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 0.001273/0.001273, allocations: 122.6 kB / 18.5 MB, free: 4.578 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 0.001409/0.001409, allocations: 206.6 kB / 21.45 MB, free: 1.629 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 1.445/1.445, allocations: 230.4 MB / 254.7 MB, free: 15 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 0.2253/0.2253, allocations: 46.92 MB / 357.7 MB, free: 10.2 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 0.002486/0.002486, allocations: 75.88 kB / 0.4917 GB, free: 7.707 MB / 350.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.1199/0.1223, allocations: 66.05 MB / 0.5562 GB, free: 5.527 MB / 414.1 MB Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Forces.Torque): time 0.01849/0.1408, allocations: 15.57 MB / 0.5714 GB, free: 5.879 MB / 430.1 MB Notification: Performance of NFInst.instExpressions: time 0.01078/0.1516, allocations: 4.96 MB / 0.5762 GB, free: 0.8984 MB / 430.1 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.002451/0.1541, allocations: 123.4 kB / 0.5763 GB, free: 0.7773 MB / 430.1 MB Notification: Performance of NFTyping.typeComponents: time 0.009908/0.164, allocations: 5.039 MB / 0.5813 GB, free: 11.72 MB / 446.1 MB Notification: Performance of NFTyping.typeBindings: time 0.00723/0.1712, allocations: 2.556 MB / 0.5838 GB, free: 9.156 MB / 446.1 MB Notification: Performance of NFTyping.typeClassSections: time 0.00279/0.174, allocations: 1.084 MB / 0.5848 GB, free: 8.07 MB / 446.1 MB Notification: Performance of NFFlatten.flatten: time 0.01066/0.1847, allocations: 6.848 MB / 0.5915 GB, free: 1.211 MB / 446.1 MB Notification: Performance of NFFlatten.resolveConnections: time 0.2688/0.4535, allocations: 4.807 MB / 0.5962 GB, free: 6.281 MB / 446.1 MB Notification: Performance of NFEvalConstants.evaluate: time 0.00554/0.459, allocations: 2.422 MB / 0.5986 GB, free: 6.148 MB / 446.1 MB Notification: Performance of NFSimplifyModel.simplify: time 0.006823/0.4658, allocations: 3.444 MB / 0.6019 GB, free: 5.805 MB / 446.1 MB Notification: Performance of NFPackage.collectConstants: time 0.002158/0.468, allocations: 0.4991 MB / 0.6024 GB, free: 5.805 MB / 446.1 MB Notification: Performance of NFFlatten.collectFunctions: time 0.004011/0.472, allocations: 1.429 MB / 0.6038 GB, free: 5.801 MB / 446.1 MB Notification: Performance of NFScalarize.scalarize: time 0.004456/0.4765, allocations: 3.069 MB / 0.6068 GB, free: 5.441 MB / 446.1 MB Notification: Performance of NFVerifyModel.verify: time 0.006111/0.4826, allocations: 3.395 MB / 0.6101 GB, free: 4.258 MB / 446.1 MB Notification: Performance of NFConvertDAE.convert: time 0.01444/0.497, allocations: 10.51 MB / 0.6204 GB, free: 1.387 MB / 446.1 MB Notification: Performance of FrontEnd - DAE generated: time 8.937e-06/0.497, allocations: 1.406 kB / 0.6204 GB, free: 1.387 MB / 446.1 MB Notification: Performance of FrontEnd: time 2.786e-06/0.497, allocations: 0 / 0.6204 GB, free: 1.387 MB / 446.1 MB Notification: Performance of Transformations before backend: time 0.0005689/0.4976, allocations: 0 / 0.6204 GB, free: 1.387 MB / 446.1 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 0.02644/0.524, allocations: 7.773 MB / 0.628 GB, free: 12.16 MB / 462.1 MB Notification: Performance of prepare preOptimizeDAE: time 5.055e-05/0.5241, allocations: 10.34 kB / 0.628 GB, free: 12.16 MB / 462.1 MB Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.003719/0.5278, allocations: 1.025 MB / 0.629 GB, free: 11.5 MB / 462.1 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.04067/0.5685, allocations: 6.229 MB / 0.6351 GB, free: 8.41 MB / 462.1 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.01213/0.5806, allocations: 4.682 MB / 0.6397 GB, free: 5.77 MB / 462.1 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0003006/0.5809, allocations: 358.3 kB / 0.64 GB, free: 5.648 MB / 462.1 MB Notification: Performance of preOpt expandDerOperator (simulation): time 0.001567/0.5825, allocations: 484.2 kB / 0.6405 GB, free: 5.379 MB / 462.1 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.02982/0.6123, allocations: 14.12 MB / 0.6542 GB, free: 6.508 MB / 478.1 MB Notification: Performance of preOpt findStateOrder (simulation): time 0.0002346/0.6125, allocations: 69.19 kB / 0.6543 GB, free: 6.469 MB / 478.1 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.001031/0.6136, allocations: 222.2 kB / 0.6545 GB, free: 6.301 MB / 478.1 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.005321/0.6189, allocations: 2.707 MB / 0.6572 GB, free: 3.633 MB / 478.1 MB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02644/0.6453, allocations: 11.79 MB / 0.6687 GB, free: 8.094 MB / 494.1 MB Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.08071/0.726, allocations: 56.93 MB / 0.7243 GB, free: 14.5 MB / 0.545 GB Notification: Performance of preOpt comSubExp (simulation): time 0.01612/0.7422, allocations: 5.936 MB / 0.7301 GB, free: 8.43 MB / 0.545 GB Notification: Performance of preOpt resolveLoops (simulation): time 0.005083/0.7472, allocations: 3.269 MB / 0.7333 GB, free: 5.148 MB / 0.545 GB Notification: Performance of preOpt evalFunc (simulation): time 0.01657/0.7638, allocations: 8.308 MB / 0.7414 GB, free: 12.76 MB / 0.5606 GB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 7.468e-05/0.7639, allocations: 58.56 kB / 0.7414 GB, free: 12.7 MB / 0.5606 GB Notification: Performance of pre-optimization done (n=236): time 5.089e-06/0.7639, allocations: 4 kB / 0.7414 GB, free: 12.69 MB / 0.5606 GB Notification: Performance of matching and sorting (n=278): time 0.08035/0.8442, allocations: 29.17 MB / 0.7699 GB, free: 15.36 MB / 0.5919 GB Notification: Performance of inlineWhenForInitialization (initialization): time 0.0001557/0.8444, allocations: 231.6 kB / 0.7701 GB, free: 15.08 MB / 0.5919 GB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.01342/0.8578, allocations: 6.713 MB / 0.7767 GB, free: 8.375 MB / 0.5919 GB Notification: Performance of collectPreVariables (initialization): time 0.0009136/0.8587, allocations: 73.06 kB / 0.7768 GB, free: 8.301 MB / 0.5919 GB Notification: Performance of collectInitialEqns (initialization): time 0.0048/0.8635, allocations: 4.631 MB / 0.7813 GB, free: 3.691 MB / 0.5919 GB Notification: Performance of collectInitialBindings (initialization): time 0.001876/0.8654, allocations: 1.104 MB / 0.7824 GB, free: 2.602 MB / 0.5919 GB Notification: Performance of simplifyInitialFunctions (initialization): time 0.003846/0.8692, allocations: 1.733 MB / 0.7841 GB, free: 0.8555 MB / 0.5919 GB Notification: Performance of setup shared object (initialization): time 0.0001357/0.8694, allocations: 305.1 kB / 0.7843 GB, free: 0.5547 MB / 0.5919 GB Notification: Performance of preBalanceInitialSystem (initialization): time 0.005919/0.8753, allocations: 3.353 MB / 0.7876 GB, free: 13.2 MB / 0.6075 GB Notification: Performance of partitionIndependentBlocks (initialization): time 0.01102/0.8863, allocations: 8.404 MB / 0.7958 GB, free: 2.375 MB / 0.6075 GB Notification: Performance of analyzeInitialSystem (initialization): time 0.01756/0.9039, allocations: 12.75 MB / 0.8083 GB, free: 3.672 MB / 0.6231 GB Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001552/0.904, allocations: 52 kB / 0.8083 GB, free: 3.621 MB / 0.6231 GB Notification: Performance of matching and sorting (n=1102) (initialization): time 0.02681/0.9309, allocations: 13.03 MB / 0.8211 GB, free: 6.578 MB / 0.6387 GB Notification: Performance of prepare postOptimizeDAE: time 0.0001271/0.931, allocations: 80 kB / 0.8211 GB, free: 6.5 MB / 0.6387 GB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.000225/0.9312, allocations: 179.9 kB / 0.8213 GB, free: 6.324 MB / 0.6387 GB Notification: Performance of postOpt tearingSystem (initialization): time 0.004926/0.9361, allocations: 1.774 MB / 0.823 GB, free: 4.543 MB / 0.6387 GB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.00724/0.9434, allocations: 1.949 MB / 0.8249 GB, free: 2.59 MB / 0.6387 GB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.0185/0.9619, allocations: 12.86 MB / 0.8375 GB, free: 5.461 MB / 0.6544 GB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.007436/0.9693, allocations: 493.4 kB / 0.838 GB, free: 4.98 MB / 0.6544 GB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.002008/0.9713, allocations: 0.4999 MB / 0.8385 GB, free: 4.48 MB / 0.6544 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 0.007709/0.979, allocations: 2.991 MB / 0.8414 GB, free: 1.477 MB / 0.6544 GB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001711/0.9807, allocations: 0.5898 MB / 0.842 GB, free: 0.8828 MB / 0.6544 GB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.2642/1.245, allocations: 6.322 MB / 0.8481 GB, free: 220.5 MB / 0.6544 GB Notification: Performance of postOpt inlineArrayEqn (simulation): time 5.217e-05/1.245, allocations: 32.16 kB / 0.8482 GB, free: 220.5 MB / 0.6544 GB Notification: Performance of postOpt constantLinearSystem (simulation): time 3.18e-05/1.245, allocations: 9.25 kB / 0.8482 GB, free: 220.5 MB / 0.6544 GB Notification: Performance of postOpt simplifysemiLinear (simulation): time 4.729e-05/1.245, allocations: 13.78 kB / 0.8482 GB, free: 220.5 MB / 0.6544 GB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.02877/1.274, allocations: 13.95 MB / 0.8618 GB, free: 217.6 MB / 0.6544 GB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.175e-05/1.274, allocations: 7.906 kB / 0.8618 GB, free: 217.6 MB / 0.6544 GB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002479/1.276, allocations: 457.2 kB / 0.8623 GB, free: 217.6 MB / 0.6544 GB Notification: Performance of postOpt tearingSystem (simulation): time 0.004309/1.281, allocations: 1.535 MB / 0.8638 GB, free: 217.3 MB / 0.6544 GB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0006127/1.281, allocations: 50.7 kB / 0.8638 GB, free: 217.3 MB / 0.6544 GB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.01303/1.294, allocations: 12.18 MB / 0.8757 GB, free: 210.9 MB / 0.6544 GB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 6.873e-06/1.294, allocations: 9.531 kB / 0.8757 GB, free: 210.9 MB / 0.6544 GB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.01387/1.308, allocations: 10.34 MB / 0.8858 GB, free: 207 MB / 0.6544 GB Notification: Performance of postOpt removeConstants (simulation): time 0.001795/1.31, allocations: 0.6585 MB / 0.8864 GB, free: 206.9 MB / 0.6544 GB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001233/1.311, allocations: 50.38 kB / 0.8865 GB, free: 206.8 MB / 0.6544 GB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002712/1.314, allocations: 176.9 kB / 0.8867 GB, free: 206.8 MB / 0.6544 GB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0006461/1.315, allocations: 183.5 kB / 0.8868 GB, free: 206.8 MB / 0.6544 GB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.000217/1.315, allocations: 78.72 kB / 0.8869 GB, free: 206.8 MB / 0.6544 GB Notification: Performance of sorting global known variables: time 0.006957/1.322, allocations: 4.299 MB / 0.8911 GB, free: 204.4 MB / 0.6544 GB Notification: Performance of sort global known variables: time 1.6e-07/1.322, allocations: 0 / 0.8911 GB, free: 204.4 MB / 0.6544 GB Notification: Performance of remove unused functions: time 0.007995/1.33, allocations: 1.518 MB / 0.8926 GB, free: 202.9 MB / 0.6544 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 0.01369/1.343, allocations: 11.01 MB / 0.9033 GB, free: 193.6 MB / 0.6544 GB Notification: Performance of simCode: created initialization part: time 0.01073/1.354, allocations: 7.95 MB / 0.9111 GB, free: 185.9 MB / 0.6544 GB Notification: Performance of simCode: created event and clocks part: time 8.917e-06/1.354, allocations: 4 kB / 0.9111 GB, free: 185.9 MB / 0.6544 GB Notification: Performance of simCode: created simulation system equations: time 0.004787/1.359, allocations: 3.033 MB / 0.9141 GB, free: 182.9 MB / 0.6544 GB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.005007/1.364, allocations: 0.7493 MB / 0.9148 GB, free: 182.2 MB / 0.6544 GB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.09761/1.462, allocations: 75.68 MB / 0.9887 GB, free: 98.53 MB / 0.6544 GB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.005895/1.468, allocations: 4.53 MB / 0.9931 GB, free: 93.96 MB / 0.6544 GB Notification: Performance of simCode: alias equations: time 0.006499/1.474, allocations: 2.779 MB / 0.9959 GB, free: 91.18 MB / 0.6544 GB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.00558/1.48, allocations: 2.94 MB / 0.9987 GB, free: 88.24 MB / 0.6544 GB Notification: Performance of SimCode: time 1.804e-06/1.48, allocations: 0 / 0.9987 GB, free: 88.24 MB / 0.6544 GB Notification: Performance of buildModelFMU: Generate the FMI files: time 0.4297/1.909, allocations: 117.4 MB / 1.113 GB, free: 224.9 MB / 0.67 GB Notification: Performance of buildModelFMU: Generate platform static: time 24.53/26.44, allocations: 8.672 kB / 1.113 GB, free: 224.9 MB / 0.67 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 & python3 -m fmpy simulate --output-file ModelicaTest_4.1.0-beta.om_ModelicaTest.MultiBody.Forces.Torque_res.csv --start-time 0 --stop-time 1.1 --timeout 50 --relative-tolerance 1e-06 --interface-type ModelExchange --solver CVode --output-interval 0.000219912 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: 29.504219287075102] 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'] 26.599556661210954 26.615920154 26.115365726 Calling exit ...