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 0.001364/0.001364, allocations: 113.1 kB / 21.85 MB, free: 80 kB / 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 0.001876/0.001876, allocations: 211.5 kB / 25.13 MB, free: 3.605 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 1.468/1.468, allocations: 230.4 MB / 258.7 MB, free: 8.039 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 0.2303/0.2303, allocations: 46.93 MB / 362 MB, free: 4.215 MB / 286.1 MB " [Timeout remaining time 180] 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 0.002407/0.002407, allocations: 79.86 kB / 0.4978 GB, free: 7.367 MB / 366.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.3625/0.3649, allocations: 66.08 MB / 0.5623 GB, free: 4.234 MB / 398.1 MB Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint): time 0.01981/0.3847, allocations: 16.74 MB / 0.5787 GB, free: 3.43 MB / 414.1 MB Notification: Performance of NFInst.instExpressions: time 0.015/0.3997, allocations: 5.509 MB / 0.5841 GB, free: 13.91 MB / 430.1 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.00416/0.4039, allocations: 159.1 kB / 0.5842 GB, free: 13.75 MB / 430.1 MB Notification: Performance of NFTyping.typeComponents: time 0.009559/0.4134, allocations: 4.708 MB / 0.5888 GB, free: 9.027 MB / 430.1 MB Notification: Performance of NFTyping.typeBindings: time 0.007918/0.4213, allocations: 2.517 MB / 0.5913 GB, free: 6.5 MB / 430.1 MB Notification: Performance of NFTyping.typeClassSections: time 0.003597/0.4249, allocations: 1.31 MB / 0.5925 GB, free: 5.188 MB / 430.1 MB Notification: Performance of NFFlatten.flatten: time 0.01376/0.4387, allocations: 8.656 MB / 0.601 GB, free: 12.52 MB / 446.1 MB Notification: Performance of NFFlatten.resolveConnections: time 0.006219/0.4449, allocations: 4.272 MB / 0.6052 GB, free: 8.18 MB / 446.1 MB Notification: Performance of NFEvalConstants.evaluate: time 0.004976/0.4499, allocations: 2.629 MB / 0.6077 GB, free: 5.543 MB / 446.1 MB Notification: Performance of NFSimplifyModel.simplify: time 0.005841/0.4557, allocations: 3.427 MB / 0.6111 GB, free: 2.105 MB / 446.1 MB Notification: Performance of NFPackage.collectConstants: time 0.001556/0.4573, allocations: 0.4922 MB / 0.6116 GB, free: 1.613 MB / 446.1 MB Notification: Performance of NFFlatten.collectFunctions: time 0.002923/0.4602, allocations: 1.256 MB / 0.6128 GB, free: 364 kB / 446.1 MB Notification: Performance of NFScalarize.scalarize: time 0.003372/0.4636, allocations: 2.922 MB / 0.6156 GB, free: 13.42 MB / 462.1 MB Notification: Performance of NFVerifyModel.verify: time 0.004551/0.4681, allocations: 3.038 MB / 0.6186 GB, free: 10.37 MB / 462.1 MB Notification: Performance of NFConvertDAE.convert: time 0.01248/0.4806, allocations: 9.243 MB / 0.6276 GB, free: 1.09 MB / 462.1 MB Notification: Performance of FrontEnd - DAE generated: time 5.881e-06/0.4806, allocations: 0 / 0.6276 GB, free: 1.09 MB / 462.1 MB Notification: Performance of FrontEnd: time 1.794e-06/0.4806, allocations: 0 / 0.6276 GB, free: 1.09 MB / 462.1 MB Notification: Performance of Transformations before backend: time 0.0002637/0.4809, allocations: 0 / 0.6276 GB, free: 1.09 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 0.01778/0.4987, allocations: 7.277 MB / 0.6347 GB, free: 9.738 MB / 478.1 MB Notification: Performance of prepare preOptimizeDAE: time 4.641e-05/0.4987, allocations: 8.031 kB / 0.6348 GB, free: 9.73 MB / 478.1 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.01059/0.5093, allocations: 1.987 MB / 0.6367 GB, free: 7.738 MB / 478.1 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.0136/0.5229, allocations: 5.455 MB / 0.642 GB, free: 2.207 MB / 478.1 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.000362/0.5233, allocations: 351.4 kB / 0.6424 GB, free: 1.852 MB / 478.1 MB Notification: Performance of preOpt expandDerOperator (simulation): time 0.001291/0.5246, allocations: 415.7 kB / 0.6428 GB, free: 1.445 MB / 478.1 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.02133/0.5459, allocations: 11.14 MB / 0.6536 GB, free: 5.707 MB / 494.1 MB Notification: Performance of preOpt findStateOrder (simulation): time 0.0001715/0.5461, allocations: 63.59 kB / 0.6537 GB, free: 5.645 MB / 494.1 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0004379/0.5465, allocations: 175.9 kB / 0.6539 GB, free: 5.473 MB / 494.1 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.003083/0.5496, allocations: 1.729 MB / 0.6555 GB, free: 3.738 MB / 494.1 MB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02079/0.5704, allocations: 9.54 MB / 0.6649 GB, free: 10.18 MB / 0.4981 GB Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.06968/0.6401, allocations: 45.05 MB / 0.7089 GB, free: 11.89 MB / 0.545 GB Notification: Performance of preOpt comSubExp (simulation): time 0.0222/0.6623, allocations: 7.619 MB / 0.7163 GB, free: 4.262 MB / 0.545 GB Notification: Performance of preOpt resolveLoops (simulation): time 0.007485/0.6698, allocations: 5.044 MB / 0.7212 GB, free: 15.21 MB / 0.5606 GB Notification: Performance of preOpt evalFunc (simulation): time 0.02336/0.6931, allocations: 12.43 MB / 0.7334 GB, free: 2.723 MB / 0.5606 GB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 7.501e-05/0.6932, allocations: 60.8 kB / 0.7334 GB, free: 2.652 MB / 0.5606 GB Notification: Performance of pre-optimization done (n=283): time 4.288e-06/0.6932, allocations: 0 / 0.7334 GB, free: 2.652 MB / 0.5606 GB Notification: Performance of matching and sorting (n=406): time 0.5107/1.204, allocations: 77.79 MB / 0.8094 GB, free: 95.78 MB / 0.5606 GB Notification: Performance of inlineWhenForInitialization (initialization): time 0.0132/1.217, allocations: 11 MB / 0.8201 GB, free: 84.62 MB / 0.5606 GB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.006478/1.224, allocations: 4.294 MB / 0.8243 GB, free: 80.36 MB / 0.5606 GB Notification: Performance of collectPreVariables (initialization): time 0.001241/1.225, allocations: 96.98 kB / 0.8244 GB, free: 80.27 MB / 0.5606 GB Notification: Performance of collectInitialEqns (initialization): time 0.001675/1.226, allocations: 2.948 MB / 0.8273 GB, free: 77.64 MB / 0.5606 GB Notification: Performance of collectInitialBindings (initialization): time 0.001658/1.228, allocations: 1.489 MB / 0.8287 GB, free: 76.32 MB / 0.5606 GB Notification: Performance of simplifyInitialFunctions (initialization): time 0.001834/1.23, allocations: 1.289 MB / 0.83 GB, free: 75.02 MB / 0.5606 GB Notification: Performance of setup shared object (initialization): time 4.855e-05/1.23, allocations: 301.1 kB / 0.8303 GB, free: 74.72 MB / 0.5606 GB Notification: Performance of preBalanceInitialSystem (initialization): time 0.005518/1.236, allocations: 5.08 MB / 0.8353 GB, free: 69.64 MB / 0.5606 GB Notification: Performance of partitionIndependentBlocks (initialization): time 0.006403/1.242, allocations: 7.26 MB / 0.8423 GB, free: 61.43 MB / 0.5606 GB Notification: Performance of analyzeInitialSystem (initialization): time 0.01381/1.256, allocations: 12.83 MB / 0.8549 GB, free: 47.68 MB / 0.5606 GB Notification: Performance of solveInitialSystemEqSystem (initialization): time 8.994e-05/1.256, allocations: 19.94 kB / 0.8549 GB, free: 47.66 MB / 0.5606 GB Notification: Performance of matching and sorting (n=801) (initialization): time 0.04298/1.299, allocations: 20.88 MB / 0.8753 GB, free: 26.74 MB / 0.5606 GB Notification: Performance of prepare postOptimizeDAE: time 0.0001008/1.299, allocations: 38.34 kB / 0.8753 GB, free: 26.71 MB / 0.5606 GB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0001096/1.299, allocations: 64.88 kB / 0.8754 GB, free: 26.64 MB / 0.5606 GB Notification: Performance of postOpt tearingSystem (initialization): time 0.02442/1.323, allocations: 9.73 MB / 0.8849 GB, free: 16.89 MB / 0.5606 GB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.004268/1.328, allocations: 1.123 MB / 0.886 GB, free: 15.77 MB / 0.5606 GB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.08888/1.417, allocations: 56.75 MB / 0.9414 GB, free: 6.688 MB / 0.6075 GB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.007069/1.424, allocations: 0.5344 MB / 0.9419 GB, free: 6.152 MB / 0.6075 GB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001929/1.426, allocations: 307.7 kB / 0.9422 GB, free: 5.855 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 0.006701/1.432, allocations: 2.269 MB / 0.9444 GB, free: 3.574 MB / 0.6075 GB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.002303/1.435, allocations: 488.8 kB / 0.9449 GB, free: 3.094 MB / 0.6075 GB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.04725/1.482, allocations: 19.28 MB / 0.9637 GB, free: 15.75 MB / 0.6387 GB Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.3884/1.87, allocations: 17.78 MB / 0.9811 GB, free: 213.8 MB / 0.6387 GB Notification: Performance of postOpt constantLinearSystem (simulation): time 9.856e-05/1.87, allocations: 25.28 kB / 0.9811 GB, free: 213.8 MB / 0.6387 GB Notification: Performance of postOpt simplifysemiLinear (simulation): time 9.176e-05/1.87, allocations: 21.48 kB / 0.9811 GB, free: 213.8 MB / 0.6387 GB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.0603/1.931, allocations: 36.19 MB / 1.016 GB, free: 199.4 MB / 0.6387 GB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.8e-05/1.931, allocations: 7.984 kB / 1.016 GB, free: 199.4 MB / 0.6387 GB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002178/1.933, allocations: 451.3 kB / 1.017 GB, free: 199 MB / 0.6387 GB Notification: Performance of postOpt tearingSystem (simulation): time 0.02266/1.956, allocations: 9.581 MB / 1.026 GB, free: 189.4 MB / 0.6387 GB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.00139/1.957, allocations: 75.28 kB / 1.026 GB, free: 189.3 MB / 0.6387 GB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.06107/2.018, allocations: 55.3 MB / 1.08 GB, free: 134.2 MB / 0.6387 GB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.01165/2.03, allocations: 9.717 MB / 1.09 GB, free: 124.4 MB / 0.6387 GB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.04251/2.072, allocations: 25.79 MB / 1.115 GB, free: 98.85 MB / 0.6387 GB Notification: Performance of postOpt removeConstants (simulation): time 0.001878/2.074, allocations: 482.4 kB / 1.115 GB, free: 98.58 MB / 0.6387 GB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.002415/2.077, allocations: 72 kB / 1.116 GB, free: 98.51 MB / 0.6387 GB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.004966/2.081, allocations: 415.3 kB / 1.116 GB, free: 98.1 MB / 0.6387 GB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.002271/2.084, allocations: 348.1 kB / 1.116 GB, free: 97.77 MB / 0.6387 GB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0009054/2.085, allocations: 100 kB / 1.116 GB, free: 97.67 MB / 0.6387 GB Notification: Performance of sorting global known variables: time 0.005133/2.09, allocations: 2.793 MB / 1.119 GB, free: 94.88 MB / 0.6387 GB Notification: Performance of sort global known variables: time 9e-08/2.09, allocations: 0 / 1.119 GB, free: 94.88 MB / 0.6387 GB Notification: Performance of remove unused functions: time 0.009281/2.099, allocations: 2.109 MB / 1.121 GB, free: 92.77 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 0.001266/2.1, allocations: 193.1 kB / 1.121 GB, free: 92.57 MB / 0.6387 GB Notification: Performance of simCode: created initialization part: time 0.0199/2.12, allocations: 12.82 MB / 1.134 GB, free: 79.71 MB / 0.6387 GB Notification: Performance of simCode: created event and clocks part: time 8.886e-06/2.12, allocations: 0 / 1.134 GB, free: 79.71 MB / 0.6387 GB Notification: Performance of simCode: created simulation system equations: time 0.01203/2.132, allocations: 6.858 MB / 1.141 GB, free: 72.8 MB / 0.6387 GB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.006731/2.139, allocations: 0.7837 MB / 1.141 GB, free: 72.04 MB / 0.6387 GB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.02829/2.167, allocations: 16.74 MB / 1.158 GB, free: 55.23 MB / 0.6387 GB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.006298/2.174, allocations: 4.147 MB / 1.162 GB, free: 51.05 MB / 0.6387 GB Notification: Performance of simCode: alias equations: time 0.004477/2.178, allocations: 1.597 MB / 1.163 GB, free: 49.45 MB / 0.6387 GB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.001853/2.18, allocations: 299.3 kB / 1.164 GB, free: 49.15 MB / 0.6387 GB Notification: Performance of SimCode: time 1.143e-06/2.18, allocations: 0 / 1.164 GB, free: 49.15 MB / 0.6387 GB Notification: Performance of Templates: time 0.4904/2.67, allocations: 131.4 MB / 1.292 GB, free: 172.4 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 gbode -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: 10.38567099487409] 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'] 2.6797330759000033 2.688482738 2.205334209 Calling exit ...