Simulation setup

To simulate FMU `fullRobot.fmu` with OMSimulator run
```bash
$ wine64 /var/lib/jenkins/ws/Sandbox/Andreas/OMSimulator-FMI-Cross-Check/OMSimulatorBinaries/OMSimulator-mingw64/bin/OMSimulator.exe --workingDir=/var/lib/jenkins/ws/Sandbox/Andreas/OMSimulator-FMI-Cross-Check/OMSimulator/testsuite/fmi-cross-check/fmi-cross-check/results/2.0/me/win64/OMSimulator/v2.1.1/Dymola/2019FD01/fullRobot --stripRoot=true --skipCSVHeader=true --addParametersToCSV=true --suppressPath=true --timeout=60 /var/lib/jenkins/ws/Sandbox/Andreas/OMSimulator-FMI-Cross-Check/OMSimulator/testsuite/fmi-cross-check/fmi-cross-check/results/2.0/me/win64/OMSimulator/v2.1.1/Dymola/2019FD01/fullRobot/fullRobot.lua
```

Lua file:
```lua
-- lua file for fullRobot.fmu
oms_setTempDirectory('/tmp/cross-check')
oms_newModel('model')
oms_addSystem('model.root', oms_system_sc)

-- instantiate FMU
oms_addSubModel('model.root.fmu', 'fullRobot.fmu')

-- simulation settings
oms_setResultFile('model', 'fullRobot_out.csv')
oms_setLoggingInterval('model', 0.002)
oms_setStartTime('model', 0.0)
oms_setStopTime('model', 1.0)
oms_setTolerance('model', 1e-06, 0.0001)
oms_setVariableStepSize('model', 1e-12, 1e-12, 0.002)

-- instantiate, initialize and simulate
oms_instantiate('model')
oms_initialize('model')
oms_simulate('model')
oms_terminate('model')
oms_delete('model')
```

See the [OMSimulator documentation](https://openmodelica.org/doc/OMSimulator/master/html/index.html) for more information.

Stdout:

warning: [fmu: resources/0001_fmu.fmu] The FMU lists 36 state derivatives but actually exposes 269 state derivatives.
         The following derivatives are missing: 137: der(mechanics.q[1]), 139: der(mechanics.q[2]), 141: der(mechanics.q[3]), 143: der(mechanics.q[4]), 145: der(mechanics.q[5]), 147: der(mechanics.q[6]), 149: der(mechanics.qd[1]), 151: der(mechanics.qd[2]), 153: der(mechanics.qd[3]), 155: der(mechanics.qd[4]), 157: der(mechanics.qd[5]), 159: der(mechanics.qd[6]), 240: mechanics.r1.w, 375: mechanics.r2.w, 510: mechanics.r3.w, 645: mechanics.r4.w, 780: mechanics.r5.w, 915: mechanics.r6.w, 1052: der(mechanics.b0.r_0[1]), 1054: der(mechanics.b0.r_0[2]), 1056: der(mechanics.b0.r_0[3]), 1058: der(mechanics.b0.v_0[1]), 1060: der(mechanics.b0.v_0[2]), 1062: der(mechanics.b0.v_0[3]), 1171: der(mechanics.b0.body.frame_a.r_0[1]), 1173: der(mechanics.b0.body.frame_a.r_0[2]), 1175: der(mechanics.b0.body.frame_a.r_0[3]), 1209: der(mechanics.b0.body.v_0[1]), 1211: der(mechanics.b0.body.v_0[2]), 1213: der(mechanics.b0.body.v_0[3]), 1271: der(mechanics.b0.body.w_a[1]), 1273: der(mechanics.b0.body.w_a[2]), 1275: der(mechanics.b0.body.w_a[3]), 1408: der(mechanics.b1.r_0[1]), 1410: der(mechanics.b1.r_0[2]), 1412: der(mechanics.b1.r_0[3]), 1414: der(mechanics.b1.v_0[1]), 1416: der(mechanics.b1.v_0[2]), 1418: der(mechanics.b1.v_0[3]), 1527: der(mechanics.b1.body.frame_a.r_0[1]), 1529: der(mechanics.b1.body.frame_a.r_0[2]), 1531: der(mechanics.b1.body.frame_a.r_0[3]), 1565: der(mechanics.b1.body.v_0[1]), 1567: der(mechanics.b1.body.v_0[2]), 1569: der(mechanics.b1.body.v_0[3]), 1627: der(mechanics.b1.body.w_a[1]), 1629: der(mechanics.b1.body.w_a[2]), 1631: der(mechanics.b1.body.w_a[3]), 1764: der(mechanics.b2.r_0[1]), 1766: der(mechanics.b2.r_0[2]), 1768: der(mechanics.b2.r_0[3]), 1770: der(mechanics.b2.v_0[1]), 1772: der(mechanics.b2.v_0[2]), 1774: der(mechanics.b2.v_0[3]), 1883: der(mechanics.b2.body.frame_a.r_0[1]), 1885: der(mechanics.b2.body.frame_a.r_0[2]), 1887: der(mechanics.b2.body.frame_a.r_0[3]), 1921: der(mechanics.b2.body.v_0[1]), 1923: der(mechanics.b2.body.v_0[2]), 1925: der(mechanics.b2.body.v_0[3]), 1983: der(mechanics.b2.body.w_a[1]), 1985: der(mechanics.b2.body.w_a[2]), 1987: der(mechanics.b2.body.w_a[3]), 2120: der(mechanics.b3.r_0[1]), 2122: der(mechanics.b3.r_0[2]), 2124: der(mechanics.b3.r_0[3]), 2126: der(mechanics.b3.v_0[1]), 2128: der(mechanics.b3.v_0[2]), 2130: der(mechanics.b3.v_0[3]), 2239: der(mechanics.b3.body.frame_a.r_0[1]), 2241: der(mechanics.b3.body.frame_a.r_0[2]), 2243: der(mechanics.b3.body.frame_a.r_0[3]), 2277: der(mechanics.b3.body.v_0[1]), 2279: der(mechanics.b3.body.v_0[2]), 2281: der(mechanics.b3.body.v_0[3]), 2339: der(mechanics.b3.body.w_a[1]), 2341: der(mechanics.b3.body.w_a[2]), 2343: der(mechanics.b3.body.w_a[3]), 2476: der(mechanics.b4.r_0[1]), 2478: der(mechanics.b4.r_0[2]), 2480: der(mechanics.b4.r_0[3]), 2482: der(mechanics.b4.v_0[1]), 2484: der(mechanics.b4.v_0[2]), 2486: der(mechanics.b4.v_0[3]), 2595: der(mechanics.b4.body.frame_a.r_0[1]), 2597: der(mechanics.b4.body.frame_a.r_0[2]), 2599: der(mechanics.b4.body.frame_a.r_0[3]), 2633: der(mechanics.b4.body.v_0[1]), 2635: der(mechanics.b4.body.v_0[2]), 2637: der(mechanics.b4.body.v_0[3]), 2695: der(mechanics.b4.body.w_a[1]), 2697: der(mechanics.b4.body.w_a[2]), 2699: der(mechanics.b4.body.w_a[3]), 2832: der(mechanics.b5.r_0[1]), 2834: der(mechanics.b5.r_0[2]), 2836: der(mechanics.b5.r_0[3]), 2838: der(mechanics.b5.v_0[1]), 2840: der(mechanics.b5.v_0[2]), 2842: der(mechanics.b5.v_0[3]), 2951: der(mechanics.b5.body.frame_a.r_0[1]), 2953: der(mechanics.b5.body.frame_a.r_0[2]), 2955: der(mechanics.b5.body.frame_a.r_0[3]), 2989: der(mechanics.b5.body.v_0[1]), 2991: der(mechanics.b5.body.v_0[2]), 2993: der(mechanics.b5.body.v_0[3]), 3051: der(mechanics.b5.body.w_a[1]), 3053: der(mechanics.b5.body.w_a[2]), 3055: der(mechanics.b5.body.w_a[3]), 3188: der(mechanics.b6.r_0[1]), 3190: der(mechanics.b6.r_0[2]), 3192: der(mechanics.b6.r_0[3]), 3194: der(mechanics.b6.v_0[1]), 3196: der(mechanics.b6.v_0[2]), 3198: der(mechanics.b6.v_0[3]), 3307: der(mechanics.b6.body.frame_a.r_0[1]), 3309: der(mechanics.b6.body.frame_a.r_0[2]), 3311: der(mechanics.b6.body.frame_a.r_0[3]), 3345: der(mechanics.b6.body.v_0[1]), 3347: der(mechanics.b6.body.v_0[2]), 3349: der(mechanics.b6.body.v_0[3]), 3407: der(mechanics.b6.body.w_a[1]), 3409: der(mechanics.b6.body.w_a[2]), 3411: der(mechanics.b6.body.w_a[3]), 3544: der(mechanics.load.r_0[1]), 3546: der(mechanics.load.r_0[2]), 3548: der(mechanics.load.r_0[3]), 3550: der(mechanics.load.v_0[1]), 3552: der(mechanics.load.v_0[2]), 3554: der(mechanics.load.v_0[3]), 3663: der(mechanics.load.body.frame_a.r_0[1]), 3665: der(mechanics.load.body.frame_a.r_0[2]), 3667: der(mechanics.load.body.frame_a.r_0[3]), 3701: der(mechanics.load.body.v_0[1]), 3703: der(mechanics.load.body.v_0[2]), 3705: der(mechanics.load.body.v_0[3]), 3763: der(mechanics.load.body.w_a[1]), 3765: der(mechanics.load.body.w_a[2]), 3767: der(mechanics.load.body.w_a[3]), 4109: der(pathPlanning.path.s), 4111: der(pathPlanning.path.sd), 4410: der(axis1.gear.gear.flange_a.phi), 4411: der(axis1.gear.gear.flange_a.phi,2), 4424: axis1.gear.spring.w_rel, 4464: der(axis1.gear.bearingFriction.phi), 4467: der(axis1.gear.bearingFriction.w), 4509: der(axis1.motor.emf.phi), 4671: der(axis1.motor.speed.flange.phi), 4680: der(axis1.motor.Jmotor.phi), 4682: der(axis1.motor.Jmotor.w), 4759: der(axis1.speedSensor.flange.phi), 4763: der(axis1.accSensor.flange.phi), 4766: der(axis1.accSensor.w), 4778: der(axis1.initializeFlange.phi_flange), 4780: der(axis1.initializeFlange.w_flange), 4784: der(axis1.initializeFlange.set_w_start.flange.phi), 4787: der(axis1.initializeFlange.set_a_start.flange.phi), 4822: der(axis2.gear.gear.flange_a.phi), 4823: der(axis2.gear.gear.flange_a.phi,2), 4836: axis2.gear.spring.w_rel, 4876: der(axis2.gear.bearingFriction.phi), 4879: der(axis2.gear.bearingFriction.w), 4921: der(axis2.motor.emf.phi), 5083: der(axis2.motor.speed.flange.phi), 5092: der(axis2.motor.Jmotor.phi), 5094: der(axis2.motor.Jmotor.w), 5171: der(axis2.speedSensor.flange.phi), 5175: der(axis2.accSensor.flange.phi), 5178: der(axis2.accSensor.w), 5190: der(axis2.initializeFlange.phi_flange), 5192: der(axis2.initializeFlange.w_flange), 5196: der(axis2.initializeFlange.set_w_start.flange.phi), 5199: der(axis2.initializeFlange.set_a_start.flange.phi), 5234: der(axis3.gear.gear.flange_a.phi), 5235: der(axis3.gear.gear.flange_a.phi,2), 5248: axis3.gear.spring.w_rel, 5288: der(axis3.gear.bearingFriction.phi), 5291: der(axis3.gear.bearingFriction.w), 5333: der(axis3.motor.emf.phi), 5495: der(axis3.motor.speed.flange.phi), 5504: der(axis3.motor.Jmotor.phi), 5506: der(axis3.motor.Jmotor.w), 5583: der(axis3.speedSensor.flange.phi), 5587: der(axis3.accSensor.flange.phi), 5590: der(axis3.accSensor.w), 5602: der(axis3.initializeFlange.phi_flange), 5604: der(axis3.initializeFlange.w_flange), 5608: der(axis3.initializeFlange.set_w_start.flange.phi), 5611: der(axis3.initializeFlange.set_a_start.flange.phi), 5678: der(axis4.gear.bearingFriction.phi), 5681: der(axis4.gear.bearingFriction.w), 5723: der(axis4.motor.emf.phi), 5885: der(axis4.motor.speed.flange.phi), 5894: der(axis4.motor.Jmotor.phi), 5896: der(axis4.motor.Jmotor.w), 5973: der(axis4.speedSensor.flange.phi), 5977: der(axis4.accSensor.flange.phi), 5980: der(axis4.accSensor.w), 5992: der(axis4.initializeFlange.phi_flange), 5994: der(axis4.initializeFlange.w_flange), 5998: der(axis4.initializeFlange.set_w_start.flange.phi), 6001: der(axis4.initializeFlange.set_a_start.flange.phi), 6066: der(axis5.gear.bearingFriction.phi), 6069: der(axis5.gear.bearingFriction.w), 6111: der(axis5.motor.emf.phi), 6273: der(axis5.motor.speed.flange.phi), 6282: der(axis5.motor.Jmotor.phi), 6284: der(axis5.motor.Jmotor.w), 6361: der(axis5.speedSensor.flange.phi), 6365: der(axis5.accSensor.flange.phi), 6368: der(axis5.accSensor.w), 6380: der(axis5.initializeFlange.phi_flange), 6382: der(axis5.initializeFlange.w_flange), 6386: der(axis5.initializeFlange.set_w_start.flange.phi), 6389: der(axis5.initializeFlange.set_a_start.flange.phi), 6454: der(axis6.gear.bearingFriction.phi), 6457: der(axis6.gear.bearingFriction.w), 6499: der(axis6.motor.emf.phi), 6661: der(axis6.motor.speed.flange.phi), 6670: der(axis6.motor.Jmotor.phi), 6672: der(axis6.motor.Jmotor.w), 6749: der(axis6.speedSensor.flange.phi), 6753: der(axis6.accSensor.flange.phi), 6756: der(axis6.accSensor.w), 6768: der(axis6.initializeFlange.phi_flange), 6770: der(axis6.initializeFlange.w_flange), 6774: der(axis6.initializeFlange.set_w_start.flange.phi), 6777: der(axis6.initializeFlange.set_a_start.flange.phi), 6850: der(speedSensor.flange.phi), 6854: der(speedSensor1.flange.phi), 6858: der(speedSensor2.flange.phi), 6862: der(speedSensor3.flange.phi), 6866: der(speedSensor4.flange.phi), 6870: der(speedSensor5.flange.phi)
warning: [fmu: resources/0001_fmu.fmu] The FMU lists 78 initial unknowns but actually exposes 457 initial unknowns.
         The following unknowns are missing: 136: mechanics.q[1], 137: der(mechanics.q[1]), 138: mechanics.q[2], 139: der(mechanics.q[2]), 140: mechanics.q[3], 141: der(mechanics.q[3]), 142: mechanics.q[4], 143: der(mechanics.q[4]), 144: mechanics.q[5], 145: der(mechanics.q[5]), 146: mechanics.q[6], 147: der(mechanics.q[6]), 148: mechanics.qd[1], 149: der(mechanics.qd[1]), 150: mechanics.qd[2], 151: der(mechanics.qd[2]), 152: mechanics.qd[3], 153: der(mechanics.qd[3]), 154: mechanics.qd[4], 155: der(mechanics.qd[4]), 156: mechanics.qd[5], 157: der(mechanics.qd[5]), 158: mechanics.qd[6], 159: der(mechanics.qd[6]), 1628: mechanics.b1.body.w_a[2], 1629: der(mechanics.b1.body.w_a[2]), 1763: mechanics.b2.r_0[1], 1764: der(mechanics.b2.r_0[1]), 1767: mechanics.b2.r_0[3], 1768: der(mechanics.b2.r_0[3]), 1769: mechanics.b2.v_0[1], 1770: der(mechanics.b2.v_0[1]), 1773: mechanics.b2.v_0[3], 1774: der(mechanics.b2.v_0[3]), 1882: mechanics.b2.body.frame_a.r_0[1], 1883: der(mechanics.b2.body.frame_a.r_0[1]), 1886: mechanics.b2.body.frame_a.r_0[3], 1887: der(mechanics.b2.body.frame_a.r_0[3]), 1920: mechanics.b2.body.v_0[1], 1921: der(mechanics.b2.body.v_0[1]), 1924: mechanics.b2.body.v_0[3], 1925: der(mechanics.b2.body.v_0[3]), 1982: mechanics.b2.body.w_a[1], 1983: der(mechanics.b2.body.w_a[1]), 1984: mechanics.b2.body.w_a[2], 1985: der(mechanics.b2.body.w_a[2]), 1986: mechanics.b2.body.w_a[3], 1987: der(mechanics.b2.body.w_a[3]), 2119: mechanics.b3.r_0[1], 2120: der(mechanics.b3.r_0[1]), 2121: mechanics.b3.r_0[2], 2122: der(mechanics.b3.r_0[2]), 2123: mechanics.b3.r_0[3], 2124: der(mechanics.b3.r_0[3]), 2125: mechanics.b3.v_0[1], 2126: der(mechanics.b3.v_0[1]), 2127: mechanics.b3.v_0[2], 2128: der(mechanics.b3.v_0[2]), 2129: mechanics.b3.v_0[3], 2130: der(mechanics.b3.v_0[3]), 2238: mechanics.b3.body.frame_a.r_0[1], 2239: der(mechanics.b3.body.frame_a.r_0[1]), 2240: mechanics.b3.body.frame_a.r_0[2], 2241: der(mechanics.b3.body.frame_a.r_0[2]), 2242: mechanics.b3.body.frame_a.r_0[3], 2243: der(mechanics.b3.body.frame_a.r_0[3]), 2276: mechanics.b3.body.v_0[1], 2277: der(mechanics.b3.body.v_0[1]), 2278: mechanics.b3.body.v_0[2], 2279: der(mechanics.b3.body.v_0[2]), 2280: mechanics.b3.body.v_0[3], 2281: der(mechanics.b3.body.v_0[3]), 2338: mechanics.b3.body.w_a[1], 2339: der(mechanics.b3.body.w_a[1]), 2340: mechanics.b3.body.w_a[2], 2341: der(mechanics.b3.body.w_a[2]), 2342: mechanics.b3.body.w_a[3], 2343: der(mechanics.b3.body.w_a[3]), 2475: mechanics.b4.r_0[1], 2476: der(mechanics.b4.r_0[1]), 2477: mechanics.b4.r_0[2], 2478: der(mechanics.b4.r_0[2]), 2479: mechanics.b4.r_0[3], 2480: der(mechanics.b4.r_0[3]), 2481: mechanics.b4.v_0[1], 2482: der(mechanics.b4.v_0[1]), 2483: mechanics.b4.v_0[2], 2484: der(mechanics.b4.v_0[2]), 2485: mechanics.b4.v_0[3], 2486: der(mechanics.b4.v_0[3]), 2594: mechanics.b4.body.frame_a.r_0[1], 2595: der(mechanics.b4.body.frame_a.r_0[1]), 2596: mechanics.b4.body.frame_a.r_0[2], 2597: der(mechanics.b4.body.frame_a.r_0[2]), 2598: mechanics.b4.body.frame_a.r_0[3], 2599: der(mechanics.b4.body.frame_a.r_0[3]), 2632: mechanics.b4.body.v_0[1], 2633: der(mechanics.b4.body.v_0[1]), 2634: mechanics.b4.body.v_0[2], 2635: der(mechanics.b4.body.v_0[2]), 2636: mechanics.b4.body.v_0[3], 2637: der(mechanics.b4.body.v_0[3]), 2694: mechanics.b4.body.w_a[1], 2695: der(mechanics.b4.body.w_a[1]), 2696: mechanics.b4.body.w_a[2], 2697: der(mechanics.b4.body.w_a[2]), 2698: mechanics.b4.body.w_a[3], 2699: der(mechanics.b4.body.w_a[3]), 2831: mechanics.b5.r_0[1], 2832: der(mechanics.b5.r_0[1]), 2833: mechanics.b5.r_0[2], 2834: der(mechanics.b5.r_0[2]), 2835: mechanics.b5.r_0[3], 2836: der(mechanics.b5.r_0[3]), 2837: mechanics.b5.v_0[1], 2838: der(mechanics.b5.v_0[1]), 2839: mechanics.b5.v_0[2], 2840: der(mechanics.b5.v_0[2]), 2841: mechanics.b5.v_0[3], 2842: der(mechanics.b5.v_0[3]), 2950: mechanics.b5.body.frame_a.r_0[1], 2951: der(mechanics.b5.body.frame_a.r_0[1]), 2952: mechanics.b5.body.frame_a.r_0[2], 2953: der(mechanics.b5.body.frame_a.r_0[2]), 2954: mechanics.b5.body.frame_a.r_0[3], 2955: der(mechanics.b5.body.frame_a.r_0[3]), 2988: mechanics.b5.body.v_0[1], 2989: der(mechanics.b5.body.v_0[1]), 2990: mechanics.b5.body.v_0[2], 2991: der(mechanics.b5.body.v_0[2]), 2992: mechanics.b5.body.v_0[3], 2993: der(mechanics.b5.body.v_0[3]), 3050: mechanics.b5.body.w_a[1], 3051: der(mechanics.b5.body.w_a[1]), 3052: mechanics.b5.body.w_a[2], 3053: der(mechanics.b5.body.w_a[2]), 3054: mechanics.b5.body.w_a[3], 3055: der(mechanics.b5.body.w_a[3]), 3187: mechanics.b6.r_0[1], 3188: der(mechanics.b6.r_0[1]), 3189: mechanics.b6.r_0[2], 3190: der(mechanics.b6.r_0[2]), 3191: mechanics.b6.r_0[3], 3192: der(mechanics.b6.r_0[3]), 3193: mechanics.b6.v_0[1], 3194: der(mechanics.b6.v_0[1]), 3195: mechanics.b6.v_0[2], 3196: der(mechanics.b6.v_0[2]), 3197: mechanics.b6.v_0[3], 3198: der(mechanics.b6.v_0[3]), 3306: mechanics.b6.body.frame_a.r_0[1], 3307: der(mechanics.b6.body.frame_a.r_0[1]), 3308: mechanics.b6.body.frame_a.r_0[2], 3309: der(mechanics.b6.body.frame_a.r_0[2]), 3310: mechanics.b6.body.frame_a.r_0[3], 3311: der(mechanics.b6.body.frame_a.r_0[3]), 3344: mechanics.b6.body.v_0[1], 3345: der(mechanics.b6.body.v_0[1]), 3346: mechanics.b6.body.v_0[2], 3347: der(mechanics.b6.body.v_0[2]), 3348: mechanics.b6.body.v_0[3], 3349: der(mechanics.b6.body.v_0[3]), 3406: mechanics.b6.body.w_a[1], 3407: der(mechanics.b6.body.w_a[1]), 3408: mechanics.b6.body.w_a[2], 3409: der(mechanics.b6.body.w_a[2]), 3410: mechanics.b6.body.w_a[3], 3411: der(mechanics.b6.body.w_a[3]), 3543: mechanics.load.r_0[1], 3544: der(mechanics.load.r_0[1]), 3545: mechanics.load.r_0[2], 3546: der(mechanics.load.r_0[2]), 3547: mechanics.load.r_0[3], 3548: der(mechanics.load.r_0[3]), 3549: mechanics.load.v_0[1], 3550: der(mechanics.load.v_0[1]), 3551: mechanics.load.v_0[2], 3552: der(mechanics.load.v_0[2]), 3553: mechanics.load.v_0[3], 3554: der(mechanics.load.v_0[3]), 3662: mechanics.load.body.frame_a.r_0[1], 3663: der(mechanics.load.body.frame_a.r_0[1]), 3664: mechanics.load.body.frame_a.r_0[2], 3665: der(mechanics.load.body.frame_a.r_0[2]), 3666: mechanics.load.body.frame_a.r_0[3], 3667: der(mechanics.load.body.frame_a.r_0[3]), 3700: mechanics.load.body.v_0[1], 3701: der(mechanics.load.body.v_0[1]), 3702: mechanics.load.body.v_0[2], 3703: der(mechanics.load.body.v_0[2]), 3704: mechanics.load.body.v_0[3], 3705: der(mechanics.load.body.v_0[3]), 3762: mechanics.load.body.w_a[1], 3763: der(mechanics.load.body.w_a[1]), 3764: mechanics.load.body.w_a[2], 3765: der(mechanics.load.body.w_a[2]), 3766: mechanics.load.body.w_a[3], 3767: der(mechanics.load.body.w_a[3]), 4108: pathPlanning.path.s, 4109: der(pathPlanning.path.s), 4110: pathPlanning.path.sd, 4111: der(pathPlanning.path.sd), 4409: axis1.gear.gear.flange_a.phi, 4410: der(axis1.gear.gear.flange_a.phi), 4411: der(axis1.gear.gear.flange_a.phi,2), 4463: axis1.gear.bearingFriction.phi, 4464: der(axis1.gear.bearingFriction.phi), 4466: axis1.gear.bearingFriction.w, 4467: der(axis1.gear.bearingFriction.w), 4508: axis1.motor.emf.phi, 4509: der(axis1.motor.emf.phi), 4670: axis1.motor.speed.flange.phi, 4671: der(axis1.motor.speed.flange.phi), 4679: axis1.motor.Jmotor.phi, 4680: der(axis1.motor.Jmotor.phi), 4681: axis1.motor.Jmotor.w, 4682: der(axis1.motor.Jmotor.w), 4758: axis1.speedSensor.flange.phi, 4759: der(axis1.speedSensor.flange.phi), 4762: axis1.accSensor.flange.phi, 4763: der(axis1.accSensor.flange.phi), 4765: axis1.accSensor.w, 4766: der(axis1.accSensor.w), 4777: axis1.initializeFlange.phi_flange, 4778: der(axis1.initializeFlange.phi_flange), 4779: axis1.initializeFlange.w_flange, 4780: der(axis1.initializeFlange.w_flange), 4783: axis1.initializeFlange.set_w_start.flange.phi, 4784: der(axis1.initializeFlange.set_w_start.flange.phi), 4786: axis1.initializeFlange.set_a_start.flange.phi, 4787: der(axis1.initializeFlange.set_a_start.flange.phi), 4821: axis2.gear.gear.flange_a.phi, 4822: der(axis2.gear.gear.flange_a.phi), 4823: der(axis2.gear.gear.flange_a.phi,2), 4875: axis2.gear.bearingFriction.phi, 4876: der(axis2.gear.bearingFriction.phi), 4878: axis2.gear.bearingFriction.w, 4879: der(axis2.gear.bearingFriction.w), 4920: axis2.motor.emf.phi, 4921: der(axis2.motor.emf.phi), 5082: axis2.motor.speed.flange.phi, 5083: der(axis2.motor.speed.flange.phi), 5091: axis2.motor.Jmotor.phi, 5092: der(axis2.motor.Jmotor.phi), 5093: axis2.motor.Jmotor.w, 5094: der(axis2.motor.Jmotor.w), 5170: axis2.speedSensor.flange.phi, 5171: der(axis2.speedSensor.flange.phi), 5174: axis2.accSensor.flange.phi, 5175: der(axis2.accSensor.flange.phi), 5177: axis2.accSensor.w, 5178: der(axis2.accSensor.w), 5189: axis2.initializeFlange.phi_flange, 5190: der(axis2.initializeFlange.phi_flange), 5191: axis2.initializeFlange.w_flange, 5192: der(axis2.initializeFlange.w_flange), 5195: axis2.initializeFlange.set_w_start.flange.phi, 5196: der(axis2.initializeFlange.set_w_start.flange.phi), 5198: axis2.initializeFlange.set_a_start.flange.phi, 5199: der(axis2.initializeFlange.set_a_start.flange.phi), 5233: axis3.gear.gear.flange_a.phi, 5234: der(axis3.gear.gear.flange_a.phi), 5235: der(axis3.gear.gear.flange_a.phi,2), 5287: axis3.gear.bearingFriction.phi, 5288: der(axis3.gear.bearingFriction.phi), 5290: axis3.gear.bearingFriction.w, 5291: der(axis3.gear.bearingFriction.w), 5332: axis3.motor.emf.phi, 5333: der(axis3.motor.emf.phi), 5494: axis3.motor.speed.flange.phi, 5495: der(axis3.motor.speed.flange.phi), 5503: axis3.motor.Jmotor.phi, 5504: der(axis3.motor.Jmotor.phi), 5505: axis3.motor.Jmotor.w, 5506: der(axis3.motor.Jmotor.w), 5582: axis3.speedSensor.flange.phi, 5583: der(axis3.speedSensor.flange.phi), 5586: axis3.accSensor.flange.phi, 5587: der(axis3.accSensor.flange.phi), 5589: axis3.accSensor.w, 5590: der(axis3.accSensor.w), 5601: axis3.initializeFlange.phi_flange, 5602: der(axis3.initializeFlange.phi_flange), 5603: axis3.initializeFlange.w_flange, 5604: der(axis3.initializeFlange.w_flange), 5607: axis3.initializeFlange.set_w_start.flange.phi, 5608: der(axis3.initializeFlange.set_w_start.flange.phi), 5610: axis3.initializeFlange.set_a_start.flange.phi, 5611: der(axis3.initializeFlange.set_a_start.flange.phi), 5677: axis4.gear.bearingFriction.phi, 5678: der(axis4.gear.bearingFriction.phi), 5680: axis4.gear.bearingFriction.w, 5681: der(axis4.gear.bearingFriction.w), 5722: axis4.motor.emf.phi, 5723: der(axis4.motor.emf.phi), 5884: axis4.motor.speed.flange.phi, 5885: der(axis4.motor.speed.flange.phi), 5893: axis4.motor.Jmotor.phi, 5894: der(axis4.motor.Jmotor.phi), 5895: axis4.motor.Jmotor.w, 5896: der(axis4.motor.Jmotor.w), 5972: axis4.speedSensor.flange.phi, 5973: der(axis4.speedSensor.flange.phi), 5976: axis4.accSensor.flange.phi, 5977: der(axis4.accSensor.flange.phi), 5979: axis4.accSensor.w, 5980: der(axis4.accSensor.w), 5991: axis4.initializeFlange.phi_flange, 5992: der(axis4.initializeFlange.phi_flange), 5993: axis4.initializeFlange.w_flange, 5994: der(axis4.initializeFlange.w_flange), 5997: axis4.initializeFlange.set_w_start.flange.phi, 5998: der(axis4.initializeFlange.set_w_start.flange.phi), 6000: axis4.initializeFlange.set_a_start.flange.phi, 6001: der(axis4.initializeFlange.set_a_start.flange.phi), 6065: axis5.gear.bearingFriction.phi, 6066: der(axis5.gear.bearingFriction.phi), 6068: axis5.gear.bearingFriction.w, 6069: der(axis5.gear.bearingFriction.w), 6110: axis5.motor.emf.phi, 6111: der(axis5.motor.emf.phi), 6272: axis5.motor.speed.flange.phi, 6273: der(axis5.motor.speed.flange.phi), 6281: axis5.motor.Jmotor.phi, 6282: der(axis5.motor.Jmotor.phi), 6283: axis5.motor.Jmotor.w, 6284: der(axis5.motor.Jmotor.w), 6360: axis5.speedSensor.flange.phi, 6361: der(axis5.speedSensor.flange.phi), 6364: axis5.accSensor.flange.phi, 6365: der(axis5.accSensor.flange.phi), 6367: axis5.accSensor.w, 6368: der(axis5.accSensor.w), 6379: axis5.initializeFlange.phi_flange, 6380: der(axis5.initializeFlange.phi_flange), 6381: axis5.initializeFlange.w_flange, 6382: der(axis5.initializeFlange.w_flange), 6385: axis5.initializeFlange.set_w_start.flange.phi, 6386: der(axis5.initializeFlange.set_w_start.flange.phi), 6388: axis5.initializeFlange.set_a_start.flange.phi, 6389: der(axis5.initializeFlange.set_a_start.flange.phi), 6453: axis6.gear.bearingFriction.phi, 6454: der(axis6.gear.bearingFriction.phi), 6456: axis6.gear.bearingFriction.w, 6457: der(axis6.gear.bearingFriction.w), 6498: axis6.motor.emf.phi, 6499: der(axis6.motor.emf.phi), 6660: axis6.motor.speed.flange.phi, 6661: der(axis6.motor.speed.flange.phi), 6669: axis6.motor.Jmotor.phi, 6670: der(axis6.motor.Jmotor.phi), 6671: axis6.motor.Jmotor.w, 6672: der(axis6.motor.Jmotor.w), 6748: axis6.speedSensor.flange.phi, 6749: der(axis6.speedSensor.flange.phi), 6752: axis6.accSensor.flange.phi, 6753: der(axis6.accSensor.flange.phi), 6755: axis6.accSensor.w, 6756: der(axis6.accSensor.w), 6767: axis6.initializeFlange.phi_flange, 6768: der(axis6.initializeFlange.phi_flange), 6769: axis6.initializeFlange.w_flange, 6770: der(axis6.initializeFlange.w_flange), 6773: axis6.initializeFlange.set_w_start.flange.phi, 6774: der(axis6.initializeFlange.set_w_start.flange.phi), 6776: axis6.initializeFlange.set_a_start.flange.phi, 6777: der(axis6.initializeFlange.set_a_start.flange.phi), 6849: speedSensor.flange.phi, 6850: der(speedSensor.flange.phi), 6853: speedSensor1.flange.phi, 6854: der(speedSensor1.flange.phi), 6857: speedSensor2.flange.phi, 6858: der(speedSensor2.flange.phi), 6861: speedSensor3.flange.phi, 6862: der(speedSensor3.flange.phi), 6865: speedSensor4.flange.phi, 6866: der(speedSensor4.flange.phi), 6869: speedSensor5.flange.phi, 6870: der(speedSensor5.flange.phi)
info:    [fmu: resources/0001_fmu.fmu] The FMU contains bad initial unknowns. This might cause problems, e.g. wrong simulation results.
warning: fmu (): fmi2SetupExperiment: tolerance control not supported for fmuType fmi2ModelExchange, setting toleranceDefined to fmi2False
info:    maximum step size for 'model.root': 0.002000
info:    Result file: fullRobot_out.csv (bufferSize=1)
info:    Final Statistics for 'model.root':
         NumSteps = 34246 NumRhsEvals  = 46600 NumLinSolvSetups = 8838
         NumNonlinSolvIters = 46599 NumNonlinSolvConvFails = 0 NumErrTestFails = 2938
info:    3 warnings
info:    0 errors

Simulation setup

Stdout:

Stderr: