Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr ModelicaTest_4.1.0-beta.om_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint.conf.json loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo", uses=false) [Timeout 180] "Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo): time 0.001314/0.001314, allocations: 114.5 kB / 21.17 MB, free: 0.6172 MB / 14.72 MB " [Timeout remaining time 180] loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo", uses=false) [Timeout 180] "Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo): time 0.001518/0.001518, allocations: 206.8 kB / 24.47 MB, free: 4.023 MB / 14.72 MB " [Timeout remaining time 180] loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo", uses=false) [Timeout 180] "Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo): time 1.545/1.545, allocations: 230.2 MB / 257.8 MB, free: 8.504 MB / 206.1 MB " [Timeout remaining time 178] loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.1.0-beta.om/package.mo", uses=false) [Timeout 180] "Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.1.0-beta.om/package.mo): time 0.2599/0.2599, allocations: 46.89 MB / 361.1 MB, free: 4.629 MB / 286.1 MB " [Timeout remaining time 179] Using package ModelicaTest with version 4.1.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.1.0-beta.om/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=5007,variableFilter="time|revolute1.phi|revolute1.w|revolute2.phi|revolute2.w|revolute3.phi|revolute3.w|revolute4.phi|revolute4.w",fileNamePrefix="ModelicaTest_4.1.0-beta.om_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint") translateModel(ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint,tolerance=1e-06,outputFormat="mat",numberOfIntervals=5007,variableFilter="time|revolute1.phi|revolute1.w|revolute2.phi|revolute2.w|revolute3.phi|revolute3.w|revolute4.phi|revolute4.w",fileNamePrefix="ModelicaTest_4.1.0-beta.om_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint") [Timeout 660] "Warning: Requested package Modelica of version 4.1.0, but this package was already loaded with version trunk. OpenModelica cannot reason about compatibility between the two packages since they are not semantic versions. Notification: Performance of FrontEnd - loaded program: time 0.002317/0.002317, allocations: 83.86 kB / 0.4968 GB, free: 7.785 MB / 366.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.4215/0.4238, allocations: 65.99 MB / 0.5612 GB, free: 4.988 MB / 398.1 MB Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint): time 0.02019/0.444, allocations: 16.9 MB / 0.5777 GB, free: 4.02 MB / 414.1 MB Notification: Performance of NFInst.instExpressions: time 0.01508/0.4591, allocations: 5.518 MB / 0.5831 GB, free: 14.48 MB / 430.1 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.004557/0.4637, allocations: 131.6 kB / 0.5832 GB, free: 14.35 MB / 430.1 MB Notification: Performance of NFTyping.typeComponents: time 0.009984/0.4736, allocations: 4.712 MB / 0.5878 GB, free: 9.625 MB / 430.1 MB Notification: Performance of NFTyping.typeBindings: time 0.008663/0.4823, allocations: 2.506 MB / 0.5903 GB, free: 7.109 MB / 430.1 MB Notification: Performance of NFTyping.typeClassSections: time 0.003847/0.4862, allocations: 1.31 MB / 0.5916 GB, free: 5.797 MB / 430.1 MB Notification: Performance of NFFlatten.flatten: time 0.01503/0.5012, allocations: 8.631 MB / 0.6 GB, free: 13.15 MB / 446.1 MB Notification: Performance of NFFlatten.resolveConnections: time 0.006857/0.508, allocations: 4.002 MB / 0.6039 GB, free: 9.086 MB / 446.1 MB Notification: Performance of NFEvalConstants.evaluate: time 0.006112/0.5141, allocations: 2.598 MB / 0.6064 GB, free: 6.48 MB / 446.1 MB Notification: Performance of NFSimplifyModel.simplify: time 0.00668/0.5208, allocations: 3.431 MB / 0.6098 GB, free: 3.039 MB / 446.1 MB Notification: Performance of NFPackage.collectConstants: time 0.001636/0.5225, allocations: 0.4922 MB / 0.6103 GB, free: 2.547 MB / 446.1 MB Notification: Performance of NFFlatten.collectFunctions: time 0.003116/0.5256, allocations: 1.292 MB / 0.6115 GB, free: 1.254 MB / 446.1 MB Notification: Performance of NFScalarize.scalarize: time 0.00334/0.5289, allocations: 2.918 MB / 0.6144 GB, free: 14.32 MB / 462.1 MB Notification: Performance of NFVerifyModel.verify: time 0.004631/0.5336, allocations: 3.038 MB / 0.6173 GB, free: 11.27 MB / 462.1 MB Notification: Performance of NFConvertDAE.convert: time 0.01462/0.5482, allocations: 9.177 MB / 0.6263 GB, free: 2.059 MB / 462.1 MB Notification: Performance of FrontEnd - DAE generated: time 9.247e-06/0.5482, allocations: 0 / 0.6263 GB, free: 2.059 MB / 462.1 MB Notification: Performance of FrontEnd: time 2.244e-06/0.5482, allocations: 0 / 0.6263 GB, free: 2.059 MB / 462.1 MB Notification: Performance of Transformations before backend: time 0.0003832/0.5486, allocations: 0 / 0.6263 GB, free: 2.059 MB / 462.1 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 0.02518/0.5737, allocations: 7.356 MB / 0.6335 GB, free: 10.61 MB / 478.1 MB Notification: Performance of prepare preOptimizeDAE: time 5.417e-05/0.5738, allocations: 8.031 kB / 0.6335 GB, free: 10.6 MB / 478.1 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.0134/0.5872, allocations: 1.987 MB / 0.6354 GB, free: 8.609 MB / 478.1 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.01651/0.6037, allocations: 5.574 MB / 0.6409 GB, free: 2.969 MB / 478.1 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0004445/0.6042, allocations: 321.7 kB / 0.6412 GB, free: 2.648 MB / 478.1 MB Notification: Performance of preOpt expandDerOperator (simulation): time 0.002226/0.6064, allocations: 419.7 kB / 0.6416 GB, free: 2.238 MB / 478.1 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.03125/0.6376, allocations: 11.02 MB / 0.6524 GB, free: 6.652 MB / 494.1 MB Notification: Performance of preOpt findStateOrder (simulation): time 0.0004007/0.638, allocations: 59.61 kB / 0.6524 GB, free: 6.594 MB / 494.1 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.001747/0.6398, allocations: 187.8 kB / 0.6526 GB, free: 6.41 MB / 494.1 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.003967/0.6438, allocations: 1.721 MB / 0.6543 GB, free: 4.684 MB / 494.1 MB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02577/0.6695, allocations: 9.536 MB / 0.6636 GB, free: 11.12 MB / 0.4981 GB Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.08264/0.7522, allocations: 45.18 MB / 0.7077 GB, free: 12.74 MB / 0.545 GB Notification: Performance of preOpt comSubExp (simulation): time 0.02508/0.7772, allocations: 7.611 MB / 0.7151 GB, free: 5.109 MB / 0.545 GB Notification: Performance of preOpt resolveLoops (simulation): time 0.008259/0.7855, allocations: 4.99 MB / 0.72 GB, free: 116 kB / 0.545 GB Notification: Performance of preOpt evalFunc (simulation): time 0.02746/0.813, allocations: 13.29 MB / 0.733 GB, free: 2.543 MB / 0.5606 GB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 8.061e-05/0.813, allocations: 60.8 kB / 0.733 GB, free: 2.473 MB / 0.5606 GB Notification: Performance of pre-optimization done (n=283): time 6.031e-06/0.813, allocations: 0 / 0.733 GB, free: 2.473 MB / 0.5606 GB Notification: Performance of matching and sorting (n=406): time 0.6547/1.468, allocations: 77.91 MB / 0.8091 GB, free: 96.18 MB / 0.5606 GB Notification: Performance of inlineWhenForInitialization (initialization): time 0.01402/1.482, allocations: 11.11 MB / 0.82 GB, free: 84.89 MB / 0.5606 GB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.005316/1.487, allocations: 4.294 MB / 0.8242 GB, free: 80.63 MB / 0.5606 GB Notification: Performance of collectPreVariables (initialization): time 0.001059/1.488, allocations: 97.61 kB / 0.8243 GB, free: 80.54 MB / 0.5606 GB Notification: Performance of collectInitialEqns (initialization): time 0.001418/1.49, allocations: 2.948 MB / 0.8271 GB, free: 77.91 MB / 0.5606 GB Notification: Performance of collectInitialBindings (initialization): time 0.001567/1.491, allocations: 1.488 MB / 0.8286 GB, free: 76.57 MB / 0.5606 GB Notification: Performance of simplifyInitialFunctions (initialization): time 0.001932/1.493, allocations: 1.282 MB / 0.8298 GB, free: 75.28 MB / 0.5606 GB Notification: Performance of setup shared object (initialization): time 4.076e-05/1.493, allocations: 301.1 kB / 0.8301 GB, free: 74.98 MB / 0.5606 GB Notification: Performance of preBalanceInitialSystem (initialization): time 0.005489/1.499, allocations: 5.088 MB / 0.8351 GB, free: 69.89 MB / 0.5606 GB Notification: Performance of partitionIndependentBlocks (initialization): time 0.006477/1.505, allocations: 7.156 MB / 0.8421 GB, free: 61.81 MB / 0.5606 GB Notification: Performance of analyzeInitialSystem (initialization): time 0.02324/1.528, allocations: 12.83 MB / 0.8546 GB, free: 48.07 MB / 0.5606 GB Notification: Performance of solveInitialSystemEqSystem (initialization): time 9.076e-05/1.528, allocations: 23.94 kB / 0.8546 GB, free: 48.04 MB / 0.5606 GB Notification: Performance of matching and sorting (n=801) (initialization): time 0.06325/1.592, allocations: 20.88 MB / 0.875 GB, free: 27.12 MB / 0.5606 GB Notification: Performance of prepare postOptimizeDAE: time 7.758e-05/1.592, allocations: 32 kB / 0.8751 GB, free: 27.09 MB / 0.5606 GB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 8.756e-05/1.592, allocations: 64 kB / 0.8751 GB, free: 27.03 MB / 0.5606 GB Notification: Performance of postOpt tearingSystem (initialization): time 0.02961/1.621, allocations: 9.726 MB / 0.8846 GB, free: 17.28 MB / 0.5606 GB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.00548/1.627, allocations: 1.131 MB / 0.8857 GB, free: 16.15 MB / 0.5606 GB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.09219/1.719, allocations: 57.07 MB / 0.9415 GB, free: 6.676 MB / 0.6075 GB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.008156/1.727, allocations: 0.5344 MB / 0.942 GB, free: 6.141 MB / 0.6075 GB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001842/1.729, allocations: 303.9 kB / 0.9423 GB, free: 5.844 MB / 0.6075 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 0.006914/1.736, allocations: 2.276 MB / 0.9445 GB, free: 3.559 MB / 0.6075 GB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.002147/1.738, allocations: 488.8 kB / 0.945 GB, free: 3.078 MB / 0.6075 GB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.04885/1.787, allocations: 19.27 MB / 0.9638 GB, free: 15.74 MB / 0.6387 GB Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.3483/2.135, allocations: 17.78 MB / 0.9811 GB, free: 213.2 MB / 0.6387 GB Notification: Performance of postOpt constantLinearSystem (simulation): time 7.191e-05/2.135, allocations: 30.34 kB / 0.9812 GB, free: 213.2 MB / 0.6387 GB Notification: Performance of postOpt simplifysemiLinear (simulation): time 7.528e-05/2.135, allocations: 18.14 kB / 0.9812 GB, free: 213.2 MB / 0.6387 GB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.06263/2.198, allocations: 36.4 MB / 1.017 GB, free: 198.9 MB / 0.6387 GB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 6.178e-05/2.198, allocations: 4 kB / 1.017 GB, free: 198.9 MB / 0.6387 GB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002542/2.201, allocations: 455.3 kB / 1.017 GB, free: 198.5 MB / 0.6387 GB Notification: Performance of postOpt tearingSystem (simulation): time 0.02525/2.226, allocations: 9.595 MB / 1.027 GB, free: 188.9 MB / 0.6387 GB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.001308/2.227, allocations: 75.98 kB / 1.027 GB, free: 188.8 MB / 0.6387 GB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.06226/2.29, allocations: 55.6 MB / 1.081 GB, free: 133.3 MB / 0.6387 GB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.01214/2.302, allocations: 9.808 MB / 1.09 GB, free: 123.4 MB / 0.6387 GB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.04318/2.345, allocations: 25.8 MB / 1.116 GB, free: 97.82 MB / 0.6387 GB Notification: Performance of postOpt removeConstants (simulation): time 0.001921/2.347, allocations: 0.5395 MB / 1.116 GB, free: 97.47 MB / 0.6387 GB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001848/2.349, allocations: 75.98 kB / 1.116 GB, free: 97.39 MB / 0.6387 GB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.004604/2.353, allocations: 411.3 kB / 1.117 GB, free: 96.99 MB / 0.6387 GB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.001642/2.355, allocations: 336 kB / 1.117 GB, free: 96.66 MB / 0.6387 GB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0004727/2.355, allocations: 99.98 kB / 1.117 GB, free: 96.57 MB / 0.6387 GB Notification: Performance of sorting global known variables: time 0.00435/2.36, allocations: 2.793 MB / 1.12 GB, free: 93.77 MB / 0.6387 GB Notification: Performance of sort global known variables: time 1.6e-07/2.36, allocations: 3.656 kB / 1.12 GB, free: 93.77 MB / 0.6387 GB Notification: Performance of remove unused functions: time 0.008235/2.368, allocations: 2.105 MB / 1.122 GB, free: 91.67 MB / 0.6387 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%), (4,37,100.0%)} * Non-linear torn systems (#iteration vars, #inner vars): 1 system {(2,49)} Notification: Performance of Backend phase and start with SimCode phase: time 0.001067/2.369, allocations: 198.3 kB / 1.122 GB, free: 91.46 MB / 0.6387 GB Notification: Performance of simCode: created initialization part: time 0.01967/2.389, allocations: 12.8 MB / 1.135 GB, free: 78.61 MB / 0.6387 GB Notification: Performance of simCode: created event and clocks part: time 8.045e-06/2.389, allocations: 4.125 kB / 1.135 GB, free: 78.61 MB / 0.6387 GB Notification: Performance of simCode: created simulation system equations: time 0.01341/2.402, allocations: 6.862 MB / 1.141 GB, free: 71.7 MB / 0.6387 GB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.007027/2.409, allocations: 0.7881 MB / 1.142 GB, free: 70.93 MB / 0.6387 GB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.03275/2.442, allocations: 16.73 MB / 1.158 GB, free: 54.12 MB / 0.6387 GB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.007905/2.45, allocations: 4.151 MB / 1.162 GB, free: 49.93 MB / 0.6387 GB Notification: Performance of simCode: alias equations: time 0.005124/2.455, allocations: 1.593 MB / 1.164 GB, free: 48.34 MB / 0.6387 GB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.002025/2.457, allocations: 299.3 kB / 1.164 GB, free: 48.04 MB / 0.6387 GB Notification: Performance of SimCode: time 1.343e-06/2.457, allocations: 0 / 1.164 GB, free: 48.04 MB / 0.6387 GB Notification: Performance of Templates: time 0.5109/2.968, allocations: 129.2 MB / 1.29 GB, free: 173.8 MB / 0.6544 GB " [Timeout remaining time 657] make -j1 -f ModelicaTest_4.1.0-beta.om_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint.makefile [Timeout 660] (rm -f ModelicaTest_4.1.0-beta.om_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint.pipe ; mkfifo ModelicaTest_4.1.0-beta.om_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint.pipe ; head -c 1048576 < ModelicaTest_4.1.0-beta.om_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint.pipe >> ../files/ModelicaTest_4.1.0-beta.om_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint.sim & ./ModelicaTest_4.1.0-beta.om_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint -abortSlowSimulation -alarm=480 -s cvode -emit_protected -lv LOG_STATS > ModelicaTest_4.1.0-beta.om_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint.pipe 2>&1) [Timeout 480] [Calling os._exit(0), Time elapsed: 10.786200917791575] Failed to read output from testmodel.py, exit status != 0: ['time', 'revolute1.phi', 'revolute1.w', 'revolute2.phi', 'revolute2.w', 'revolute3.phi', 'revolute3.w', 'revolute4.phi', 'revolute4.w'] 2.9778258111327887 2.987010025 2.4361880830000002 Calling exit ...