Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr ModelicaTest_4.1.0-beta.om_ModelicaTest.MultiBody.Forces.Torque.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 0.002114/0.002114, allocations: 108.7 kB / 19.8 MB, free: 2.516 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 0.002551/0.002551, allocations: 215.2 kB / 23 MB, free: 5.617 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 1.478/1.478, allocations: 230.2 MB / 256.2 MB, free: 8.711 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 0.2361/0.2361, allocations: 46.9 MB / 359.4 MB, free: 4.938 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: "" <> buildModelFMU(ModelicaTest.MultiBody.Forces.Torque,fileNamePrefix="ModelicaTest_4_1_0-beta_om_ModelicaTest_MultiBody_Forces_Torque",fmuType="me",version="2.0",platforms={"static"}) "" <> buildModelFMU(ModelicaTest.MultiBody.Forces.Torque,fileNamePrefix="ModelicaTest_4_1_0-beta_om_ModelicaTest_MultiBody_Forces_Torque",fmuType="me",version="2.0",platforms={"static"}) [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 0.002283/0.002283, allocations: 83.84 kB / 0.4941 GB, free: 9.02 MB / 366.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.3537/0.356, allocations: 65.98 MB / 0.5586 GB, free: 5.152 MB / 398.1 MB Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Forces.Torque): time 0.01879/0.3748, allocations: 15.61 MB / 0.5738 GB, free: 5.473 MB / 414.1 MB Notification: Performance of NFInst.instExpressions: time 0.01168/0.3865, allocations: 4.976 MB / 0.5787 GB, free: 488 kB / 414.1 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.002839/0.3893, allocations: 103.8 kB / 0.5788 GB, free: 384 kB / 414.1 MB Notification: Performance of NFTyping.typeComponents: time 0.009899/0.3992, allocations: 5.066 MB / 0.5837 GB, free: 11.29 MB / 430.1 MB Notification: Performance of NFTyping.typeBindings: time 0.007076/0.4063, allocations: 2.544 MB / 0.5862 GB, free: 8.738 MB / 430.1 MB Notification: Performance of NFTyping.typeClassSections: time 0.002928/0.4092, allocations: 1.084 MB / 0.5873 GB, free: 7.652 MB / 430.1 MB Notification: Performance of NFFlatten.flatten: time 0.01132/0.4206, allocations: 6.851 MB / 0.594 GB, free: 0.7891 MB / 430.1 MB Notification: Performance of NFFlatten.resolveConnections: time 0.006278/0.4268, allocations: 4.154 MB / 0.598 GB, free: 12.56 MB / 446.1 MB Notification: Performance of NFEvalConstants.evaluate: time 0.004702/0.4315, allocations: 2.387 MB / 0.6004 GB, free: 10.16 MB / 446.1 MB Notification: Performance of NFSimplifyModel.simplify: time 0.005717/0.4373, allocations: 3.446 MB / 0.6037 GB, free: 6.707 MB / 446.1 MB Notification: Performance of NFPackage.collectConstants: time 0.001734/0.439, allocations: 0.4961 MB / 0.6042 GB, free: 6.211 MB / 446.1 MB Notification: Performance of NFFlatten.collectFunctions: time 0.003549/0.4425, allocations: 1.432 MB / 0.6056 GB, free: 4.777 MB / 446.1 MB Notification: Performance of NFScalarize.scalarize: time 0.00411/0.4466, allocations: 3.07 MB / 0.6086 GB, free: 1.699 MB / 446.1 MB Notification: Performance of NFVerifyModel.verify: time 0.005569/0.4522, allocations: 3.398 MB / 0.6119 GB, free: 14.28 MB / 462.1 MB Notification: Performance of NFConvertDAE.convert: time 0.01354/0.4658, allocations: 10.51 MB / 0.6222 GB, free: 3.723 MB / 462.1 MB Notification: Performance of FrontEnd - DAE generated: time 5.741e-06/0.4658, allocations: 0 / 0.6222 GB, free: 3.723 MB / 462.1 MB Notification: Performance of FrontEnd: time 2.134e-06/0.4658, allocations: 0 / 0.6222 GB, free: 3.723 MB / 462.1 MB Notification: Performance of Transformations before backend: time 0.0003337/0.4661, allocations: 0 / 0.6222 GB, free: 3.723 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: 2161 * Number of variables: 2161 Notification: Performance of Generate backend data structure: time 0.01977/0.4859, allocations: 7.772 MB / 0.6298 GB, free: 11.86 MB / 478.1 MB Notification: Performance of prepare preOptimizeDAE: time 5.683e-05/0.4859, allocations: 8.031 kB / 0.6298 GB, free: 11.85 MB / 478.1 MB Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.002962/0.4889, allocations: 1.021 MB / 0.6308 GB, free: 10.82 MB / 478.1 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.03996/0.5289, allocations: 6.237 MB / 0.6369 GB, free: 4.566 MB / 478.1 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.01052/0.5394, allocations: 4.677 MB / 0.6414 GB, free: 15.81 MB / 494.1 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0003324/0.5397, allocations: 357.3 kB / 0.6418 GB, free: 15.46 MB / 494.1 MB Notification: Performance of preOpt expandDerOperator (simulation): time 0.001689/0.5414, allocations: 483.7 kB / 0.6422 GB, free: 14.98 MB / 494.1 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.02775/0.5691, allocations: 14.13 MB / 0.656 GB, free: 15.84 MB / 0.4981 GB Notification: Performance of preOpt findStateOrder (simulation): time 0.0002378/0.5694, allocations: 63.38 kB / 0.6561 GB, free: 15.78 MB / 0.4981 GB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0009669/0.5703, allocations: 231.8 kB / 0.6563 GB, free: 15.55 MB / 0.4981 GB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.005047/0.5754, allocations: 2.715 MB / 0.659 GB, free: 12.83 MB / 0.4981 GB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02542/0.6008, allocations: 11.78 MB / 0.6705 GB, free: 1.02 MB / 0.4981 GB Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.08106/0.6819, allocations: 56.92 MB / 0.7261 GB, free: 6.641 MB / 0.5606 GB Notification: Performance of preOpt comSubExp (simulation): time 0.01538/0.6972, allocations: 5.935 MB / 0.7319 GB, free: 0.543 MB / 0.5606 GB Notification: Performance of preOpt resolveLoops (simulation): time 0.2527/0.95, allocations: 3.28 MB / 0.7351 GB, free: 153.1 MB / 0.5606 GB Notification: Performance of preOpt evalFunc (simulation): time 0.0112/0.9612, allocations: 8.313 MB / 0.7432 GB, free: 149.6 MB / 0.5606 GB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 3.509e-05/0.9612, allocations: 66.62 kB / 0.7432 GB, free: 149.5 MB / 0.5606 GB Notification: Performance of pre-optimization done (n=236): time 5.26e-06/0.9612, allocations: 0 / 0.7432 GB, free: 149.5 MB / 0.5606 GB Notification: Performance of matching and sorting (n=278): time 0.06197/1.023, allocations: 29.17 MB / 0.7717 GB, free: 129 MB / 0.5606 GB Notification: Performance of inlineWhenForInitialization (initialization): time 7.747e-05/1.023, allocations: 235.5 kB / 0.772 GB, free: 128.7 MB / 0.5606 GB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.009045/1.032, allocations: 6.711 MB / 0.7785 GB, free: 122.1 MB / 0.5606 GB Notification: Performance of collectPreVariables (initialization): time 0.0007825/1.033, allocations: 69.7 kB / 0.7786 GB, free: 122.1 MB / 0.5606 GB Notification: Performance of collectInitialEqns (initialization): time 0.002827/1.036, allocations: 4.626 MB / 0.7831 GB, free: 117.7 MB / 0.5606 GB Notification: Performance of collectInitialBindings (initialization): time 0.0014/1.037, allocations: 1.106 MB / 0.7842 GB, free: 116.6 MB / 0.5606 GB Notification: Performance of simplifyInitialFunctions (initialization): time 0.002455/1.04, allocations: 1.729 MB / 0.7859 GB, free: 114.9 MB / 0.5606 GB Notification: Performance of setup shared object (initialization): time 5.29e-05/1.04, allocations: 305.1 kB / 0.7861 GB, free: 114.6 MB / 0.5606 GB Notification: Performance of preBalanceInitialSystem (initialization): time 0.003985/1.044, allocations: 3.362 MB / 0.7894 GB, free: 111.2 MB / 0.5606 GB Notification: Performance of partitionIndependentBlocks (initialization): time 0.006036/1.05, allocations: 8.398 MB / 0.7976 GB, free: 100.4 MB / 0.5606 GB Notification: Performance of analyzeInitialSystem (initialization): time 0.01073/1.061, allocations: 12.75 MB / 0.8101 GB, free: 85.2 MB / 0.5606 GB Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.000123/1.061, allocations: 48 kB / 0.8101 GB, free: 85.15 MB / 0.5606 GB Notification: Performance of matching and sorting (n=1102) (initialization): time 0.02151/1.082, allocations: 13.02 MB / 0.8228 GB, free: 72.11 MB / 0.5606 GB Notification: Performance of prepare postOptimizeDAE: time 9.825e-05/1.082, allocations: 84 kB / 0.8229 GB, free: 72.03 MB / 0.5606 GB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0001571/1.082, allocations: 179.9 kB / 0.8231 GB, free: 71.86 MB / 0.5606 GB Notification: Performance of postOpt tearingSystem (initialization): time 0.003995/1.086, allocations: 1.781 MB / 0.8248 GB, free: 70.07 MB / 0.5606 GB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.006047/1.092, allocations: 1.949 MB / 0.8267 GB, free: 68.11 MB / 0.5606 GB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.01312/1.106, allocations: 12.86 MB / 0.8393 GB, free: 54.98 MB / 0.5606 GB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.006892/1.112, allocations: 495.9 kB / 0.8398 GB, free: 54.49 MB / 0.5606 GB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001456/1.114, allocations: 0.5072 MB / 0.8403 GB, free: 53.99 MB / 0.5606 GB Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 808 * Number of states: 0 () * Number of discrete variables: 67 (torque2.torqueArrow.twoHeadedArrow,torque2.torqueArrow.headAtOrigin,torque1.torqueArrow.twoHeadedArrow,torque1.torqueArrow.headAtOrigin,fixed4.color[3],fixed4.color[2],fixed4.color[1],fixed2.color[3],fixed2.color[2],fixed2.color[1],Revolute4.cylinderColor[3],Revolute4.cylinderColor[2],Revolute4.cylinderColor[1],Revolute3.cylinderColor[3],Revolute3.cylinderColor[2],Revolute3.cylinderColor[1],Revolute2.cylinderColor[3],Revolute2.cylinderColor[2],Revolute2.cylinderColor[1],torque2.connectionLineColor[3],torque2.connectionLineColor[2],torque2.connectionLineColor[1],torque2.torqueColor[3],torque2.torqueColor[2],torque2.torqueColor[1],torque1.connectionLineColor[3],torque1.connectionLineColor[2],torque1.connectionLineColor[1],torque1.torqueColor[3],torque1.torqueColor[2],torque1.torqueColor[1],fixedRotation.color[3],fixedRotation.color[2],fixedRotation.color[1],fixed3.color[3],fixed3.color[2],fixed3.color[1],body2.color[3],body2.color[2],body2.color[1],body2.body.sphereColor[3],body2.body.sphereColor[2],body2.body.sphereColor[1],fixed1.color[3],fixed1.color[2],fixed1.color[1],body1.color[3],body1.color[2],body1.color[1],body1.body.sphereColor[3],body1.body.sphereColor[2],body1.body.sphereColor[1],Revolute1.cylinderColor[3],Revolute1.cylinderColor[2],Revolute1.cylinderColor[1],world.gravityArrowColor[3],world.gravityArrowColor[2],world.gravityArrowColor[1],world.axisColor_x[3],world.axisColor_x[2],world.axisColor_x[1],world.groundColor[3],world.groundColor[2],world.groundColor[1],world.gravitySphereColor[3],world.gravitySphereColor[2],world.gravitySphereColor[1]) * Number of discrete states: 0 () * Number of clocked states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for initialization (1020): * Single equations (assignments): 1013 * Array equations: 5 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 0 * Torn equation systems: 2 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems (#iteration vars, #inner vars, density): 2 systems {(2,23,100.0%), (2,23,100.0%)} * Non-linear torn systems (#iteration vars, #inner vars): 0 systems Notification: Performance of prepare postOptimizeDAE: time 0.004824/1.119, allocations: 2.988 MB / 0.8432 GB, free: 50.99 MB / 0.5606 GB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001189/1.12, allocations: 0.5898 MB / 0.8438 GB, free: 50.39 MB / 0.5606 GB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.009655/1.13, allocations: 6.319 MB / 0.8499 GB, free: 44.05 MB / 0.5606 GB Notification: Performance of postOpt inlineArrayEqn (simulation): time 3.974e-05/1.13, allocations: 35.94 kB / 0.85 GB, free: 44.02 MB / 0.5606 GB Notification: Performance of postOpt constantLinearSystem (simulation): time 1.759e-05/1.13, allocations: 8 kB / 0.85 GB, free: 44.01 MB / 0.5606 GB Notification: Performance of postOpt simplifysemiLinear (simulation): time 3.096e-05/1.13, allocations: 19.94 kB / 0.85 GB, free: 43.99 MB / 0.5606 GB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.01987/1.15, allocations: 13.95 MB / 0.8636 GB, free: 29.98 MB / 0.5606 GB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 1.774e-05/1.15, allocations: 4 kB / 0.8636 GB, free: 29.97 MB / 0.5606 GB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002061/1.152, allocations: 455.8 kB / 0.8641 GB, free: 29.53 MB / 0.5606 GB Notification: Performance of postOpt tearingSystem (simulation): time 0.00352/1.155, allocations: 1.535 MB / 0.8656 GB, free: 27.98 MB / 0.5606 GB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0003023/1.155, allocations: 48 kB / 0.8656 GB, free: 27.94 MB / 0.5606 GB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.01239/1.168, allocations: 12.19 MB / 0.8775 GB, free: 15.48 MB / 0.5606 GB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 5.611e-06/1.168, allocations: 15.88 kB / 0.8775 GB, free: 15.46 MB / 0.5606 GB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.01351/1.181, allocations: 10.33 MB / 0.8876 GB, free: 4.992 MB / 0.5606 GB Notification: Performance of postOpt removeConstants (simulation): time 0.001961/1.183, allocations: 0.657 MB / 0.8883 GB, free: 4.312 MB / 0.5606 GB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001339/1.185, allocations: 55.92 kB / 0.8883 GB, free: 4.258 MB / 0.5606 GB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002734/1.187, allocations: 175.8 kB / 0.8885 GB, free: 4.086 MB / 0.5606 GB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0006347/1.188, allocations: 177.6 kB / 0.8886 GB, free: 3.91 MB / 0.5606 GB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002087/1.188, allocations: 72 kB / 0.8887 GB, free: 3.84 MB / 0.5606 GB Notification: Performance of sorting global known variables: time 0.006516/1.195, allocations: 4.298 MB / 0.8929 GB, free: 15.55 MB / 0.5762 GB Notification: Performance of sort global known variables: time 2.1e-07/1.195, allocations: 0 / 0.8929 GB, free: 15.55 MB / 0.5762 GB Notification: Performance of remove unused functions: time 0.008167/1.203, allocations: 1.523 MB / 0.8944 GB, free: 14.04 MB / 0.5762 GB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 20 * Number of states: 8 (Revolute1.phi,Revolute1.w,Revolute3.phi,Revolute3.w,Revolute2.phi,Revolute2.w,Revolute4.phi,Revolute4.w) * 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 (220): * Single equations (assignments): 215 * Array equations: 3 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 0 * Torn equation systems: 2 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems (#iteration vars, #inner vars, density): 2 systems {(4,18,75.0%), (4,18,75.0%)} * Non-linear torn systems (#iteration vars, #inner vars): 0 systems Notification: Performance of Backend phase and start with SimCode phase: time 0.01916/1.222, allocations: 11 MB / 0.9051 GB, free: 2.875 MB / 0.5762 GB Notification: Performance of simCode: created initialization part: time 0.01526/1.237, allocations: 7.95 MB / 0.9129 GB, free: 10.93 MB / 0.5919 GB Notification: Performance of simCode: created event and clocks part: time 1.504e-05/1.237, allocations: 4 kB / 0.9129 GB, free: 10.93 MB / 0.5919 GB Notification: Performance of simCode: created simulation system equations: time 0.006078/1.243, allocations: 3.021 MB / 0.9159 GB, free: 7.883 MB / 0.5919 GB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.005064/1.249, allocations: 0.7421 MB / 0.9166 GB, free: 7.145 MB / 0.5919 GB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.388/1.637, allocations: 75.8 MB / 0.9906 GB, free: 227 MB / 0.6544 GB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.00541/1.642, allocations: 4.541 MB / 0.995 GB, free: 225.5 MB / 0.6544 GB Notification: Performance of simCode: alias equations: time 0.006062/1.648, allocations: 2.768 MB / 0.9977 GB, free: 225.4 MB / 0.6544 GB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.004217/1.652, allocations: 2.939 MB / 1.001 GB, free: 223 MB / 0.6544 GB Notification: Performance of SimCode: time 1.182e-06/1.652, allocations: 0 / 1.001 GB, free: 223 MB / 0.6544 GB Notification: Performance of buildModelFMU: Generate the FMI files: time 0.1618/1.814, allocations: 114.6 MB / 1.112 GB, free: 111.4 MB / 0.6544 GB Notification: Performance of buildModelFMU: Generate platform static: time 25.42/27.23, allocations: 8.062 kB / 1.112 GB, free: 111.4 MB / 0.6544 GB " [Timeout remaining time 633] (rm -f ModelicaTest_4.1.0-beta.om_ModelicaTest.MultiBody.Forces.Torque.pipe ; mkfifo ModelicaTest_4.1.0-beta.om_ModelicaTest.MultiBody.Forces.Torque.pipe ; head -c 1048576 < ModelicaTest_4.1.0-beta.om_ModelicaTest.MultiBody.Forces.Torque.pipe >> ../files/ModelicaTest_4.1.0-beta.om_ModelicaTest.MultiBody.Forces.Torque.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=ModelicaTest_4.1.0-beta.om_ModelicaTest.MultiBody.Forces.Torque_res.mat --tempDir=temp_ModelicaTest_4_1_0-beta_om_ModelicaTest_MultiBody_Forces_Torque_fmu --startTime=0 --stopTime=1.1 --timeout=50 --tolerance=1e-06 ModelicaTest_4_1_0-beta_om_ModelicaTest_MultiBody_Forces_Torque.fmu > ModelicaTest_4.1.0-beta.om_ModelicaTest.MultiBody.Forces.Torque.pipe 2>&1) [Timeout 52.5] [Calling os._exit(0), Time elapsed: 30.29569687397452] 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'] 27.38764709001407 27.403673177 26.934194858 Calling exit ...