: 75.7 MB / 3.375 GB, free: 224.3 MB / 0.9045 GB Notification: Performance of postOpt constantLinearSystem (simulation): time 0.0002438/10.4, allocations: 120.2 kB / 3.376 GB, free: 224.3 MB / 0.9045 GB Notification: Performance of postOpt simplifysemiLinear (simulation): time 0.0004671/10.4, allocations: 126.1 kB / 3.376 GB, free: 224.3 MB / 0.9045 GB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.8002/11.2, allocations: 394.2 MB / 3.761 GB, free: 186.2 MB / 0.9045 GB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 0.0003132/11.2, allocations: 104 kB / 3.761 GB, free: 186.1 MB / 0.9045 GB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.01647/11.21, allocations: 4.364 MB / 3.765 GB, free: 182.4 MB / 0.9045 GB Notification: Tearing is skipped for strong component 20 because system size of 314 exceeds maximum system size for tearing of linear systems (200). To adjust the maximum system size for tearing use --maxSizeLinearTearing=. Notification: Performance of postOpt tearingSystem (simulation): time 0.003035/11.22, allocations: 1.658 MB / 3.767 GB, free: 181.2 MB / 0.9045 GB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.003798/11.22, allocations: 0.5792 MB / 3.767 GB, free: 180.6 MB / 0.9045 GB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.002004/11.22, allocations: 2.668 MB / 3.77 GB, free: 178.1 MB / 0.9045 GB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.000943/11.22, allocations: 1.867 MB / 3.772 GB, free: 176.2 MB / 0.9045 GB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.169/11.39, allocations: 119.5 MB / 3.888 GB, free: 69.85 MB / 0.9045 GB Notification: Performance of postOpt removeConstants (simulation): time 0.022/11.41, allocations: 9.509 MB / 3.898 GB, free: 62.51 MB / 0.9045 GB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.01004/11.42, allocations: 0.5819 MB / 3.898 GB, free: 61.93 MB / 0.9045 GB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.02353/11.45, allocations: 1.658 MB / 3.9 GB, free: 60.27 MB / 0.9045 GB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.007201/11.45, allocations: 2.382 MB / 3.902 GB, free: 57.88 MB / 0.9045 GB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.002955/11.46, allocations: 0.7421 MB / 3.903 GB, free: 57.14 MB / 0.9045 GB Notification: Performance of sorting global known variables: time 0.3859/11.84, allocations: 34.97 MB / 3.937 GB, free: 241.3 MB / 0.9045 GB Notification: Performance of sort global known variables: time 2.01e-07/11.84, allocations: 0 / 3.937 GB, free: 241.3 MB / 0.9045 GB Notification: Performance of remove unused functions: time 0.04535/11.89, allocations: 10.84 MB / 3.948 GB, free: 240.3 MB / 0.9045 GB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 488 * Number of states: 28 ($STATESET1.x[3],$STATESET1.x[2],$STATESET1.x[1],physicsRun.physics.right_front_wheel_joint.revolute.phi,physicsRun.physics.right_front_wheel_joint.revolute.w,physicsRun.physics.right_back_wheel_joint.revolute.phi,physicsRun.physics.right_back_wheel_joint.revolute.w,physicsRun.physics.left_front_wheel_joint.revolute.phi,physicsRun.physics.left_front_wheel_joint.revolute.w,physicsRun.physics.left_back_wheel_joint.revolute.phi,physicsRun.physics.left_back_wheel_joint.revolute.w,physicsRun.physics.gripper_extension.prismatic.s,physicsRun.physics.gripper_extension.prismatic.v,physicsRun.physics.left_gripper_joint.revolute.phi,physicsRun.physics.left_gripper_joint.revolute.w,physicsRun.physics.right_gripper_joint.revolute.phi,physicsRun.physics.right_gripper_joint.revolute.w,physicsRun.physics.head_swivel.revolute.phi,physicsRun.physics.head_swivel.revolute.w,physicsRun.freeMotion.r_rel_a[1],physicsRun.freeMotion.r_rel_a[2],physicsRun.freeMotion.r_rel_a[3],physicsRun.freeMotion.v_rel_a[1],physicsRun.freeMotion.v_rel_a[2],physicsRun.freeMotion.v_rel_a[3],physicsRun.freeMotion.w_rel_b[1],physicsRun.freeMotion.w_rel_b[2],physicsRun.freeMotion.w_rel_b[3]) * Number of discrete variables: 29 (rotationalPTP.moving[7],translationalPTP.moving[1],physicsRun.collisionPoint[1].collisionNormal.elastoGap.contact,physicsRun.collisionPoint[2].collisionNormal.elastoGap.contact,physicsRun.collisionPoint[3].collisionNormal.elastoGap.contact,physicsRun.collisionPoint[4].collisionNormal.elastoGap.contact,physicsRun.collisionPoint[5].collisionNormal.elastoGap.contact,physicsRun.collisionPoint[6].collisionNormal.elastoGap.contact,physicsRun.collisionPoint[7].collisionNormal.elastoGap.contact,physicsRun.physics.gripper_extension.posLimitHigh.y,physicsRun.physics.gripper_extension.posLimitLow.y,physicsRun.physics.gripper_extension.speedLimitHigh.y,physicsRun.physics.gripper_extension.speedLimitLow.y,physicsRun.physics.gripper_extension.forceLimitHigh.y,physicsRun.physics.gripper_extension.forceLimitLow.y,physicsRun.physics.left_gripper_joint.posLimitHigh.y,physicsRun.physics.left_gripper_joint.posLimitLow.y,physicsRun.physics.left_gripper_joint.speedLimitHigh.y,physicsRun.physics.left_gripper_joint.speedLimitLow.y,physicsRun.physics.left_gripper_joint.torqueLimitHigh.y,physicsRun.physics.left_gripper_joint.torqueLimitLow.y,physicsRun.physics.right_gripper_joint.posLimitHigh.y,physicsRun.physics.right_gripper_joint.posLimitLow.y,physicsRun.physics.right_gripper_joint.speedLimitHigh.y,physicsRun.physics.right_gripper_joint.speedLimitLow.y,physicsRun.physics.right_gripper_joint.torqueLimitHigh.y,physicsRun.physics.right_gripper_joint.torqueLimitLow.y,rotationalPTP.noWphase,translationalPTP.noWphase) * Number of discrete states: 0 () * Number of clocked states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for simulation (2336): * Single equations (assignments): 2326 * Array equations: 0 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 10 * Torn equation systems: 0 * Mixed (continuous/discrete) equation systems: 0 Notification: Equation system details (not torn): * Constant Jacobian (size): 0 systems * Linear Jacobian (size,density): 9 systems {(314,1.4%), (3,100.0%), (3,100.0%), (3,100.0%), (3,100.0%), (3,100.0%), (3,100.0%), (3,100.0%), (4,100.0%)} * Non-linear Jacobian (size): 1 system {4} * Without analytic Jacobian (size): 0 systems Notification: Performance of Backend phase and start with SimCode phase: time 0.1831/12.07, allocations: 121 MB / 4.066 GB, free: 185.8 MB / 0.9045 GB Notification: Performance of simCode: created initialization part: time 0.133/12.21, allocations: 80.38 MB / 4.144 GB, free: 126.4 MB / 0.9045 GB Notification: Performance of simCode: created event and clocks part: time 7.536e-05/12.21, allocations: 19.94 kB / 4.144 GB, free: 126.3 MB / 0.9045 GB Notification: Performance of simCode: created simulation system equations: time 0.09177/12.3, allocations: 56.48 MB / 4.199 GB, free: 74.22 MB / 0.9045 GB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.0507/12.35, allocations: 7.876 MB / 4.207 GB, free: 66.76 MB / 0.9045 GB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 1.942/14.29, allocations: 0.8259 GB / 5.033 GB, free: 280.8 MB / 0.9045 GB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.07819/14.37, allocations: 42.14 MB / 5.074 GB, free: 278.1 MB / 0.9045 GB Notification: Performance of simCode: alias equations: time 0.04353/14.41, allocations: 21.3 MB / 5.095 GB, free: 277.4 MB / 0.9045 GB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.04007/14.45, allocations: 29.53 MB / 5.124 GB, free: 252.3 MB / 0.9045 GB Notification: Performance of SimCode: time 9.31e-07/14.45, allocations: 2.078 kB / 5.124 GB, free: 252.3 MB / 0.9045 GB Error: Template error: A template call failed (/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelica/OMCompiler/build/bin/../lib/x86_64-linux-gnu/omc/libOpenModelicaCompiler.so: (null)). One possible reason could be that a template imported function call failed (which should not happen for functions called from within template code; templates assert pure 'match'/non-failing semantics). " [Timeout remaining time 645] [Calling sys.exit(0), Time elapsed: 17.708589899004437] Failed to read output from testmodel.py, exit status != 0: 14.731626359993243 14.981380431 12.375411866 Calling exit ...