Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr Modelica_3.2.1_Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint.conf.json loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo", uses=false) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo", uses=false) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo", uses=false) Using package Modelica with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo) Using package Complex with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo) Using package ModelicaServices with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo) Running command: translateModel(Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint,tolerance=1e-06,outputFormat="empty",numberOfIntervals=5000,variableFilter="",fileNamePrefix="Modelica_3.2.1_Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint") translateModel(Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint,tolerance=1e-06,outputFormat="empty",numberOfIntervals=5000,variableFilter="",fileNamePrefix="Modelica_3.2.1_Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint") Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo): time 0.001388/0.001388, allocations: 115.3 kB / 15.34 MB, free: 0.5156 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001796/0.001796, allocations: 186.3 kB / 16.25 MB, free: 6.578 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.603/1.603, allocations: 205.1 MB / 222.1 MB, free: 4.707 MB / 174.1 MB Notification: Modelica requested package Complex of version 3.2.3. Complex 4.0.0 is used instead which states that it is fully compatible without conversion script needed. Notification: Modelica requested package ModelicaServices of version 3.2.3. ModelicaServices 4.0.0 is used instead which states that it is fully compatible without conversion script needed. Notification: Performance of FrontEnd - loaded program: time 0.001226/0.001226, allocations: 55.92 kB / 278.2 MB, free: 12.65 MB / 238.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.2772/0.2785, allocations: 46.62 MB / 324.8 MB, free: 1.891 MB / 254.1 MB Notification: Performance of NFInst.instantiate(Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint): time 0.08172/0.3602, allocations: 85.83 MB / 410.7 MB, free: 13.96 MB / 350.1 MB Notification: Performance of NFInst.instExpressions: time 0.05039/0.4107, allocations: 17.23 MB / 427.9 MB, free: 12.68 MB / 366.1 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.02748/0.4383, allocations: 390.9 kB / 428.3 MB, free: 12.29 MB / 366.1 MB Notification: Performance of NFTyping.typeComponents: time 0.01207/0.4505, allocations: 5.856 MB / 434.1 MB, free: 6.422 MB / 366.1 MB Notification: Performance of NFTyping.typeBindings: time 0.009427/0.46, allocations: 2.468 MB / 436.6 MB, free: 3.945 MB / 366.1 MB Notification: Performance of NFTyping.typeClassSections: time 0.006092/0.4661, allocations: 2.406 MB / 439 MB, free: 1.535 MB / 366.1 MB Notification: Performance of NFFlatten.flatten: time 0.01267/0.4788, allocations: 7.117 MB / 446.1 MB, free: 10.4 MB / 382.1 MB Notification: Performance of NFFlatten.resolveConnections: time 0.01374/0.4926, allocations: 8.547 MB / 454.7 MB, free: 1.762 MB / 382.1 MB Notification: Performance of NFEvalConstants.evaluate: time 0.2875/0.7801, allocations: 2.886 MB / 457.6 MB, free: 9.93 MB / 382.1 MB Notification: Performance of NFSimplifyModel.simplify: time 0.01335/0.7935, allocations: 3.982 MB / 461.5 MB, free: 9.93 MB / 382.1 MB Notification: Performance of NFPackage.collectConstants: time 0.004788/0.7984, allocations: 0.6452 MB / 462.2 MB, free: 9.93 MB / 382.1 MB Notification: Performance of NFFlatten.collectFunctions: time 0.007989/0.8064, allocations: 2.026 MB / 464.2 MB, free: 9.93 MB / 382.1 MB Notification: Performance of NFScalarize.scalarize: time 0.007699/0.8141, allocations: 3.475 MB / 467.7 MB, free: 9.93 MB / 382.1 MB Notification: Performance of NFVerifyModel.verify: time 0.01162/0.8258, allocations: 3.907 MB / 471.6 MB, free: 8.891 MB / 382.1 MB Notification: Performance of NFConvertDAE.convert: time 0.02172/0.8476, allocations: 12.11 MB / 483.7 MB, free: 7.352 MB / 382.1 MB Notification: Performance of FrontEnd - DAE generated: time 8.746e-06/0.8476, allocations: 0 / 483.7 MB, free: 7.352 MB / 382.1 MB Notification: Performance of FrontEnd: time 2.485e-06/0.8477, allocations: 0 / 483.7 MB, free: 7.352 MB / 382.1 MB Notification: Performance of Transformations before backend: time 0.000658/0.8483, allocations: 0 / 483.7 MB, free: 7.352 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: 2401 * Number of variables: 2401 Notification: Performance of Generate backend data structure: time 0.0321/0.8804, allocations: 8.425 MB / 492.1 MB, free: 3.305 MB / 382.1 MB Notification: Performance of prepare preOptimizeDAE: time 6.138e-05/0.8805, allocations: 17.42 kB / 492.1 MB, free: 3.301 MB / 382.1 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.01125/0.8918, allocations: 2.347 MB / 494.5 MB, free: 2.148 MB / 382.1 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.0105/0.9023, allocations: 4.364 MB / 498.9 MB, free: 0.6836 MB / 382.1 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0005188/0.9029, allocations: 436 kB / 499.3 MB, free: 0.6719 MB / 382.1 MB Notification: Performance of preOpt expandDerOperator (simulation): time 0.004148/0.907, allocations: 0.6588 MB / 499.9 MB, free: 0.6367 MB / 382.1 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.04811/0.9552, allocations: 16.93 MB / 0.5048 GB, free: 5.129 MB / 398.1 MB Notification: Performance of preOpt findStateOrder (simulation): time 0.0005193/0.9557, allocations: 67.92 kB / 0.5048 GB, free: 5.09 MB / 398.1 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.004388/0.9602, allocations: 266 kB / 0.5051 GB, free: 4.875 MB / 398.1 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.005139/0.9653, allocations: 2.591 MB / 0.5076 GB, free: 2.32 MB / 398.1 MB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.03821/1.004, allocations: 14.56 MB / 0.5218 GB, free: 4.004 MB / 414.1 MB Warning: The model contains alias variables with redundant start and/or conflicting nominal values. It is recommended to resolve the conflicts, because otherwise the system could be hard to solve. To print the conflicting alias sets and the chosen candidates please use -d=aliasConflicts. Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.1153/1.119, allocations: 64.09 MB / 0.5844 GB, free: 3.105 MB / 478.1 MB Notification: Performance of preOpt comSubExp (simulation): time 0.02343/1.142, allocations: 7.365 MB / 0.5916 GB, free: 11.6 MB / 494.1 MB Notification: Performance of preOpt resolveLoops (simulation): time 0.006189/1.149, allocations: 3.808 MB / 0.5953 GB, free: 7.785 MB / 494.1 MB Notification: Performance of preOpt evalFunc (simulation): time 0.035/1.184, allocations: 16.62 MB / 0.6116 GB, free: 6.723 MB / 0.4981 GB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 8.347e-05/1.184, allocations: 63.66 kB / 0.6116 GB, free: 6.652 MB / 0.4981 GB Notification: Performance of pre-optimization done (n=262): time 7.093e-06/1.184, allocations: 4 kB / 0.6116 GB, free: 6.648 MB / 0.4981 GB Notification: Performance of matching and sorting (n=278): time 0.3132/1.497, allocations: 27.59 MB / 0.6386 GB, free: 235.9 MB / 0.5137 GB Notification: Performance of inlineWhenForInitialization (initialization): time 0.001097/1.498, allocations: 1.7 MB / 0.6402 GB, free: 234.3 MB / 0.5137 GB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.01027/1.508, allocations: 5.887 MB / 0.646 GB, free: 233.5 MB / 0.5137 GB Notification: Performance of collectPreVariables (initialization): time 0.0008215/1.509, allocations: 65.25 kB / 0.646 GB, free: 233.4 MB / 0.5137 GB Notification: Performance of collectInitialEqns (initialization): time 0.003075/1.512, allocations: 4.849 MB / 0.6508 GB, free: 229.7 MB / 0.5137 GB Notification: Performance of collectInitialBindings (initialization): time 0.001454/1.514, allocations: 1.08 MB / 0.6518 GB, free: 228.9 MB / 0.5137 GB Notification: Performance of simplifyInitialFunctions (initialization): time 0.002599/1.516, allocations: 1.843 MB / 0.6536 GB, free: 228.1 MB / 0.5137 GB Notification: Performance of setup shared object (initialization): time 7.563e-05/1.517, allocations: 305 kB / 0.6539 GB, free: 227.8 MB / 0.5137 GB Notification: Performance of preBalanceInitialSystem (initialization): time 0.004617/1.521, allocations: 3.423 MB / 0.6573 GB, free: 226.6 MB / 0.5137 GB Notification: Performance of partitionIndependentBlocks (initialization): time 0.005888/1.527, allocations: 8.862 MB / 0.6659 GB, free: 218.2 MB / 0.5137 GB Notification: Performance of analyzeInitialSystem (initialization): time 0.01335/1.54, allocations: 13.27 MB / 0.6789 GB, free: 207.2 MB / 0.5137 GB Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001569/1.541, allocations: 54.22 kB / 0.6789 GB, free: 207.2 MB / 0.5137 GB Notification: Performance of matching and sorting (n=1192) (initialization): time 0.02891/1.57, allocations: 14.89 MB / 0.6935 GB, free: 195.5 MB / 0.5137 GB Notification: Performance of prepare postOptimizeDAE: time 0.0001276/1.57, allocations: 92.25 kB / 0.6936 GB, free: 195.4 MB / 0.5137 GB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0147/1.584, allocations: 6.801 MB / 0.7002 GB, free: 188.6 MB / 0.5137 GB Notification: Performance of postOpt tearingSystem (initialization): time 0.01172/1.596, allocations: 3.242 MB / 0.7034 GB, free: 185.3 MB / 0.5137 GB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.007017/1.603, allocations: 2.133 MB / 0.7054 GB, free: 183.2 MB / 0.5137 GB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.01539/1.619, allocations: 17.03 MB / 0.7221 GB, free: 165.3 MB / 0.5137 GB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.008604/1.627, allocations: 0.5867 MB / 0.7226 GB, free: 164.7 MB / 0.5137 GB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001842/1.629, allocations: 0.5405 MB / 0.7232 GB, free: 164.2 MB / 0.5137 GB Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 875 * Number of states: 0 () * Number of discrete variables: 60 (freeMotionScalarInit.arrowColor[3],freeMotionScalarInit.arrowColor[2],freeMotionScalarInit.arrowColor[1],fixedTranslation.color[3],fixedTranslation.color[2],fixedTranslation.color[1],fixedRotation.color[3],fixedRotation.color[2],fixedRotation.color[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],springOfConstraint.color[3],springOfConstraint.color[2],springOfConstraint.color[1],springOfConstraint.massColor[3],springOfConstraint.massColor[2],springOfConstraint.massColor[1],springOfJoint.color[3],springOfJoint.color[2],springOfJoint.color[1],springOfJoint.massColor[3],springOfJoint.massColor[2],springOfJoint.massColor[1],bodyOfConstraint.color[3],bodyOfConstraint.color[2],bodyOfConstraint.color[1],bodyOfConstraint.body.sphereColor[3],bodyOfConstraint.body.sphereColor[2],bodyOfConstraint.body.sphereColor[1],bodyOfConstraint.frameTranslation.color[3],bodyOfConstraint.frameTranslation.color[2],bodyOfConstraint.frameTranslation.color[1],bodyOfJoint.color[3],bodyOfJoint.color[2],bodyOfJoint.color[1],bodyOfJoint.body.sphereColor[3],bodyOfJoint.body.sphereColor[2],bodyOfJoint.body.sphereColor[1],bodyOfJoint.frameTranslation.color[3],bodyOfJoint.frameTranslation.color[2],bodyOfJoint.frameTranslation.color[1],sensorConstraintRelative.arrowColor[3],sensorConstraintRelative.arrowColor[2],sensorConstraintRelative.arrowColor[1],constraint.sphereColor[3],constraint.sphereColor[2],constraint.sphereColor[1],joint.sphereColor[3],joint.sphereColor[2],joint.sphereColor[1]) * Number of discrete states: 0 () * Number of clocked states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for initialization (1128): * Single equations (assignments): 1112 * Array equations: 8 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 3 * Torn equation systems: 5 * Mixed (continuous/discrete) equation systems: 0 Notification: Equation system details (not torn): * Constant Jacobian (size): 0 systems * Linear Jacobian (size,density): 2 systems {(3,100.0%), (4,100.0%)} * Non-linear Jacobian (size): 1 system {4} * Without analytic Jacobian (size): 0 systems Notification: Torn system details for strict tearing set: * Linear torn systems (#iteration vars, #inner vars, density): 5 systems {(3,3,100.0%), (3,3,100.0%), (2,1,100.0%), (2,1,100.0%), (2,1,100.0%)} * Non-linear torn systems (#iteration vars, #inner vars): 0 systems Notification: Performance of prepare postOptimizeDAE: time 0.006081/1.635, allocations: 3.243 MB / 0.7263 GB, free: 160.9 MB / 0.5137 GB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001411/1.637, allocations: 0.5245 MB / 0.7269 GB, free: 160.4 MB / 0.5137 GB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01019/1.647, allocations: 6.559 MB / 0.7333 GB, free: 153.7 MB / 0.5137 GB Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.008502/1.655, allocations: 5.671 MB / 0.7388 GB, free: 148 MB / 0.5137 GB Notification: Performance of postOpt constantLinearSystem (simulation): time 0.008272/1.664, allocations: 5.493 MB / 0.7442 GB, free: 142.4 MB / 0.5137 GB Notification: Performance of postOpt simplifysemiLinear (simulation): time 4.4e-05/1.664, allocations: 11.95 kB / 0.7442 GB, free: 142.4 MB / 0.5137 GB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.03223/1.696, allocations: 17.48 MB / 0.7612 GB, free: 124.7 MB / 0.5137 GB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 2.471e-05/1.696, allocations: 8 kB / 0.7613 GB, free: 124.7 MB / 0.5137 GB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002328/1.698, allocations: 0.5076 MB / 0.7618 GB, free: 124.2 MB / 0.5137 GB Notification: Performance of postOpt tearingSystem (simulation): time 0.00483/1.703, allocations: 1.85 MB / 0.7636 GB, free: 122.3 MB / 0.5137 GB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0005275/1.704, allocations: 78.94 kB / 0.7636 GB, free: 122.3 MB / 0.5137 GB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.0096/1.713, allocations: 10.39 MB / 0.7738 GB, free: 111.5 MB / 0.5137 GB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.0007125/1.714, allocations: 1.569 MB / 0.7753 GB, free: 109.7 MB / 0.5137 GB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.01363/1.728, allocations: 9.835 MB / 0.7849 GB, free: 99.7 MB / 0.5137 GB Notification: Performance of postOpt removeConstants (simulation): time 0.002045/1.73, allocations: 0.5722 MB / 0.7855 GB, free: 99.1 MB / 0.5137 GB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001155/1.731, allocations: 62.41 kB / 0.7855 GB, free: 99.04 MB / 0.5137 GB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.003015/1.734, allocations: 223.7 kB / 0.7857 GB, free: 98.82 MB / 0.5137 GB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.00062/1.735, allocations: 201.4 kB / 0.7859 GB, free: 98.63 MB / 0.5137 GB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002034/1.735, allocations: 83.98 kB / 0.786 GB, free: 98.55 MB / 0.5137 GB Notification: Performance of sorting global known variables: time 0.00567/1.741, allocations: 3.664 MB / 0.7896 GB, free: 94.88 MB / 0.5137 GB Notification: Performance of sort global known variables: time 2.2e-07/1.741, allocations: 0 / 0.7896 GB, free: 94.88 MB / 0.5137 GB Notification: Performance of remove unused functions: time 0.01115/1.752, allocations: 1.716 MB / 0.7913 GB, free: 93.18 MB / 0.5137 GB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 43 * Number of states: 12 ($STATESET1.x[3],$STATESET1.x[2],$STATESET1.x[1],joint.w_rel[1],joint.w_rel[2],joint.w_rel[3],bodyOfConstraint.body.w_a[1],bodyOfConstraint.body.w_a[2],bodyOfConstraint.body.w_a[3],freeMotionScalarInit.derd[1].u,freeMotionScalarInit.derd[2].u,freeMotionScalarInit.derd[3].u) * 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 (233): * Single equations (assignments): 223 * Array equations: 4 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 4 * Torn equation systems: 2 * Mixed (continuous/discrete) equation systems: 0 Notification: Equation system details (not torn): * Constant Jacobian (size): 0 systems * Linear Jacobian (size,density): 3 systems {(2,100.0%), (3,100.0%), (4,100.0%)} * Non-linear Jacobian (size): 1 system {4} * Without analytic Jacobian (size): 0 systems Notification: Torn system details for strict tearing set: * Linear torn systems (#iteration vars, #inner vars, density): 2 systems {(3,3,100.0%), (3,3,100.0%)} * Non-linear torn systems (#iteration vars, #inner vars): 0 systems Notification: Performance of Backend phase and start with SimCode phase: time 0.0009431/1.753, allocations: 283.8 kB / 0.7915 GB, free: 92.91 MB / 0.5137 GB Notification: Performance of simCode: created initialization part: time 0.01795/1.771, allocations: 11.59 MB / 0.8029 GB, free: 81.26 MB / 0.5137 GB Notification: Performance of simCode: created event and clocks part: time 1.353e-05/1.771, allocations: 4 kB / 0.8029 GB, free: 81.26 MB / 0.5137 GB Notification: Performance of simCode: created simulation system equations: time 0.004796/1.776, allocations: 3.389 MB / 0.8062 GB, free: 77.77 MB / 0.5137 GB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.005311/1.781, allocations: 0.8725 MB / 0.807 GB, free: 76.91 MB / 0.5137 GB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.02512/1.806, allocations: 18.67 MB / 0.8253 GB, free: 58.09 MB / 0.5137 GB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.005657/1.812, allocations: 4.877 MB / 0.83 GB, free: 53.18 MB / 0.5137 GB Notification: Performance of simCode: alias equations: time 0.007001/1.819, allocations: 2.911 MB / 0.8329 GB, free: 50.27 MB / 0.5137 GB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.001195/1.82, allocations: 367.4 kB / 0.8332 GB, free: 49.91 MB / 0.5137 GB Notification: Performance of SimCode: time 1.473e-06/1.82, allocations: 0 / 0.8332 GB, free: 49.91 MB / 0.5137 GB Notification: Performance of Templates: time 0.2879/2.108, allocations: 66.05 MB / 0.8977 GB, free: 200.6 MB / 0.5137 GB make -j1 -f Modelica_3.2.1_Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint.makefile (rm -f Modelica_3.2.1_Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint.pipe ; mkfifo Modelica_3.2.1_Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint.pipe ; head -c 1048576 < Modelica_3.2.1_Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint.pipe >> ../files/Modelica_3.2.1_Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint.sim & ./Modelica_3.2.1_Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint -abortSlowSimulation -alarm=480 -lv LOG_STATS > Modelica_3.2.1_Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint.pipe 2>&1)