-
Notifications
You must be signed in to change notification settings - Fork 5
/
1.4.0-DEV-81899bf99e.log
2032 lines (1816 loc) · 109 KB
/
1.4.0-DEV-81899bf99e.log
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
Julia Version 1.4.0-DEV.634
Commit 81899bf99e (2019-12-18 10:13 UTC)
Platform Info:
OS: Linux (x86_64-linux-gnu)
CPU: Intel(R) Xeon(R) Silver 4114 CPU @ 2.20GHz
WORD_SIZE: 64
LIBM: libopenlibm
LLVM: libLLVM-8.0.1 (ORCJIT, skylake)
Environment:
JULIA_DEPOT_PATH = ::/usr/local/share/julia
Resolving package versions...
Installed Missings ──────────────────── v0.4.3
Installed Tables ────────────────────── v0.2.11
Installed OrderedCollections ────────── v1.1.0
Installed Unitful ───────────────────── v0.18.0
Installed Parameters ────────────────── v0.12.0
Installed IterativeSolvers ──────────── v0.8.1
Installed DataFrames ────────────────── v0.20.0
Installed RecipesBase ───────────────── v0.7.0
Installed IteratorInterfaceExtensions ─ v1.0.0
Installed RecursiveFactorization ────── v0.1.0
Installed InvertedIndices ───────────── v1.0.0
Installed MuladdMacro ───────────────── v0.2.1
Installed DocStringExtensions ───────── v0.8.1
Installed Sundials ──────────────────── v3.8.1
Installed Parsers ───────────────────── v0.3.10
Installed DataAPI ───────────────────── v1.1.0
Installed Requires ──────────────────── v0.5.2
Installed BinaryProvider ────────────── v0.5.8
Installed Reexport ──────────────────── v0.2.0
Installed SortingAlgorithms ─────────── v0.3.1
Installed MacroTools ────────────────── v0.5.3
Installed Compat ────────────────────── v2.2.0
Installed ArrayInterface ────────────── v2.1.0
Installed DiffEqDiffTools ───────────── v1.6.0
Installed DiffEqBase ────────────────── v6.9.4
Installed DataStructures ────────────── v0.17.6
Installed FunctionWrappers ──────────── v1.0.0
Installed TreeViews ─────────────────── v0.3.0
Installed ModiaMath ─────────────────── v0.5.2
Installed PooledArrays ──────────────── v0.5.2
Installed Roots ─────────────────────── v0.8.4
Installed CategoricalArrays ─────────── v0.7.4
Installed DataValueInterfaces ───────── v1.0.0
Installed ConstructionBase ──────────── v1.0.0
Installed TableTraits ───────────────── v1.0.0
Installed ZygoteRules ───────────────── v0.2.0
Installed StaticArrays ──────────────── v0.12.1
Installed JSON ──────────────────────── v0.21.0
Installed RecursiveArrayTools ───────── v1.2.0
Installed Modia3D ───────────────────── v0.4.0
Updating `~/.julia/environments/v1.4/Project.toml`
[07f2c1e0] + Modia3D v0.4.0
Updating `~/.julia/environments/v1.4/Manifest.toml`
[4fba245c] + ArrayInterface v2.1.0
[b99e7846] + BinaryProvider v0.5.8
[324d7699] + CategoricalArrays v0.7.4
[34da2185] + Compat v2.2.0
[187b0558] + ConstructionBase v1.0.0
[9a962f9c] + DataAPI v1.1.0
[a93c6f00] + DataFrames v0.20.0
[864edb3b] + DataStructures v0.17.6
[e2d170a0] + DataValueInterfaces v1.0.0
[2b5f629d] + DiffEqBase v6.9.4
[01453d9d] + DiffEqDiffTools v1.6.0
[ffbed154] + DocStringExtensions v0.8.1
[069b7b12] + FunctionWrappers v1.0.0
[41ab1584] + InvertedIndices v1.0.0
[42fd0dbc] + IterativeSolvers v0.8.1
[82899510] + IteratorInterfaceExtensions v1.0.0
[682c06a0] + JSON v0.21.0
[1914dd2f] + MacroTools v0.5.3
[e1d29d7a] + Missings v0.4.3
[07f2c1e0] + Modia3D v0.4.0
[67ccffd1] + ModiaMath v0.5.2
[46d2c3a1] + MuladdMacro v0.2.1
[bac558e1] + OrderedCollections v1.1.0
[d96e819e] + Parameters v0.12.0
[69de0a69] + Parsers v0.3.10
[2dfb63ee] + PooledArrays v0.5.2
[3cdcf5f2] + RecipesBase v0.7.0
[731186ca] + RecursiveArrayTools v1.2.0
[f2c3362d] + RecursiveFactorization v0.1.0
[189a3867] + Reexport v0.2.0
[ae029012] + Requires v0.5.2
[f2b01f46] + Roots v0.8.4
[a2af1166] + SortingAlgorithms v0.3.1
[90137ffa] + StaticArrays v0.12.1
[c3572dad] + Sundials v3.8.1
[3783bdb8] + TableTraits v1.0.0
[bd369af6] + Tables v0.2.11
[a2a6695c] + TreeViews v0.3.0
[1986cc42] + Unitful v0.18.0
[700de1a5] + ZygoteRules v0.2.0
[2a0f44e3] + Base64
[ade2ca70] + Dates
[8bb1440f] + DelimitedFiles
[8ba89e20] + Distributed
[9fa8497b] + Future
[b77e0a4c] + InteractiveUtils
[76f85450] + LibGit2
[8f399da3] + Libdl
[37e2e46d] + LinearAlgebra
[56ddb016] + Logging
[d6f4376e] + Markdown
[a63ad114] + Mmap
[44cfe95a] + Pkg
[de0858da] + Printf
[3fa0cd96] + REPL
[9a3f8284] + Random
[ea8e919c] + SHA
[9e88b42a] + Serialization
[1a1011a3] + SharedArrays
[6462fe0b] + Sockets
[2f01184e] + SparseArrays
[10745b16] + Statistics
[4607b0f0] + SuiteSparse
[8dfed614] + Test
[cf7118a7] + UUIDs
[4ec0a83e] + Unicode
Building Sundials → `~/.julia/packages/Sundials/MllUG/deps/build.log`
Path `/home/pkgeval/.julia/packages/Sundials/MllUG` exists and looks like the correct package. Using existing path.
Updating `/tmp/jl_iOLBQb/Project.toml`
[c3572dad] + Sundials v3.8.1 [`~/.julia/packages/Sundials/MllUG`]
Updating `/tmp/jl_iOLBQb/Manifest.toml`
[c3572dad] ~ Sundials v3.8.1 ⇒ v3.8.1 [`~/.julia/packages/Sundials/MllUG`]
Testing Modia3D
Path `/home/pkgeval/.julia/packages/Modia3D/r9s9x` exists and looks like the correct package. Using existing path.
Updating `/tmp/jl_JjMOZy/Project.toml`
[07f2c1e0] + Modia3D v0.4.0 [`~/.julia/packages/Modia3D/r9s9x`]
Updating `/tmp/jl_JjMOZy/Manifest.toml`
[07f2c1e0] ~ Modia3D v0.4.0 ⇒ v0.4.0 [`~/.julia/packages/Modia3D/r9s9x`]
Running sandbox
Status `/tmp/jl_JjMOZy/Project.toml`
[a93c6f00] DataFrames v0.20.0
[864edb3b] DataStructures v0.17.6
[682c06a0] JSON v0.21.0
[07f2c1e0] Modia3D v0.4.0 [`~/.julia/packages/Modia3D/r9s9x`]
[67ccffd1] ModiaMath v0.5.2
[90137ffa] StaticArrays v0.12.1
[1986cc42] Unitful v0.18.0
[8f399da3] Libdl
[37e2e46d] LinearAlgebra
[de0858da] Printf
[8dfed614] Test
Importing Modia3D Version 0.4.0 (2019-09-27)
Importing ModiaMath Version 0.5.2 (2019-07-10)
PyPlot not available (plot commands will be ignored).
Try to install PyPlot. See hints here:
https://github.com/ModiaSim/ModiaMath.jl/wiki/Installing-PyPlot-in-a-robust-way.
┌ Warning:
│ Environment variable "DLR_VISUALIZATION" not defined.
│ Include ENV["DLR_VISUALIZATION"] = <path-to-Visualization/Extras/SimVis> into your HOME/.julia/config/startup.jl file.
│
│ No Renderer is used in Modia3D (so, animation is switched off).
└ @ Modia3D.DLR_Visualization ~/.julia/packages/Modia3D/r9s9x/src/renderer/DLR_Visualization/renderer.jl:87
... success of test_solidProperties.jl!
... ModiaMath.simulate! (version 0.5.2 2019-07-10) to simulate model: Pendulum
Initialization at time = 0.0 s
initial values:
│ x │ name │ start │ fixed │ nominal │
├───┼─────────┼─────────┼───────┼─────────┤
│ 1 │ rev.phi │ 0.0 │ 1 │ 1.0 │
│ 2 │ rev.w │ 0.0 │ 1 │ 1.0 │
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
Simulation started
progress: integrated up to time = 0.002 s
Simulation is terminated at time = 4.5 s
Statistics (get help with ?ModiaMath.SimulationStatistics):
structureOfDAE = DAE_LinearDerivativesAndConstraints
cpuTime = 11 s (init: 9.1 s, integration: 1.4 s)
startTime = 0.0 s
stopTime = 4.5 s
interval = 0.002 s
tolerance = 1.0e-6
nEquations = 2 (includes 0 constraints)
nResults = 2251
nSteps = 272
nResidues = 339 (includes residue calls for Jacobian)
nZeroCrossings = 0
nJac = 26
nTimeEvents = 0
nStateEvents = 0
nRestartEvents = 0
nErrTestFails = 2
h0 = 5.8e-09 s
hMin = 5.8e-09 s
hMax = 0.021 s
orderMax = 5
sparseSolver = false
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of Simulate_Pendulum.jl!
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of Simulate_DoublePendulum.jl!
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of Simulate_ControllerDamper.jl!
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of Simulate_DamperMacro.jl!
... Revolute joint connecting Fourbar.bar3.frame2 with Fourbar.bar2.frame2 is a cut-joint
... Cut-joint rev4 pushed on scene.cutJoints vector
... success of Simulate_FourBar.jl!
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... pos_angle2(time=0.5) = 2.24
... ModiaMath.simulate! (version 0.5.2 2019-07-10) to simulate model: Pendulum
Initialization at time = 0.0 s
initial values:
│ x │ name │ start │ fixed │ nominal │
├───┼─────────┼─────────┼───────┼─────────┤
│ 1 │ rev.phi │ 0.0 │ 1 │ 1.0 │
│ 2 │ rev.w │ 0.0 │ 1 │ 1.0 │
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
Simulation started
Simulation is terminated at time = 4.5 s
Statistics (get help with ?ModiaMath.SimulationStatistics):
structureOfDAE = DAE_LinearDerivativesAndConstraints
cpuTime = 0.081 s (init: 0.0028 s, integration: 0.079 s)
startTime = 0.0 s
stopTime = 4.5 s
interval = 0.002 s
tolerance = 1.0e-6
nEquations = 2 (includes 0 constraints)
nResults = 2251
nSteps = 206
nResidues = 267 (includes residue calls for Jacobian)
nZeroCrossings = 0
nJac = 23
nTimeEvents = 0
nStateEvents = 0
nRestartEvents = 0
nErrTestFails = 2
h0 = 1.2e-08 s
hMin = 1.2e-08 s
hMax = 0.049 s
orderMax = 5
sparseSolver = false
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of Simulate_PendulumWithFixedJoint.jl!
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of Test_2Rev_ZylZ_BarX.jl!
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of Test_3Rev_ZylZ_BarX_BarY.jl!
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of Test_InertiaTensor.jl!
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of Test_KinematicRevoluteJoints.jl!
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of Test_Dynamic_Pendulum_xAxis.jl!
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of Test_Dynamic_Pendulum_yAxis.jl!
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of Test_Dynamic_Pendulum_zAxis.jl!
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of Test_Prismatic_xAxis.jl!
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of Test_Prismatic_yAxis.jl!
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of Test_Prismatic_zAxis.jl!
... Revolute joint connecting Fourbar.bar3.frame2 with Fourbar.bar2.frame2 is a cut-joint
... Cut-joint fourbar.rev4 pushed on scene.cutJoints vector
... success of Move_FourBar_xAxis.jl!
... Revolute joint connecting Fourbar.bar3.frame2 with Fourbar.bar2.frame2 is a cut-joint
... Cut-joint fourbar.rev4 pushed on scene.cutJoints vector
... success of Move_FourBar_yAxis.jl!
... Revolute joint connecting Fourbar.bar3.frame2 with Fourbar.bar2.frame2 is a cut-joint
... Cut-joint fourbar.rev4 pushed on scene.cutJoints vector
... success of Move_FourBar_zAxis.jl!
... Revolute joint connecting Fourbar.bar3.frame2 with Fourbar.bar2.frame2 is a cut-joint
... Cut-joint rev4 pushed on scene.cutJoints vector
... success of Move_FourBar_noMacros.jl!
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of test_massComputation.jl!
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of Test_Signal1Assembly.jl!
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of Test_Signal4Assemblies.jl!
WARNING: replacing module test_massComputation.
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of test_massComputation.jl!
... success of volume_computation3D_obj.jl!
initAnalysis!(world::Object3D, scene::Scene)
... success of Move_Pendulum.jl!
initAnalysis!(world::Object3D, scene::Scene)
... success of Visualize_Beam.jl!
...test_Examples finished!
WARNING: replacing module TestExamples.
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of examples/collisions/Simulate_Billiards_OneBall!
... ModiaMath.simulate! (version 0.5.2 2019-07-10) to simulate model: BouncingBall1
Initialization at time = 0.0 s
initial values:
│ x │ name │ start │ fixed │ nominal │
├───┼────────┼─────────┼───────┼─────────┤
│ 1 │ h │ 0.2 │ 0 │ 0.2 │
│ 2 │ v │ 0.0 │ 0 │ 1.0 │
... h0 = 0.2
flying = true
-h = -0.2 (became <= 0)
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
Simulation started
State event (zero-crossing) at time = 0.2019275108811498 s (z[1] > 0)
-h = 1.6181500583911657e-14 (became > 0)
... v = 1.3866362172208557
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 0.484626025952448 s (z[1] > 0)
-h = 2.71657696337968e-14 (became > 0)
... v = 0.9706453509400057
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 0.682514985967628 s (z[1] > 0)
-h = 1.3320941572025902e-14 (became > 0)
... v = 0.6794517427662368
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 0.8210372566626214 s (z[1] > 0)
-h = 6.938893903907228e-18 (became > 0)
... v = 0.47561621292614215
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 0.9180028433604212 s (z[1] > 0)
-h = 2.3418766925686896e-17 (became > 0)
... v = 0.3329313347031544
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 0.9858787506124347 s (z[1] > 0)
-h = 3.80034545499619e-15 (became > 0)
... v = 0.23305186965963645
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
Simulation is terminated at time = 1.0 s
BouncingBall model is terminated (flying = true)
Statistics (get help with ?ModiaMath.SimulationStatistics):
structureOfDAE = DAE_LinearDerivativesAndConstraints
cpuTime = 0.95 s (init: 0.76 s, integration: 0.19 s)
startTime = 0.0 s
stopTime = 1.0 s
interval = 0.02 s
tolerance = 0.0001
nEquations = 2 (includes 0 constraints)
nResults = 63
nSteps = 125
nResidues = 345 (includes residue calls for Jacobian)
nZeroCrossings = 237
nJac = 110
nTimeEvents = 0
nStateEvents = 6
nRestartEvents = 6
nErrTestFails = 0
h0 = 7.2e-07 s
hMin = 7.2e-07 s
hMax = 0.27 s
orderMax = 3
sparseSolver = false
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of examples/collisions/Simulate_BouncingBall.jl
... success of examples/collisions/Simulate_NewtonsCradle.jl!
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of examples/collisions/Simulate_SlidingAndRollingBall.jl!
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of examples/collisions/Simulate_TwoCollidingBalls.jl!
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... ModiaMath.simulate! (version 0.5.2 2019-07-10) to simulate model: YouBot
Initialization at time = 0.0 s
initial values:
│ x │ name │ start │ fixed │ nominal │
├────┼───────────────────────────────┼─────────┼───────┼─────────┤
│ 1 │ link1.rev.rev.phi │ 0.0 │ 1 │ 1.0 │
│ 2 │ link1.rev.controller.PI_x │ 0.0 │ 0 │ 1.0 │
│ 3 │ link2.rev.rev.phi │ 0.0 │ 1 │ 1.0 │
│ 4 │ link2.rev.controller.PI_x │ 0.0 │ 0 │ 1.0 │
│ 5 │ link3.rev.rev.phi │ 1.5708 │ 1 │ 1.5708 │
│ 6 │ link3.rev.controller.PI_x │ 0.0 │ 0 │ 1.0 │
│ 7 │ link4.rev.rev.phi │ 0.0 │ 1 │ 1.0 │
│ 8 │ link4.rev.controller.PI_x │ 0.0 │ 0 │ 1.0 │
│ 9 │ link5.rev.rev.phi │ 0.0 │ 1 │ 1.0 │
│ 10 │ link5.rev.controller.PI_x │ 0.0 │ 0 │ 1.0 │
│ 11 │ gripper.prism.prism.s │ 0.0 │ 1 │ 1.0 │
│ 12 │ gripper.prism.controller.PI_x │ 0.0 │ 0 │ 1.0 │
│ 13 │ sphere.r[1] │ -0.125 │ 1 │ 1.0 │
│ 14 │ sphere.r[2] │ 0.0 │ 1 │ 1.0 │
│ 15 │ sphere.r[3] │ 0.03 │ 1 │ 1.0 │
│ 16 │ link1.rev.rev.w │ 0.0 │ 1 │ 1.0 │
│ 17 │ link2.rev.rev.w │ 0.0 │ 1 │ 1.0 │
│ 18 │ link3.rev.rev.w │ 0.0 │ 1 │ 1.0 │
│ 19 │ link4.rev.rev.w │ 0.0 │ 1 │ 1.0 │
│ 20 │ link5.rev.rev.w │ 0.0 │ 1 │ 1.0 │
│ 21 │ gripper.prism.prism.v │ 0.0 │ 1 │ 1.0 │
│ 22 │ sphere.v[1] │ 0.0 │ 1 │ 1.0 │
│ 23 │ sphere.v[2] │ 0.0 │ 1 │ 1.0 │
│ 24 │ sphere.v[3] │ 0.0 │ 1 │ 1.0 │
│ 25 │ sphere.q[1] │ 0.0 │ 0 │ 1.0 │
│ 26 │ sphere.q[2] │ 0.0 │ 0 │ 1.0 │
│ 27 │ sphere.q[3] │ 0.0 │ 0 │ 1.0 │
│ 28 │ sphere.q[4] │ 1.0 │ 0 │ 1.0 │
│ 29 │ sphere.w[1] │ 0.0 │ 1 │ 1.0 │
│ 30 │ sphere.w[2] │ 0.0 │ 1 │ 1.0 │
│ 31 │ sphere.w[3] │ 0.0 │ 1 │ 1.0 │
determine consistent DAE variables x,der(x) (with analytical integral over time instant)
Simulation started
State event (zero-crossing) at time = 7.261196339086959e-5 s (z[2] < 0)
distance(table.plate,sphere) = -2.000000003744737e-8 became < 0
contact normal = [4.51e-08,6.28e-08,1], contact position = [0.585,-1.57e-09,0.375], c_res=1.24e+06, d_res=1e+03
determine consistent DAE variables x,der(x) (with analytical integral over time instant)
restart = Restart
State event (zero-crossing) at time = 0.4173138190720484 s (z[2] < 0)
distance(sphere,gripper.gripper_right_finger) = -2.0000000031077077e-8 became < 0
contact normal = [-1,-0.00507,-2.05e-05], contact position = [0.56,-0.000127,0.4], c_res=1.24e+06, d_res=9.39
determine consistent DAE variables x,der(x) (with analytical integral over time instant)
restart = Restart
progress: integrated up to time = 0.42 s
State event (zero-crossing) at time = 0.4173142226300906 s (z[2] < 0)
distance(sphere,gripper.gripper_left_finger) = -2.0000005203813682e-8 became < 0
contact normal = [-1,0.00702,2.02e-05], contact position = [0.56,0.000175,0.4], c_res=1.24e+06, d_res=9.39
determine consistent DAE variables x,der(x) (with analytical integral over time instant)
restart = Restart
State event (zero-crossing) at time = 0.421975283679707 s (z[1] > 0)
distance(sphere,gripper.gripper_left_finger) became > 0
determine consistent DAE variables x,der(x) (with analytical integral over time instant)
restart = Restart
State event (zero-crossing) at time = 0.42197611448867994 s (z[1] > 0)
distance(sphere,gripper.gripper_right_finger) became > 0
determine consistent DAE variables x,der(x) (with analytical integral over time instant)
restart = Restart
progress: integrated up to time = 0.42 s
progress: integrated up to time = 0.49 s
progress: integrated up to time = 1.5 s
progress: integrated up to time = 2.1 s
progress: integrated up to time = 2.2 s
progress: integrated up to time = 2.3 s
progress: integrated up to time = 2.3 s
progress: integrated up to time = 2.4 s
progress: integrated up to time = 2.4 s
progress: integrated up to time = 2.5 s
progress: integrated up to time = 2.5 s
progress: integrated up to time = 2.6 s
progress: integrated up to time = 2.6 s
progress: integrated up to time = 2.6 s
progress: integrated up to time = 2.7 s
progress: integrated up to time = 2.7 s
progress: integrated up to time = 3 s
progress: integrated up to time = 3.4 s
progress: integrated up to time = 3.4 s
progress: integrated up to time = 3.4 s
progress: integrated up to time = 3.4 s
progress: integrated up to time = 3.4 s
progress: integrated up to time = 3.4 s
progress: integrated up to time = 3.4 s
progress: integrated up to time = 3.5 s
progress: integrated up to time = 3.5 s
progress: integrated up to time = 3.5 s
progress: integrated up to time = 3.5 s
progress: integrated up to time = 3.5 s
progress: integrated up to time = 3.5 s
progress: integrated up to time = 3.5 s
progress: integrated up to time = 3.5 s
progress: integrated up to time = 3.5 s
progress: integrated up to time = 3.5 s
progress: integrated up to time = 3.5 s
progress: integrated up to time = 3.5 s
progress: integrated up to time = 3.5 s
progress: integrated up to time = 3.5 s
progress: integrated up to time = 3.5 s
State event (zero-crossing) at time = 3.544617622188206 s (z[1] > 0)
distance(table.plate,sphere) became > 0
determine consistent DAE variables x,der(x) (with analytical integral over time instant)
restart = Restart
progress: integrated up to time = 3.6 s
State event (zero-crossing) at time = 3.772200055689489 s (z[2] < 0)
distance(ground,sphere) = -2.0000000125895976e-8 became < 0
contact normal = [-5.5e-07,-3e-06,1], contact position = [0.939,-0.000237,-3.46e-06], c_res=1.24e+06, d_res=0.32
determine consistent DAE variables x,der(x) (with analytical integral over time instant)
restart = Restart
State event (zero-crossing) at time = 3.7872166075457345 s (z[1] > 0)
distance(ground,sphere) became > 0
determine consistent DAE variables x,der(x) (with analytical integral over time instant)
restart = Restart
State event (zero-crossing) at time = 4.1257567277726865 s (z[2] < 0)
distance(ground,sphere) = -2.000007642161648e-8 became < 0
contact normal = [-5.51e-07,-3e-06,1], contact position = [1.03,-0.000263,-3.4e-06], c_res=1.24e+06, d_res=0.519
determine consistent DAE variables x,der(x) (with analytical integral over time instant)
restart = Restart
progress: integrated up to time = 4.1 s
State event (zero-crossing) at time = 4.1424548393819105 s (z[1] > 0)
distance(ground,sphere) became > 0
determine consistent DAE variables x,der(x) (with analytical integral over time instant)
restart = Restart
State event (zero-crossing) at time = 4.347262213017979 s (z[2] < 0)
distance(ground,sphere) = -2.000000016462577e-8 became < 0
contact normal = [-5.52e-07,-3e-06,1], contact position = [1.09,-0.00028,-3.37e-06], c_res=1.24e+06, d_res=0.858
determine consistent DAE variables x,der(x) (with analytical integral over time instant)
restart = Restart
State event (zero-crossing) at time = 4.36606207058098 s (z[1] > 0)
distance(ground,sphere) became > 0
determine consistent DAE variables x,der(x) (with analytical integral over time instant)
restart = Restart
progress: integrated up to time = 4.4 s
State event (zero-crossing) at time = 4.485362669299116 s (z[2] < 0)
distance(ground,sphere) = -2.0000000202700083e-8 became < 0
contact normal = [-5.53e-07,-2.99e-06,1], contact position = [1.13,-0.00029,-3.34e-06], c_res=1.24e+06, d_res=1.47
determine consistent DAE variables x,der(x) (with analytical integral over time instant)
restart = Restart
State event (zero-crossing) at time = 4.507110210077004 s (z[1] > 0)
distance(ground,sphere) became > 0
determine consistent DAE variables x,der(x) (with analytical integral over time instant)
restart = Restart
State event (zero-crossing) at time = 4.57059029797964 s (z[2] < 0)
distance(ground,sphere) = -2.0000014307970196e-8 became < 0
contact normal = [-5.53e-07,-2.99e-06,1], contact position = [1.15,-0.000297,-3.33e-06], c_res=1.24e+06, d_res=2.77
determine consistent DAE variables x,der(x) (with analytical integral over time instant)
restart = Restart
State event (zero-crossing) at time = 4.597984915155498 s (z[1] > 0)
distance(ground,sphere) became > 0
determine consistent DAE variables x,der(x) (with analytical integral over time instant)
restart = Restart
progress: integrated up to time = 4.6 s
State event (zero-crossing) at time = 4.621542207497235 s (z[2] < 0)
distance(ground,sphere) = -2.000000008959269e-8 became < 0
contact normal = [-5.53e-07,-2.99e-06,1], contact position = [1.17,-0.000302,-3.32e-06], c_res=1.24e+06, d_res=7.51
determine consistent DAE variables x,der(x) (with analytical integral over time instant)
restart = Restart
Simulation is terminated at time = 5.0 s
Statistics (get help with ?ModiaMath.SimulationStatistics):
structureOfDAE = DAE_LinearDerivativesAndConstraints
cpuTime = 2.4e+02 s (init: 0.34 s, integration: 2.4e+02 s)
startTime = 0.0 s
stopTime = 5.0 s
interval = 0.001 s
tolerance = 1.0e-5
nEquations = 31 (includes 1 constraints)
nResults = 5035
nSteps = 6101
nResidues = 146739 (includes residue calls for Jacobian)
nZeroCrossings = 11263
nJac = 4306
nTimeEvents = 0
nStateEvents = 17
nRestartEvents = 17
nErrTestFails = 1741
h0 = 9e-09 s
hMin = 9e-09 s
hMax = 0.053 s
orderMax = 5
sparseSolver = false
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of examples/collisions/Simulate_YouBot.jl
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of Collision_3Elements.jl!
... success of Test_Collision.jl!
... success of Test_Collision_moreRevolutes.jl!
... success of Test_Collision_StarSetting.jl!
... success of Test_MiniBsp.jl!
... success of Test_Solids.jl!
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of Simulate_ContactBoxOnTable.jl!
WARNING: replacing module Simulate_YouBot.
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of Simulate_YouBotBoxOnTable.jl!
... success of collision_2_boxes.jl!
... success of collision_ballWithBall.jl!
... success of collision_ballWithBox.jl!
... success of collision_ballWithBox_45Deg.jl!
... success of collision_BallWithBox_Prismatic.jl!
WARNING: replacing module collision_ballWithBox_45Deg.
... success of collision_ballWithBox_45Deg.jl!
... ModiaMath.simulate! (version 0.5.2 2019-07-10) to simulate model: NewtonsCradle
Initialization at time = 0.0 s
initial values:
│ x │ name │ start │ fixed │ nominal │
├────┼──────────┼─────────┼───────┼─────────┤
│ 1 │ rev1.phi │ -1.0472 │ 1 │ 1.0472 │
│ 2 │ rev2.phi │ -1.0472 │ 1 │ 1.0472 │
│ 3 │ rev3.phi │ 0.0 │ 1 │ 1.0 │
│ 4 │ rev4.phi │ 1.0472 │ 1 │ 1.0472 │
│ 5 │ rev5.phi │ 1.0472 │ 1 │ 1.0472 │
│ 6 │ rev1.w │ 0.0 │ 1 │ 1.0 │
│ 7 │ rev2.w │ 0.0 │ 1 │ 1.0 │
│ 8 │ rev3.w │ 0.0 │ 1 │ 1.0 │
│ 9 │ rev4.w │ 0.0 │ 1 │ 1.0 │
│ 10 │ rev5.w │ 0.0 │ 1 │ 1.0 │
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
Simulation started
State event (zero-crossing) at time = 1.0878031474718333 s (z[2] < 0)
distance(pendulum4.sphere,pendulum3.sphere) = -2.0000077594062304e-8 became < 0
contact normal = [0,-1,-0.000313], contact position = [0,0.5,-4], c_res=1.1e+11, d_res=0.11
distance(pendulum3.sphere,pendulum2.sphere) = -2.0000077260995397e-8 became < 0
contact normal = [0,-1,0.000313], contact position = [0,-0.5,-4], c_res=1.1e+11, d_res=0.11
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 1.0908094518650024 s (z[1] > 0)
distance(pendulum4.sphere,pendulum3.sphere) became > 0
distance(pendulum3.sphere,pendulum2.sphere) became > 0
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 1.0938480230542378 s (z[2] < 0)
distance(pendulum1.sphere,pendulum2.sphere) = -2.0000232248129635e-8 became < 0
contact normal = [0,1,-0.000784], contact position = [0,-1.51,-4], c_res=1.1e+11, d_res=0.0667
distance(pendulum5.sphere,pendulum4.sphere) = -2.000023202608503e-8 became < 0
contact normal = [0,-1,-0.000784], contact position = [0,1.51,-4], c_res=1.1e+11, d_res=0.0667
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 1.0958883290568509 s (z[1] > 0)
distance(pendulum1.sphere,pendulum2.sphere) became > 0
distance(pendulum5.sphere,pendulum4.sphere) became > 0
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 1.0985275695684327 s (z[2] < 0)
distance(pendulum4.sphere,pendulum3.sphere) = -2.0000000211517488e-8 became < 0
contact normal = [0,-1,-0.000313], contact position = [0,0.5,-4], c_res=1.1e+11, d_res=0.169
distance(pendulum3.sphere,pendulum2.sphere) = -1.9999999101294463e-8 became < 0
contact normal = [0,-1,0.000313], contact position = [0,-0.5,-4], c_res=1.1e+11, d_res=0.169
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 1.1018053667261674 s (z[1] > 0)
distance(pendulum4.sphere,pendulum3.sphere) became > 0
distance(pendulum3.sphere,pendulum2.sphere) became > 0
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 3.1750114228447495 s (z[2] < 0)
distance(pendulum4.sphere,pendulum3.sphere) = -1.9999989109287242e-8 became < 0
contact normal = [0,-1,-0.000313], contact position = [0,0.5,-4], c_res=1.1e+11, d_res=0.262
distance(pendulum3.sphere,pendulum2.sphere) = -2.0000000766629e-8 became < 0
contact normal = [0,-1,0.000313], contact position = [0,-0.5,-4], c_res=1.1e+11, d_res=0.262
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 3.1785879880615164 s (z[1] > 0)
distance(pendulum4.sphere,pendulum3.sphere) became > 0
distance(pendulum3.sphere,pendulum2.sphere) became > 0
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 3.1930977548240014 s (z[2] < 0)
distance(pendulum1.sphere,pendulum2.sphere) = -2.0000009426368592e-8 became < 0
contact normal = [0,1,-0.00063], contact position = [0,-1.52,-4], c_res=1.1e+11, d_res=0.147
distance(pendulum5.sphere,pendulum4.sphere) = -2.0000012757037666e-8 became < 0
contact normal = [0,-1,-0.00063], contact position = [0,1.52,-4], c_res=1.1e+11, d_res=0.147
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 3.1954887018752087 s (z[1] > 0)
distance(pendulum1.sphere,pendulum2.sphere) became > 0
distance(pendulum5.sphere,pendulum4.sphere) became > 0
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 3.2073414785973235 s (z[2] < 0)
distance(pendulum4.sphere,pendulum3.sphere) = -1.999992316203958e-8 became < 0
contact normal = [0,-1,-0.000313], contact position = [0,0.5,-4], c_res=1.1e+11, d_res=0.347
distance(pendulum3.sphere,pendulum2.sphere) = -2.0000000100495186e-8 became < 0
contact normal = [0,-1,0.000313], contact position = [0,-0.5,-4], c_res=1.1e+11, d_res=0.347
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 3.211125697316102 s (z[1] > 0)
distance(pendulum4.sphere,pendulum3.sphere) became > 0
distance(pendulum3.sphere,pendulum2.sphere) became > 0
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 5.306987610498805 s (z[2] < 0)
distance(pendulum4.sphere,pendulum3.sphere) = -2.0000038292167233e-8 became < 0
contact normal = [0,-1,-0.000313], contact position = [0,0.5,-4], c_res=1.1e+11, d_res=0.537
distance(pendulum3.sphere,pendulum2.sphere) = -1.9998782851970986e-8 became < 0
contact normal = [0,-1,0.000313], contact position = [0,-0.5,-4], c_res=1.1e+11, d_res=0.537
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 5.311116540157841 s (z[1] > 0)
distance(pendulum4.sphere,pendulum3.sphere) became > 0
distance(pendulum3.sphere,pendulum2.sphere) became > 0
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 5.3389794846640575 s (z[2] < 0)
distance(pendulum1.sphere,pendulum2.sphere) = -2.0000039291367955e-8 became < 0
contact normal = [0,1,-0.00065], contact position = [0,-1.52,-4], c_res=1.1e+11, d_res=0.336
distance(pendulum5.sphere,pendulum4.sphere) = -1.99989548255175e-8 became < 0
contact normal = [0,-1,-0.00065], contact position = [0,1.52,-4], c_res=1.1e+11, d_res=0.336
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 5.341800682588432 s (z[1] > 0)
distance(pendulum1.sphere,pendulum2.sphere) became > 0
distance(pendulum5.sphere,pendulum4.sphere) became > 0
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 5.371038706105848 s (z[2] < 0)
distance(pendulum4.sphere,pendulum3.sphere) = -2.0000006983877938e-8 became < 0
contact normal = [0,-1,-0.000313], contact position = [0,0.5,-4], c_res=1.1e+11, d_res=0.886
distance(pendulum3.sphere,pendulum2.sphere) = -1.9988123378666955e-8 became < 0
contact normal = [0,-1,0.000313], contact position = [0,-0.5,-4], c_res=1.1e+11, d_res=0.886
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 5.375601280236619 s (z[1] > 0)
distance(pendulum4.sphere,pendulum3.sphere) became > 0
distance(pendulum3.sphere,pendulum2.sphere) became > 0
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 7.586849755374663 s (z[2] < 0)
distance(pendulum4.sphere,pendulum3.sphere) = -1.9609640355966462e-8 became < 0
contact normal = [0,-1,-0.000313], contact position = [0,0.5,-4], c_res=1.1e+11, d_res=1.37
distance(pendulum3.sphere,pendulum2.sphere) = -2.0000080924731378e-8 became < 0
contact normal = [0,-1,0.000313], contact position = [0,-0.5,-4], c_res=1.1e+11, d_res=1.37
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 7.591827089433919 s (z[1] > 0)
distance(pendulum4.sphere,pendulum3.sphere) became > 0
distance(pendulum3.sphere,pendulum2.sphere) became > 0
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 7.623516942618943 s (z[2] < 0)
distance(pendulum1.sphere,pendulum2.sphere) = -1.96331674251482e-8 became < 0
contact normal = [0,1,-0.000809], contact position = [0,-1.51,-4], c_res=1.1e+11, d_res=0.73
distance(pendulum5.sphere,pendulum4.sphere) = -2.0000000100495186e-8 became < 0
contact normal = [0,-1,-0.000809], contact position = [0,1.51,-4], c_res=1.1e+11, d_res=0.73
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 7.626809172298678 s (z[1] > 0)
distance(pendulum1.sphere,pendulum2.sphere) became > 0
distance(pendulum5.sphere,pendulum4.sphere) became > 0
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 7.651102476406292 s (z[2] < 0)
distance(pendulum4.sphere,pendulum3.sphere) = -1.694994378187431e-8 became < 0
contact normal = [0,-1,-0.000313], contact position = [0,0.5,-4], c_res=1.1e+11, d_res=1.68
distance(pendulum3.sphere,pendulum2.sphere) = -2.0000034739453554e-8 became < 0
contact normal = [0,-1,0.000313], contact position = [0,-0.5,-4], c_res=1.1e+11, d_res=1.68
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
State event (zero-crossing) at time = 7.656286321908144 s (z[1] > 0)
distance(pendulum4.sphere,pendulum3.sphere) became > 0
distance(pendulum3.sphere,pendulum2.sphere) became > 0
for given x, determine consistent DAE variables der(x) (solving a linear equation system)
restart = Restart
progress: integrated up to time = 8.6 s
Simulation is terminated at time = 10.0 s
Statistics (get help with ?ModiaMath.SimulationStatistics):
structureOfDAE = DAE_LinearDerivativesAndConstraints
cpuTime = 5.4 s (init: 0.0044 s, integration: 5.4 s)
startTime = 0.0 s
stopTime = 10.0 s
interval = 0.001 s
tolerance = 1.0e-8
nEquations = 10 (includes 0 constraints)
nResults = 10049
nSteps = 3394
nResidues = 11111 (includes residue calls for Jacobian)
nZeroCrossings = 13578
nJac = 644
nTimeEvents = 0
nStateEvents = 24
nRestartEvents = 24
nErrTestFails = 183
h0 = 3.7e-10 s
hMin = 3.7e-10 s
hMax = 0.046 s
orderMax = 5
sparseSolver = false
... success of collision_newtons_cradle.jl!
variables: . Omitted printing of 12 columns
│ Row │ name │ ValueType │ unit │
│ │ Symbol │ Symbol │ String │
├─────┼─────────────────────┼──────────────────────────────┼─────────┤
│ 1 │ time │ Float64 │ s │
│ 2 │ boxMoving.r │ SArray{Tuple{3},Float64,1,3} │ m │
│ 3 │ boxMoving.v │ SArray{Tuple{3},Float64,1,3} │ m/s │
│ 4 │ boxMoving.a │ SArray{Tuple{3},Float64,1,3} │ m/s^2 │
│ 5 │ boxMoving.q │ SArray{Tuple{4},Float64,1,4} │ │
│ 6 │ boxMoving.derq │ SArray{Tuple{4},Float64,1,4} │ 1/s │
│ 7 │ boxMoving.w │ SArray{Tuple{3},Float64,1,3} │ rad/s │
│ 8 │ boxMoving.z │ SArray{Tuple{3},Float64,1,3} │ rad/s^2 │
│ 9 │ boxMoving.residue_w │ SArray{Tuple{3},Float64,1,3} │ │
│ 10 │ boxMoving.residue_f │ SArray{Tuple{3},Float64,1,3} │ │
│ 11 │ boxMoving.residue_t │ SArray{Tuple{3},Float64,1,3} │ │
│ 12 │ boxMoving.residue_q │ Float64 │ │
x vector:
│ Row │ x │ name │ fixed │ start │
│ │ Symbol │ Symbol │ Bool │ Union… │
├─────┼──────────┼─────────────┼───────┼──────────────────────┤
│ 1 │ x[1:3] │ boxMoving.r │ 1 │ [1.0, 0.0, 0.15] │
│ 2 │ x[4:6] │ boxMoving.v │ 1 │ [0.0, 0.0, 0.0] │
│ 3 │ x[7:10] │ boxMoving.q │ 0 │ [0.0, 0.0, 0.0, 1.0] │
│ 4 │ x[11:13] │ boxMoving.w │ 1 │ [0.0, 0.0, 0.0] │
copy to variables:
│ Row │ source │ target │
│ │ Symbol │ Symbol │
├─────┼─────────────┼────────────────┤
│ 1 │ x[1:3] │ boxMoving.r │
│ 2 │ x[4:6] │ boxMoving.v │
│ 3 │ x[7:10] │ boxMoving.q │
│ 4 │ x[11:13] │ boxMoving.w │
│ 5 │ derx[4:6] │ boxMoving.a │
│ 6 │ derx[7:10] │ boxMoving.derq │
│ 7 │ derx[11:13] │ boxMoving.z │
copy to residue vector:
│ Row │ source │ target │
│ │ Symbol │ Symbol │
├─────┼─────────────────────────┼────────────────┤
│ 1 │ derx[1:3] - boxMoving.v │ residue[1:3] │
│ 2 │ boxMoving.residue_w │ residue[4:6] │
│ 3 │ boxMoving.residue_f │ residue[7:9] │
│ 4 │ boxMoving.residue_t │ residue[10:12] │
│ 5 │ boxMoving.residue_q │ residue[13] │
copy to results:
│ Row │ source │ target │ start │
│ │ Symbol │ Symbol │ Union… │
├─────┼────────────────┼───────────────┼──────────────────────┤
│ 1 │ time │ result[1] │ 0.0 │
│ 2 │ boxMoving.r │ result[2:4] │ [1.0, 0.0, 0.15] │
│ 3 │ boxMoving.v │ result[5:7] │ [0.0, 0.0, 0.0] │
│ 4 │ boxMoving.a │ result[8:10] │ [0.0, 0.0, 0.0] │
│ 5 │ boxMoving.q │ result[11:14] │ [0.0, 0.0, 0.0, 1.0] │
│ 6 │ boxMoving.derq │ result[15:18] │ [0.0, 0.0, 0.0, 0.0] │
│ 7 │ boxMoving.w │ result[19:21] │ [0.0, 0.0, 0.0] │
│ 8 │ boxMoving.z │ result[22:24] │ [0.0, 0.0, 0.0] │
... ModiaMath.simulate! (version 0.5.2 2019-07-10) to simulate model: ThreeDFiles
Initialization at time = 0.0 s
initial values:
│ x │ name │ start │ fixed │ nominal │
├────┼────────────────┼─────────┼───────┼─────────┤
│ 1 │ boxMoving.r[1] │ 1.0 │ 1 │ 1.0 │
│ 2 │ boxMoving.r[2] │ 0.0 │ 1 │ 1.0 │
│ 3 │ boxMoving.r[3] │ 0.15 │ 1 │ 1.0 │
│ 4 │ boxMoving.v[1] │ 0.0 │ 1 │ 1.0 │
│ 5 │ boxMoving.v[2] │ 0.0 │ 1 │ 1.0 │
│ 6 │ boxMoving.v[3] │ 0.0 │ 1 │ 1.0 │
│ 7 │ boxMoving.q[1] │ 0.0 │ 0 │ 1.0 │
│ 8 │ boxMoving.q[2] │ 0.0 │ 0 │ 1.0 │
│ 9 │ boxMoving.q[3] │ 0.0 │ 0 │ 1.0 │
│ 10 │ boxMoving.q[4] │ 1.0 │ 0 │ 1.0 │
│ 11 │ boxMoving.w[1] │ 0.0 │ 1 │ 1.0 │
│ 12 │ boxMoving.w[2] │ 0.0 │ 1 │ 1.0 │
│ 13 │ boxMoving.w[3] │ 0.0 │ 1 │ 1.0 │
determine consistent DAE variables x,der(x) (with analytical integral over time instant)
Simulation started
Simulation is terminated at time = 2.0 s
Statistics (get help with ?ModiaMath.SimulationStatistics):
structureOfDAE = DAE_LinearDerivativesAndConstraints
cpuTime = 0.56 s (init: 0.0044 s, integration: 0.55 s)
startTime = 0.0 s
stopTime = 2.0 s
interval = 0.001 s
tolerance = 1.0e-8
nEquations = 13 (includes 1 constraints)
nResults = 2001
nSteps = 22
nResidues = 282 (includes residue calls for Jacobian)
nZeroCrossings = 2022
nJac = 20
nTimeEvents = 0
nStateEvents = 0
nRestartEvents = 0
nErrTestFails = 0
h0 = 1e-06 s
hMin = 1e-06 s
hMax = 0.95 s
orderMax = 2
sparseSolver = false
... ModiaMath.plot(..): Call is ignored, since PyPlot not available.
... success of contactForceLaw_2_boxes.jl!
variables: . Omitted printing of 9 columns
│ Row │ name │ ValueType │ unit │ numericType │ vec │ vecIndex │
│ │ Symbol │ Symbol │ String │ ModiaMat… │ Symbol │ Any │
├─────┼───────────────┼───────────┼────────┼─────────────┼─────────┼──────────┤
│ 1 │ time │ Float64 │ s │ TIME │ │ 0 │
│ 2 │ prisX.s │ Float64 │ m │ XD_EXP │ x │ 1 │
│ 3 │ prisX.v │ Float64 │ m/s │ XD_IMP │ x │ 4 │
│ 4 │ prisX.a │ Float64 │ m/s^2 │ DER_XD_IMP │ derx │ 4 │
│ 5 │ prisX.f │ Float64 │ N │ WR │ │ 0 │
│ 6 │ prisX.residue │ Float64 │ │ FD_IMP │ residue │ 4 │
│ 7 │ prisX.P │ Float64 │ J │ WC │ │ 0 │
⋮
│ 12 │ prisY.residue │ Float64 │ │ FD_IMP │ residue │ 5 │
│ 13 │ prisY.P │ Float64 │ J │ WC │ │ 0 │
│ 14 │ prisZ.s │ Float64 │ m │ XD_EXP │ x │ 3 │
│ 15 │ prisZ.v │ Float64 │ m/s │ XD_IMP │ x │ 6 │
│ 16 │ prisZ.a │ Float64 │ m/s^2 │ DER_XD_IMP │ derx │ 6 │
│ 17 │ prisZ.f │ Float64 │ N │ WR │ │ 0 │
│ 18 │ prisZ.residue │ Float64 │ │ FD_IMP │ residue │ 6 │
│ 19 │ prisZ.P │ Float64 │ J │ WC │ │ 0 │
x vector:
│ Row │ x │ name │ fixed │ start │
│ │ Symbol │ Symbol │ Bool │ Union… │
├─────┼────────┼─────────┼───────┼────────┤
│ 1 │ x[1] │ prisX.s │ 1 │ 0.0 │
│ 2 │ x[2] │ prisY.s │ 1 │ 0.0 │
│ 3 │ x[3] │ prisZ.s │ 1 │ 0.0 │
│ 4 │ x[4] │ prisX.v │ 1 │ -6.0 │
│ 5 │ x[5] │ prisY.v │ 1 │ 2.0 │
│ 6 │ x[6] │ prisZ.v │ 1 │ 4.0 │
copy to variables:
│ Row │ source │ target │
│ │ Symbol │ Symbol │
├─────┼─────────┼─────────┤
│ 1 │ x[1] │ prisX.s │
│ 2 │ x[2] │ prisY.s │
│ 3 │ x[3] │ prisZ.s │
│ 4 │ x[4] │ prisX.v │
│ 5 │ x[5] │ prisY.v │
│ 6 │ x[6] │ prisZ.v │
│ 7 │ derx[4] │ prisX.a │
│ 8 │ derx[5] │ prisY.a │
│ 9 │ derx[6] │ prisZ.a │
copy to residue vector:
│ Row │ source │ target │
│ │ Symbol │ Symbol │
├─────┼───────────────────┼────────────┤