Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr ModelicaTest_3.2.3_ModelicaTest.MultiBody.Frames.AngularVelocity.conf.json loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.1.0+maint.om/package.mo", uses=false) [Timeout 180] "Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.1.0+maint.om/package.mo): time 0.001447/0.001447, allocations: 104.3 kB / 19.7 MB, free: 2.059 MB / 14.72 MB " [Timeout remaining time 180] loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.1.0+maint.om/package.mo", uses=false) [Timeout 180] "Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.1.0+maint.om/package.mo): time 0.001442/0.001442, allocations: 212.1 kB / 22.99 MB, free: 4.879 MB / 14.72 MB " [Timeout remaining time 180] loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo", uses=false) [Timeout 180] "Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.525/1.525, allocations: 207.7 MB / 233.8 MB, free: 9.785 MB / 190.1 MB " [Timeout remaining time 178] loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.3+maint.om/package.mo", uses=false) [Timeout 180] "Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.3+maint.om/package.mo): time 0.2212/0.2212, allocations: 44.27 MB / 330.3 MB, free: 9.309 MB / 270.1 MB " [Timeout remaining time 180] Using package ModelicaTest with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.3+maint.om/package.mo) 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 4.1.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.1.0+maint.om/package.mo) Using package ModelicaServices with version 4.1.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.1.0+maint.om/package.mo) Running command: "" <> buildModelFMU(ModelicaTest.MultiBody.Frames.AngularVelocity,fileNamePrefix="ModelicaTest_3_2_3_ModelicaTest_MultiBody_Frames_AngularVelocity",fmuType="me",version="2.0",platforms={"static"}) "" <> buildModelFMU(ModelicaTest.MultiBody.Frames.AngularVelocity,fileNamePrefix="ModelicaTest_3_2_3_ModelicaTest_MultiBody_Frames_AngularVelocity",fmuType="me",version="2.0",platforms={"static"}) [Timeout 660] "Notification: Modelica requested package Complex of version 3.2.3. Complex 4.1.0 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 4.1.0 is used instead which states that it is fully compatible without conversion script needed. Notification: Performance of FrontEnd - loaded program: time 0.002518/0.002518, allocations: 67.89 kB / 467.6 MB, free: 4.238 MB / 334.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.1218/0.1244, allocations: 61.06 MB / 0.5163 GB, free: 7.047 MB / 398.1 MB Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Frames.AngularVelocity): time 0.01328/0.1376, allocations: 10.41 MB / 0.5264 GB, free: 12.59 MB / 414.1 MB Notification: Performance of NFInst.instExpressions: time 0.008795/0.1464, allocations: 3.989 MB / 0.5303 GB, free: 8.586 MB / 414.1 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.001622/0.1481, allocations: 79.62 kB / 0.5304 GB, free: 8.508 MB / 414.1 MB Notification: Performance of NFTyping.typeComponents: time 0.005985/0.154, allocations: 2.772 MB / 0.5331 GB, free: 5.727 MB / 414.1 MB Notification: Performance of NFTyping.typeBindings: time 0.006095/0.1601, allocations: 1.942 MB / 0.535 GB, free: 3.777 MB / 414.1 MB Notification: Performance of NFTyping.typeClassSections: time 0.001916/0.162, allocations: 0.6941 MB / 0.5357 GB, free: 3.082 MB / 414.1 MB Notification: Performance of NFFlatten.flatten: time 0.2593/0.4213, allocations: 3.845 MB / 0.5394 GB, free: 10.62 MB / 414.1 MB Notification: Performance of NFFlatten.resolveConnections: time 0.004723/0.426, allocations: 2.962 MB / 0.5423 GB, free: 10.43 MB / 414.1 MB Notification: Performance of NFEvalConstants.evaluate: time 0.003117/0.4291, allocations: 1.615 MB / 0.5439 GB, free: 10.24 MB / 414.1 MB Notification: Performance of NFSimplifyModel.simplify: time 0.004057/0.4332, allocations: 2.158 MB / 0.546 GB, free: 10 MB / 414.1 MB Notification: Performance of NFPackage.collectConstants: time 0.001267/0.4345, allocations: 357.5 kB / 0.5464 GB, free: 10 MB / 414.1 MB Notification: Performance of NFFlatten.collectFunctions: time 0.003813/0.4383, allocations: 1.118 MB / 0.5475 GB, free: 10 MB / 414.1 MB Notification: Performance of NFScalarize.scalarize: time 0.003402/0.4417, allocations: 2.06 MB / 0.5495 GB, free: 9.758 MB / 414.1 MB Notification: Performance of NFVerifyModel.verify: time 0.004786/0.4465, allocations: 1.721 MB / 0.5511 GB, free: 9.152 MB / 414.1 MB Notification: Performance of NFConvertDAE.convert: time 0.01106/0.4575, allocations: 7.432 MB / 0.5584 GB, free: 7.078 MB / 414.1 MB Notification: Performance of FrontEnd - DAE generated: time 5.981e-06/0.4575, allocations: 0 / 0.5584 GB, free: 7.078 MB / 414.1 MB Notification: Performance of FrontEnd: time 2.054e-06/0.4575, allocations: 0 / 0.5584 GB, free: 7.078 MB / 414.1 MB Notification: Performance of Transformations before backend: time 0.0002985/0.4578, allocations: 1.281 kB / 0.5584 GB, free: 7.078 MB / 414.1 MB Notification: Model statistics after passing the front-end and creating the data structures used by the back-end: * Number of equations: 1590 * Number of variables: 1590 Notification: Performance of Generate backend data structure: time 0.01405/0.4719, allocations: 4.925 MB / 0.5632 GB, free: 4.379 MB / 414.1 MB Notification: Performance of prepare preOptimizeDAE: time 5.282e-05/0.4719, allocations: 9.938 kB / 0.5632 GB, free: 4.379 MB / 414.1 MB Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.002153/0.4741, allocations: 0.759 MB / 0.564 GB, free: 4.031 MB / 414.1 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.008064/0.4821, allocations: 1.98 MB / 0.5659 GB, free: 3.488 MB / 414.1 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.008342/0.4905, allocations: 2.692 MB / 0.5685 GB, free: 2.02 MB / 414.1 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0004099/0.4909, allocations: 259.1 kB / 0.5688 GB, free: 1.934 MB / 414.1 MB Notification: Performance of preOpt expandDerOperator (simulation): time 0.002639/0.4935, allocations: 428.9 kB / 0.5692 GB, free: 1.812 MB / 414.1 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.02178/0.5153, allocations: 10.46 MB / 0.5794 GB, free: 11.59 MB / 430.1 MB Notification: Performance of preOpt findStateOrder (simulation): time 0.0001535/0.5155, allocations: 39.86 kB / 0.5794 GB, free: 11.59 MB / 430.1 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.000568/0.516, allocations: 170.6 kB / 0.5796 GB, free: 11.51 MB / 430.1 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.003135/0.5192, allocations: 1.939 MB / 0.5815 GB, free: 10.8 MB / 430.1 MB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.01858/0.5378, allocations: 8.635 MB / 0.5899 GB, free: 5.02 MB / 430.1 MB Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.06263/0.6004, allocations: 38.52 MB / 0.6275 GB, free: 13.94 MB / 478.1 MB Notification: Performance of preOpt comSubExp (simulation): time 0.0104/0.6108, allocations: 3.246 MB / 0.6307 GB, free: 10.68 MB / 478.1 MB Notification: Performance of preOpt resolveLoops (simulation): time 0.003144/0.6139, allocations: 1.673 MB / 0.6324 GB, free: 9 MB / 478.1 MB Notification: Performance of preOpt evalFunc (simulation): time 0.0144/0.6283, allocations: 6.311 MB / 0.6385 GB, free: 2.727 MB / 478.1 MB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 5.29e-05/0.6284, allocations: 47.56 kB / 0.6386 GB, free: 2.672 MB / 478.1 MB Notification: Performance of pre-optimization done (n=153): time 5.871e-06/0.6284, allocations: 0 / 0.6386 GB, free: 2.672 MB / 478.1 MB Notification: Performance of matching and sorting (n=160): time 0.03347/0.6618, allocations: 13.05 MB / 0.6513 GB, free: 5.582 MB / 494.1 MB Notification: Performance of inlineWhenForInitialization (initialization): time 0.001579/0.6634, allocations: 1.597 MB / 0.6529 GB, free: 3.848 MB / 494.1 MB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.007173/0.6706, allocations: 4.229 MB / 0.657 GB, free: 15.63 MB / 0.4981 GB Notification: Performance of collectPreVariables (initialization): time 0.0004651/0.6711, allocations: 45.7 kB / 0.657 GB, free: 15.58 MB / 0.4981 GB Notification: Performance of collectInitialEqns (initialization): time 0.00291/0.674, allocations: 3.342 MB / 0.6603 GB, free: 12.25 MB / 0.4981 GB Notification: Performance of collectInitialBindings (initialization): time 0.001083/0.6751, allocations: 0.6713 MB / 0.661 GB, free: 11.59 MB / 0.4981 GB Notification: Performance of simplifyInitialFunctions (initialization): time 0.002058/0.6771, allocations: 1.238 MB / 0.6622 GB, free: 10.34 MB / 0.4981 GB Notification: Performance of setup shared object (initialization): time 0.0001319/0.6772, allocations: 305.1 kB / 0.6625 GB, free: 10.04 MB / 0.4981 GB Notification: Performance of preBalanceInitialSystem (initialization): time 0.003685/0.6809, allocations: 2.186 MB / 0.6646 GB, free: 7.852 MB / 0.4981 GB Notification: Performance of partitionIndependentBlocks (initialization): time 0.007688/0.6886, allocations: 5.937 MB / 0.6704 GB, free: 112 kB / 0.4981 GB Notification: Performance of analyzeInitialSystem (initialization): time 0.01284/0.7015, allocations: 8.706 MB / 0.6789 GB, free: 5.699 MB / 0.5137 GB Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001484/0.7016, allocations: 44.81 kB / 0.6789 GB, free: 5.656 MB / 0.5137 GB Notification: Performance of matching and sorting (n=788) (initialization): time 0.02445/0.7261, allocations: 9.298 MB / 0.688 GB, free: 12.34 MB / 0.5294 GB Notification: Performance of prepare postOptimizeDAE: time 9.756e-05/0.7262, allocations: 64 kB / 0.6881 GB, free: 12.28 MB / 0.5294 GB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.01109/0.7372, allocations: 3.542 MB / 0.6915 GB, free: 8.723 MB / 0.5294 GB Notification: Performance of postOpt tearingSystem (initialization): time 0.009629/0.7469, allocations: 1.852 MB / 0.6933 GB, free: 6.855 MB / 0.5294 GB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.004963/0.7518, allocations: 1.396 MB / 0.6947 GB, free: 5.457 MB / 0.5294 GB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.009345/0.7612, allocations: 5.848 MB / 0.7004 GB, free: 15.39 MB / 0.545 GB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.005546/0.7667, allocations: 419.4 kB / 0.7008 GB, free: 14.98 MB / 0.545 GB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001055/0.7678, allocations: 376 kB / 0.7012 GB, free: 14.61 MB / 0.545 GB Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 605 * Number of states: 0 () * Number of discrete variables: 39 (FrameTorque1.color[3],FrameTorque1.color[2],FrameTorque1.color[1],spring2.color[3],spring2.color[2],spring2.color[1],spring2.massColor[3],spring2.massColor[2],spring2.massColor[1],body.color[3],body.color[2],body.color[1],body.body.sphereColor[3],body.body.sphereColor[2],body.body.sphereColor[1],body.frameTranslation.color[3],body.frameTranslation.color[2],body.frameTranslation.color[1],spring1.color[3],spring1.color[2],spring1.color[1],spring1.massColor[3],spring1.massColor[2],spring1.massColor[1],bar2.color[3],bar2.color[2],bar2.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]) * Number of discrete states: 0 () * Number of clocked states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for initialization (750): * Single equations (assignments): 741 * Array equations: 5 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 3 * Torn equation systems: 1 * Mixed (continuous/discrete) equation systems: 0 Notification: Equation system details (not torn): * Constant Jacobian (size): 0 systems * Linear Jacobian (size,density): 2 systems {(4,100.0%), (3,100.0%)} * 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): 1 system {(2,1,100.0%)} * Non-linear torn systems (#iteration vars, #inner vars): 0 systems Notification: Performance of prepare postOptimizeDAE: time 0.004388/0.7722, allocations: 2.123 MB / 0.7033 GB, free: 12.48 MB / 0.545 GB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.0008072/0.773, allocations: 363.5 kB / 0.7036 GB, free: 12.12 MB / 0.545 GB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.006697/0.7797, allocations: 3.164 MB / 0.7067 GB, free: 8.934 MB / 0.545 GB Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.005393/0.7851, allocations: 2.679 MB / 0.7093 GB, free: 6.234 MB / 0.545 GB Notification: Performance of postOpt constantLinearSystem (simulation): time 1.701e-05/0.7851, allocations: 7.938 kB / 0.7093 GB, free: 6.227 MB / 0.545 GB Notification: Performance of postOpt simplifysemiLinear (simulation): time 3.018e-05/0.7851, allocations: 3.984 kB / 0.7093 GB, free: 6.223 MB / 0.545 GB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.01956/0.8047, allocations: 8.643 MB / 0.7178 GB, free: 13.51 MB / 0.5606 GB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 1.979e-05/0.8047, allocations: 4 kB / 0.7178 GB, free: 13.51 MB / 0.5606 GB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.001473/0.8062, allocations: 267.6 kB / 0.718 GB, free: 13.25 MB / 0.5606 GB Notification: Performance of postOpt tearingSystem (simulation): time 0.003295/0.8095, allocations: 1.037 MB / 0.719 GB, free: 12.2 MB / 0.5606 GB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0002097/0.8097, allocations: 39.97 kB / 0.7191 GB, free: 12.16 MB / 0.5606 GB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.006581/0.8163, allocations: 5.097 MB / 0.724 GB, free: 6.836 MB / 0.5606 GB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.001244/0.8175, allocations: 1.458 MB / 0.7255 GB, free: 5.258 MB / 0.5606 GB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.009762/0.8273, allocations: 5.589 MB / 0.7309 GB, free: 15.62 MB / 0.5762 GB Notification: Performance of postOpt removeConstants (simulation): time 0.001341/0.8286, allocations: 349.4 kB / 0.7313 GB, free: 15.28 MB / 0.5762 GB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0007237/0.8293, allocations: 24 kB / 0.7313 GB, free: 15.26 MB / 0.5762 GB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.001931/0.8313, allocations: 147.8 kB / 0.7314 GB, free: 15.11 MB / 0.5762 GB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0003541/0.8316, allocations: 104.7 kB / 0.7315 GB, free: 15.01 MB / 0.5762 GB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0001574/0.8318, allocations: 50.62 kB / 0.7316 GB, free: 14.96 MB / 0.5762 GB Notification: Performance of sorting global known variables: time 0.005089/0.8369, allocations: 2.485 MB / 0.734 GB, free: 12.5 MB / 0.5762 GB Notification: Performance of sort global known variables: time 5.01e-07/0.8369, allocations: 0 / 0.734 GB, free: 12.5 MB / 0.5762 GB Notification: Performance of remove unused functions: time 0.006289/0.8432, allocations: 1.078 MB / 0.7351 GB, free: 11.42 MB / 0.5762 GB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 7 * Number of states: 12 ($STATESET1.x[3],$STATESET1.x[2],$STATESET1.x[1],body.v_0[1],body.v_0[2],body.v_0[3],body.body.frame_a.r_0[1],body.body.frame_a.r_0[2],body.body.frame_a.r_0[3],body.body.w_a[1],body.body.w_a[2],body.body.w_a[3]) * 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 (126): * Single equations (assignments): 119 * Array equations: 3 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 3 * Torn equation systems: 1 * Mixed (continuous/discrete) equation systems: 0 Notification: Equation system details (not torn): * Constant Jacobian (size): 0 systems * Linear Jacobian (size,density): 2 systems {(4,100.0%), (3,100.0%)} * 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): 1 system {(2,1,100.0%)} * Non-linear torn systems (#iteration vars, #inner vars): 0 systems Notification: Performance of Backend phase and start with SimCode phase: time 0.01005/0.8532, allocations: 6.242 MB / 0.7411 GB, free: 5.133 MB / 0.5762 GB Notification: Performance of simCode: created initialization part: time 0.01167/0.8649, allocations: 5.466 MB / 0.7465 GB, free: 15.66 MB / 0.5919 GB Notification: Performance of simCode: created event and clocks part: time 5.941e-06/0.8649, allocations: 0 / 0.7465 GB, free: 15.66 MB / 0.5919 GB Notification: Performance of simCode: created simulation system equations: time 0.004474/0.8694, allocations: 2.017 MB / 0.7485 GB, free: 13.61 MB / 0.5919 GB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.003192/0.8726, allocations: 446 kB / 0.7489 GB, free: 13.18 MB / 0.5919 GB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.3299/1.202, allocations: 48.28 MB / 0.796 GB, free: 177.3 MB / 0.5919 GB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.003071/1.206, allocations: 2.753 MB / 0.7987 GB, free: 176.5 MB / 0.5919 GB Notification: Performance of simCode: alias equations: time 0.00374/1.209, allocations: 1.897 MB / 0.8006 GB, free: 176.3 MB / 0.5919 GB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.002059/1.211, allocations: 1.896 MB / 0.8024 GB, free: 174.6 MB / 0.5919 GB Notification: Performance of SimCode: time 8.21e-07/1.211, allocations: 0 / 0.8024 GB, free: 174.6 MB / 0.5919 GB Notification: Performance of buildModelFMU: Generate the FMI files: time 0.1184/1.33, allocations: 71.4 MB / 0.8721 GB, free: 107.4 MB / 0.5919 GB Notification: Performance of buildModelFMU: Generate platform static: time 17.53/18.86, allocations: 7.906 kB / 0.8722 GB, free: 107.4 MB / 0.5919 GB " [Timeout remaining time 641] (rm -f ModelicaTest_3.2.3_ModelicaTest.MultiBody.Frames.AngularVelocity.pipe ; mkfifo ModelicaTest_3.2.3_ModelicaTest.MultiBody.Frames.AngularVelocity.pipe ; head -c 1048576 < ModelicaTest_3.2.3_ModelicaTest.MultiBody.Frames.AngularVelocity.pipe >> ../files/ModelicaTest_3.2.3_ModelicaTest.MultiBody.Frames.AngularVelocity.sim & python3 -m fmpy simulate --output-file ModelicaTest_3.2.3_ModelicaTest.MultiBody.Frames.AngularVelocity_res.csv --start-time 0 --stop-time 1.1 --timeout 50 --relative-tolerance 1e-06 --interface-type ModelExchange --solver CVode --output-interval 0.000219692 ModelicaTest_3_2_3_ModelicaTest_MultiBody_Frames_AngularVelocity.fmu > ModelicaTest_3.2.3_ModelicaTest.MultiBody.Frames.AngularVelocity.pipe 2>&1) [Timeout 52.5] [Calling os._exit(0), Time elapsed: 22.025044159032404] Failed to read output from testmodel.py, exit status != 0: ['time', 'body.body.Q[1]', 'body.body.Q[2]', 'body.body.Q[3]', 'body.body.Q[4]', 'body.body.frame_a.r_0[1]', 'body.body.frame_a.r_0[2]', 'body.body.frame_a.r_0[3]', 'body.body.w_a[1]', 'body.body.w_a[2]', 'body.body.w_a[3]', 'body.v_0[1]', 'body.v_0[2]', 'body.v_0[3]'] 19.025962952990085 19.037408202 18.577244876 Calling exit ...