Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint.conf.json
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo", uses=false)
Using package ModelicaTest with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo)
Using package Modelica with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo)
Using package Complex with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo)
Using package ModelicaServices with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo)
Running command: translateModel(ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|revolute1.phi|revolute1.w|revolute2.phi|revolute2.w|revolute3.phi|revolute3.w|revolute4.phi|revolute4.w",fileNamePrefix="ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint")
translateModel(ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5000,variableFilter="time|revolute1.phi|revolute1.w|revolute2.phi|revolute2.w|revolute3.phi|revolute3.w|revolute4.phi|revolute4.w",fileNamePrefix="ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint")
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo): time 0.001195/0.001195, allocations: 109.6 kB / 18.3 MB, free: 4.887 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo): time 0.001368/0.001368, allocations: 212.1 kB / 19.25 MB, free: 3.938 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo): time 1.362/1.362, allocations: 227.4 MB / 247.4 MB, free: 10.62 MB / 206.1 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest trunk/package.mo): time 0.2162/0.2162, allocations: 46.11 MB / 344.8 MB, free: 11.61 MB / 286.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.001443/0.001443, allocations: 76.56 kB / 418.2 MB, free: 19.76 MB / 302.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.1354/0.1369, allocations: 62.45 MB / 480.7 MB, free: 5.285 MB / 350.1 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint): time 0.01821/0.1551, allocations: 16.79 MB / 497.5 MB, free: 4.418 MB / 366.1 MB
Notification: Performance of NFInst.instExpressions: time 0.01355/0.1687, allocations: 5.49 MB / 0.4912 GB, free: 14.91 MB / 382.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.004499/0.1732, allocations: 135.5 kB / 0.4913 GB, free: 14.78 MB / 382.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.008644/0.1819, allocations: 4.634 MB / 0.4958 GB, free: 10.13 MB / 382.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.007201/0.1892, allocations: 2.432 MB / 0.4982 GB, free: 7.688 MB / 382.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.003395/0.1926, allocations: 1.307 MB / 0.4995 GB, free: 6.379 MB / 382.1 MB
Notification: Performance of NFFlatten.flatten: time 0.2662/0.4589, allocations: 8.615 MB / 0.5079 GB, free: 14.28 MB / 382.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.0075/0.4664, allocations: 5.527 MB / 0.5133 GB, free: 13.63 MB / 382.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.005017/0.4714, allocations: 2.56 MB / 0.5158 GB, free: 13.51 MB / 382.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.005676/0.4771, allocations: 3.186 MB / 0.5189 GB, free: 13.21 MB / 382.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.001932/0.4791, allocations: 0.4951 MB / 0.5194 GB, free: 13.21 MB / 382.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.003537/0.4827, allocations: 1.254 MB / 0.5206 GB, free: 13.21 MB / 382.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.003566/0.4862, allocations: 2.841 MB / 0.5234 GB, free: 12.96 MB / 382.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.004249/0.4905, allocations: 3.038 MB / 0.5264 GB, free: 10.94 MB / 382.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.008987/0.4995, allocations: 8.975 MB / 0.5351 GB, free: 6.734 MB / 382.1 MB
Notification: Performance of FrontEnd - DAE generated: time 5.811e-06/0.4995, allocations: 2.625 kB / 0.5351 GB, free: 6.734 MB / 382.1 MB
Notification: Performance of FrontEnd: time 1.162e-06/0.4996, allocations: 0 / 0.5351 GB, free: 6.734 MB / 382.1 MB
Notification: Performance of Transformations before backend: time 0.0002691/0.4998, allocations: 0 / 0.5351 GB, free: 6.734 MB / 382.1 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 1496
 * Number of variables: 1496
Notification: Performance of Generate backend data structure: time 0.01706/0.5169, allocations: 7.178 MB / 0.5421 GB, free: 2.027 MB / 382.1 MB
Notification: Performance of prepare preOptimizeDAE: time 4.827e-05/0.517, allocations: 17.28 kB / 0.5422 GB, free: 2.023 MB / 382.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.01177/0.5287, allocations: 1.947 MB / 0.5441 GB, free: 1.066 MB / 382.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.01226/0.541, allocations: 5.395 MB / 0.5493 GB, free: 12.3 MB / 398.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0002835/0.5413, allocations: 325.9 kB / 0.5496 GB, free: 12 MB / 398.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.001444/0.5428, allocations: 419 kB / 0.55 GB, free: 11.62 MB / 398.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.02415/0.567, allocations: 11.01 MB / 0.5608 GB, free: 196 kB / 398.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0002963/0.5673, allocations: 60.58 kB / 0.5608 GB, free: 152 kB / 398.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.001075/0.5684, allocations: 175.7 kB / 0.561 GB, free: 4 kB / 398.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.003409/0.5718, allocations: 1.728 MB / 0.5627 GB, free: 14.29 MB / 414.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02226/0.5941, allocations: 9.544 MB / 0.572 GB, free: 4.871 MB / 414.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.06518/0.6593, allocations: 45.35 MB / 0.6163 GB, free: 6.898 MB / 462.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.02314/0.6825, allocations: 7.874 MB / 0.624 GB, free: 15.01 MB / 478.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.006796/0.6893, allocations: 5.372 MB / 0.6292 GB, free: 9.637 MB / 478.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.02257/0.7119, allocations: 13.28 MB / 0.6422 GB, free: 12.18 MB / 494.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 7.173e-05/0.7121, allocations: 67.52 kB / 0.6423 GB, free: 12.1 MB / 494.1 MB
Notification: Performance of pre-optimization done (n=283): time 5.511e-06/0.7121, allocations: 0 / 0.6423 GB, free: 12.1 MB / 494.1 MB
Notification: Performance of matching and sorting (n=406): time 0.4789/1.191, allocations: 78 MB / 0.7185 GB, free: 171.2 MB / 0.545 GB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.0169/1.208, allocations: 11.1 MB / 0.7293 GB, free: 169.3 MB / 0.545 GB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.007854/1.216, allocations: 4.289 MB / 0.7335 GB, free: 168.6 MB / 0.545 GB
Notification: Performance of collectPreVariables (initialization): time 0.001346/1.217, allocations: 95.97 kB / 0.7336 GB, free: 168.5 MB / 0.545 GB
Notification: Performance of collectInitialEqns (initialization): time 0.002413/1.22, allocations: 2.877 MB / 0.7364 GB, free: 167.1 MB / 0.545 GB
Notification: Performance of collectInitialBindings (initialization): time 0.002213/1.222, allocations: 1.409 MB / 0.7378 GB, free: 166 MB / 0.545 GB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.003111/1.225, allocations: 1.276 MB / 0.739 GB, free: 165.5 MB / 0.545 GB
Notification: Performance of setup shared object (initialization): time 5.711e-05/1.225, allocations: 306.5 kB / 0.7393 GB, free: 165.2 MB / 0.545 GB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.00739/1.232, allocations: 5.092 MB / 0.7443 GB, free: 163.3 MB / 0.545 GB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.007587/1.24, allocations: 7.153 MB / 0.7513 GB, free: 158.8 MB / 0.545 GB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01579/1.256, allocations: 12.83 MB / 0.7638 GB, free: 151.9 MB / 0.545 GB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 6.29e-05/1.256, allocations: 21.53 kB / 0.7638 GB, free: 151.9 MB / 0.545 GB
Notification: Performance of matching and sorting (n=801) (initialization): time 0.04076/1.297, allocations: 20.99 MB / 0.7843 GB, free: 137.5 MB / 0.545 GB
Notification: Performance of prepare postOptimizeDAE: time 9.434e-05/1.297, allocations: 38.44 kB / 0.7843 GB, free: 137.5 MB / 0.545 GB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.000124/1.297, allocations: 67.98 kB / 0.7844 GB, free: 137.4 MB / 0.545 GB
Notification: Performance of postOpt tearingSystem (initialization): time 0.02561/1.323, allocations: 9.76 MB / 0.7939 GB, free: 127.6 MB / 0.545 GB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.00451/1.327, allocations: 1.125 MB / 0.795 GB, free: 126.6 MB / 0.545 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.07062/1.398, allocations: 57.07 MB / 0.8508 GB, free: 69.19 MB / 0.545 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.007553/1.405, allocations: 0.5285 MB / 0.8513 GB, free: 68.66 MB / 0.545 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001897/1.407, allocations: 299.9 kB / 0.8516 GB, free: 68.37 MB / 0.545 GB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 294
 * Number of states: 0 ()
 * Number of discrete variables: 57 (fixedRotation1.color[3],fixedRotation1.color[2],fixedRotation1.color[1],fixedRotation.color[3],fixedRotation.color[2],fixedRotation.color[1],revolute2.cylinderColor[3],revolute2.cylinderColor[2],revolute2.cylinderColor[1],bodyCylinder3.color[3],bodyCylinder3.color[2],bodyCylinder3.color[1],bodyCylinder3.body.sphereColor[3],bodyCylinder3.body.sphereColor[2],bodyCylinder3.body.sphereColor[1],bodyCylinder2.color[3],bodyCylinder2.color[2],bodyCylinder2.color[1],bodyCylinder2.body.sphereColor[3],bodyCylinder2.body.sphereColor[2],bodyCylinder2.body.sphereColor[1],bodyCylinder1.color[3],bodyCylinder1.color[2],bodyCylinder1.color[1],bodyCylinder1.body.sphereColor[3],bodyCylinder1.body.sphereColor[2],bodyCylinder1.body.sphereColor[1],bodyCylinder.color[3],bodyCylinder.color[2],bodyCylinder.color[1],bodyCylinder.body.sphereColor[3],bodyCylinder.body.sphereColor[2],bodyCylinder.body.sphereColor[1],revolute4.cylinderColor[3],revolute4.cylinderColor[2],revolute4.cylinderColor[1],revolute3.cylinderColor[3],revolute3.cylinderColor[2],revolute3.cylinderColor[1],revolute1.cylinderColor[3],revolute1.cylinderColor[2],revolute1.cylinderColor[1],revolute.cylinderColor[3],revolute.cylinderColor[2],revolute.cylinderColor[1],world.groundColor[3],world.groundColor[2],world.groundColor[1],world.gravitySphereColor[3],world.gravitySphereColor[2],world.gravitySphereColor[1],world.gravityArrowColor[3],world.gravityArrowColor[2],world.gravityArrowColor[1],world.axisColor_x[3],world.axisColor_x[2],world.axisColor_x[1])
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (591):
 * Single equations (assignments): 582
 * Array equations: 6
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (not torn): 0
 * Torn equation systems: 3
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems (#iteration vars, #inner vars, density): 2 systems
   {(11,104,52.1%), (2,24,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 1 system
   {(2,48)}
Notification: Performance of prepare postOptimizeDAE: time 0.006058/1.413, allocations: 2.279 MB / 0.8538 GB, free: 66.16 MB / 0.545 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.00178/1.415, allocations: 462.1 kB / 0.8542 GB, free: 65.7 MB / 0.545 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.03507/1.45, allocations: 19.43 MB / 0.8732 GB, free: 46.35 MB / 0.545 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.03438/1.485, allocations: 17.93 MB / 0.8907 GB, free: 28.52 MB / 0.545 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 9.907e-05/1.485, allocations: 28 kB / 0.8908 GB, free: 28.5 MB / 0.545 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 0.0001137/1.485, allocations: 19.92 kB / 0.8908 GB, free: 28.48 MB / 0.545 GB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.3476/1.833, allocations: 36.75 MB / 0.9267 GB, free: 176.1 MB / 0.545 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 4.703e-05/1.833, allocations: 2.656 kB / 0.9267 GB, free: 176.1 MB / 0.545 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002475/1.835, allocations: 457.1 kB / 0.9271 GB, free: 176.1 MB / 0.545 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.02725/1.862, allocations: 9.631 MB / 0.9365 GB, free: 176.1 MB / 0.545 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.001192/1.864, allocations: 77.42 kB / 0.9366 GB, free: 176.1 MB / 0.545 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.06398/1.928, allocations: 55.45 MB / 0.9907 GB, free: 143 MB / 0.545 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.01211/1.94, allocations: 9.788 MB / 1 GB, free: 133.2 MB / 0.545 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.04318/1.983, allocations: 25.91 MB / 1.026 GB, free: 107.4 MB / 0.545 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.001653/1.985, allocations: 0.5192 MB / 1.026 GB, free: 107.1 MB / 0.545 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.002034/1.987, allocations: 79.98 kB / 1.026 GB, free: 107 MB / 0.545 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.00463/1.991, allocations: 411.3 kB / 1.027 GB, free: 106.6 MB / 0.545 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.001752/1.993, allocations: 324.1 kB / 1.027 GB, free: 106.3 MB / 0.545 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0004365/1.994, allocations: 100 kB / 1.027 GB, free: 106.2 MB / 0.545 GB
Notification: Performance of sorting global known variables: time 0.004383/1.998, allocations: 2.797 MB / 1.03 GB, free: 103.4 MB / 0.545 GB
Notification: Performance of sort global known variables: time 1.2e-07/1.998, allocations: 0 / 1.03 GB, free: 103.4 MB / 0.545 GB
Notification: Performance of remove unused functions: time 0.008467/2.007, allocations: 2.102 MB / 1.032 GB, free: 101.3 MB / 0.545 GB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 16
 * Number of states: 4 ($STATESET1.x[2],$STATESET1.x[1],revolute3.phi,revolute2.phi)
 * Number of discrete variables: 0 ()
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (217):
 * Single equations (assignments): 214
 * Array equations: 0
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (not torn): 0
 * Torn equation systems: 3
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems (#iteration vars, #inner vars, density): 2 systems
   {(9,99,61.7%), (5,36,88.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 1 system
   {(2,49)}
Notification: Performance of Backend phase and start with SimCode phase: time 0.001235/2.008, allocations: 192.8 kB / 1.032 GB, free: 101.1 MB / 0.545 GB
Notification: Performance of simCode: created initialization part: time 0.03122/2.039, allocations: 19.81 MB / 1.051 GB, free: 81.27 MB / 0.545 GB
Notification: Performance of simCode: created event and clocks part: time 1.16e-05/2.039, allocations: 4 kB / 1.051 GB, free: 81.27 MB / 0.545 GB
Notification: Performance of simCode: created simulation system equations: time 0.01314/2.052, allocations: 7.425 MB / 1.059 GB, free: 73.8 MB / 0.545 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.007797/2.06, allocations: 0.7778 MB / 1.059 GB, free: 73.05 MB / 0.545 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.03001/2.09, allocations: 17 MB / 1.076 GB, free: 56 MB / 0.545 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.005514/2.096, allocations: 4.101 MB / 1.08 GB, free: 51.87 MB / 0.545 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.002193/2.098, allocations: 323.3 kB / 1.08 GB, free: 51.55 MB / 0.545 GB
Notification: Performance of SimCode: time 3.066e-06/2.098, allocations: 0 / 1.08 GB, free: 51.55 MB / 0.545 GB
Notification: Performance of Templates: time 0.4507/2.549, allocations: 154 MB / 1.231 GB, free: 88.24 MB / 0.545 GB
make -j1 -f ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint.makefile
(rm -f ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint.pipe ; mkfifo ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint.pipe ; head -c 1048576 < ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint.pipe >> ../files/ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint.sim & ./ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint  -abortSlowSimulation -alarm=480  -emit_protected -lv LOG_STATS > ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint.pipe 2>&1)
diffSimulationResults("ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/ModelicaTest/MultiBody/Joints/RevolutePlanarLoopConstraint/RevolutePlanarLoopConstraint.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/ModelicaTest_trunk_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
""

Variables in the reference:time,revolute1.phi,revolute1.w,revolute2.phi,revolute2.w,revolute3.phi,revolute3.w,revolute4.phi,revolute4.w

Variables in the result:revolute1.phi,revolute1.w,revolute2.phi,revolute2.w,revolute3.phi,revolute3.w,revolute4.phi,revolute4.w,time