Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr ModelicaTest_4.1.0_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint.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 0.001382/0.001382, allocations: 111.1 kB / 20.44 MB, free: 1.184 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 0.001515/0.001515, allocations: 210 kB / 23.73 MB, free: 4.387 MB / 14.72 MB " [Timeout remaining time 180] loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.1.0+maint.om/package.mo", uses=false) [Timeout 180] "Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.1.0+maint.om/package.mo): time 1.478/1.478, allocations: 230.6 MB / 257.5 MB, free: 7.793 MB / 206.1 MB " [Timeout remaining time 178] loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.1.0+maint.om/package.mo", uses=false) [Timeout 180] "Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.1.0+maint.om/package.mo): time 0.2759/0.2759, allocations: 46.97 MB / 360.9 MB, free: 4.035 MB / 286.1 MB " [Timeout remaining time 179] Using package ModelicaTest with version 4.1.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.1.0+maint.om/package.mo) Using package Modelica with version 4.1.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.1.0+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.Joints.RevolutePlanarLoopConstraint,fileNamePrefix="ModelicaTest_4_1_0_ModelicaTest_MultiBody_Joints_RevolutePlanarLoopConstraint",fmuType="me",version="2.0",platforms={"static"}) "" <> buildModelFMU(ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint,fileNamePrefix="ModelicaTest_4_1_0_ModelicaTest_MultiBody_Joints_RevolutePlanarLoopConstraint",fmuType="me",version="2.0",platforms={"static"}) [Timeout 660] "Notification: Performance of FrontEnd - loaded program: time 0.00204/0.00204, allocations: 59.91 kB / 0.4961 GB, free: 7.719 MB / 366.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.3596/0.3617, allocations: 66.04 MB / 0.5606 GB, free: 4.238 MB / 398.1 MB Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint): time 0.01957/0.3813, allocations: 14.57 MB / 0.5748 GB, free: 5.605 MB / 414.1 MB Notification: Performance of NFInst.instExpressions: time 0.01333/0.3946, allocations: 5.273 MB / 0.58 GB, free: 324 kB / 414.1 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.00426/0.3989, allocations: 159.1 kB / 0.5801 GB, free: 164 kB / 414.1 MB Notification: Performance of NFTyping.typeComponents: time 0.009601/0.4085, allocations: 4.513 MB / 0.5845 GB, free: 11.63 MB / 430.1 MB Notification: Performance of NFTyping.typeBindings: time 0.007508/0.416, allocations: 2.521 MB / 0.587 GB, free: 9.102 MB / 430.1 MB Notification: Performance of NFTyping.typeClassSections: time 0.003255/0.4192, allocations: 1.307 MB / 0.5883 GB, free: 7.793 MB / 430.1 MB Notification: Performance of NFFlatten.flatten: time 0.01371/0.4329, allocations: 8.652 MB / 0.5967 GB, free: 15.12 MB / 446.1 MB Notification: Performance of NFFlatten.resolveConnections: time 0.00643/0.4394, allocations: 4.241 MB / 0.6009 GB, free: 10.82 MB / 446.1 MB Notification: Performance of NFEvalConstants.evaluate: time 0.005042/0.4444, allocations: 2.641 MB / 0.6034 GB, free: 8.168 MB / 446.1 MB Notification: Performance of NFSimplifyModel.simplify: time 0.005344/0.4497, allocations: 3.205 MB / 0.6066 GB, free: 4.953 MB / 446.1 MB Notification: Performance of NFPackage.collectConstants: time 0.00119/0.4509, allocations: 0.4922 MB / 0.6071 GB, free: 4.461 MB / 446.1 MB Notification: Performance of NFFlatten.collectFunctions: time 0.002605/0.4535, allocations: 1.237 MB / 0.6083 GB, free: 3.223 MB / 446.1 MB Notification: Performance of NFScalarize.scalarize: time 0.003204/0.4567, allocations: 2.957 MB / 0.6112 GB, free: 264 kB / 446.1 MB Notification: Performance of NFVerifyModel.verify: time 0.00356/0.4603, allocations: 2.456 MB / 0.6136 GB, free: 13.78 MB / 462.1 MB Notification: Performance of NFConvertDAE.convert: time 0.01224/0.4725, allocations: 9.512 MB / 0.6228 GB, free: 4.234 MB / 462.1 MB Notification: Performance of FrontEnd - DAE generated: time 6.723e-06/0.4726, allocations: 0 / 0.6228 GB, free: 4.234 MB / 462.1 MB Notification: Performance of FrontEnd: time 4.819e-06/0.4726, allocations: 3.984 kB / 0.6228 GB, free: 4.23 MB / 462.1 MB Notification: Performance of Transformations before backend: time 0.000289/0.4728, allocations: 0 / 0.6228 GB, free: 4.23 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 0.02303/0.4959, allocations: 7.643 MB / 0.6303 GB, free: 12.52 MB / 478.1 MB Notification: Performance of prepare preOptimizeDAE: time 5.578e-05/0.4959, allocations: 12.03 kB / 0.6303 GB, free: 12.51 MB / 478.1 MB Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.002261/0.4982, allocations: 0.7388 MB / 0.631 GB, free: 11.76 MB / 478.1 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.06458/0.5628, allocations: 8.942 MB / 0.6398 GB, free: 2.801 MB / 478.1 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.01502/0.5778, allocations: 6.261 MB / 0.6459 GB, free: 12.46 MB / 494.1 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0003868/0.5782, allocations: 351.2 kB / 0.6462 GB, free: 12.11 MB / 494.1 MB Notification: Performance of preOpt expandDerOperator (simulation): time 0.001413/0.5796, allocations: 415.7 kB / 0.6466 GB, free: 11.7 MB / 494.1 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.02404/0.6036, allocations: 10.88 MB / 0.6572 GB, free: 224 kB / 494.1 MB Notification: Performance of preOpt findStateOrder (simulation): time 0.0002262/0.6039, allocations: 67.53 kB / 0.6573 GB, free: 156 kB / 494.1 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0006427/0.6045, allocations: 179.9 kB / 0.6575 GB, free: 15.98 MB / 0.4981 GB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.003422/0.6079, allocations: 1.725 MB / 0.6592 GB, free: 14.25 MB / 0.4981 GB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02999/0.6379, allocations: 8.985 MB / 0.6679 GB, free: 5.238 MB / 0.4981 GB Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.07889/0.7168, allocations: 40.9 MB / 0.7079 GB, free: 11.54 MB / 0.545 GB Notification: Performance of preOpt comSubExp (simulation): time 0.02304/0.7398, allocations: 7.359 MB / 0.7151 GB, free: 4.172 MB / 0.545 GB Notification: Performance of preOpt resolveLoops (simulation): time 0.007515/0.7474, allocations: 4.794 MB / 0.7198 GB, free: 15.37 MB / 0.5606 GB Notification: Performance of preOpt evalFunc (simulation): time 0.02065/0.768, allocations: 11.03 MB / 0.7305 GB, free: 4.289 MB / 0.5606 GB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 6.939e-05/0.7681, allocations: 60.8 kB / 0.7306 GB, free: 4.219 MB / 0.5606 GB Notification: Performance of pre-optimization done (n=283): time 6.001e-06/0.7681, allocations: 4 kB / 0.7306 GB, free: 4.215 MB / 0.5606 GB Notification: Performance of matching and sorting (n=406): time 0.4708/1.239, allocations: 74.36 MB / 0.8032 GB, free: 100.4 MB / 0.5606 GB Notification: Performance of inlineWhenForInitialization (initialization): time 0.0132/1.252, allocations: 10.86 MB / 0.8138 GB, free: 89.33 MB / 0.5606 GB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.005218/1.257, allocations: 4.416 MB / 0.8181 GB, free: 84.97 MB / 0.5606 GB Notification: Performance of collectPreVariables (initialization): time 0.001093/1.258, allocations: 101.5 kB / 0.8182 GB, free: 84.87 MB / 0.5606 GB Notification: Performance of collectInitialEqns (initialization): time 0.001573/1.26, allocations: 3.05 MB / 0.8212 GB, free: 82.14 MB / 0.5606 GB Notification: Performance of collectInitialBindings (initialization): time 0.001673/1.262, allocations: 1.473 MB / 0.8226 GB, free: 80.84 MB / 0.5606 GB Notification: Performance of simplifyInitialFunctions (initialization): time 0.001709/1.263, allocations: 1.136 MB / 0.8237 GB, free: 79.7 MB / 0.5606 GB Notification: Performance of setup shared object (initialization): time 3.721e-05/1.263, allocations: 301.1 kB / 0.824 GB, free: 79.4 MB / 0.5606 GB Notification: Performance of preBalanceInitialSystem (initialization): time 0.004836/1.268, allocations: 4.661 MB / 0.8286 GB, free: 74.73 MB / 0.5606 GB Notification: Performance of partitionIndependentBlocks (initialization): time 0.005616/1.274, allocations: 6.777 MB / 0.8352 GB, free: 67 MB / 0.5606 GB Notification: Performance of analyzeInitialSystem (initialization): time 0.01219/1.286, allocations: 12.08 MB / 0.847 GB, free: 54 MB / 0.5606 GB Notification: Performance of solveInitialSystemEqSystem (initialization): time 3.564e-05/1.286, allocations: 20 kB / 0.847 GB, free: 53.98 MB / 0.5606 GB Notification: Performance of matching and sorting (n=725) (initialization): time 0.03276/1.319, allocations: 18.93 MB / 0.8655 GB, free: 35.01 MB / 0.5606 GB Notification: Performance of prepare postOptimizeDAE: time 8.19e-05/1.319, allocations: 32 kB / 0.8655 GB, free: 34.98 MB / 0.5606 GB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0001161/1.319, allocations: 67.94 kB / 0.8656 GB, free: 34.91 MB / 0.5606 GB Notification: Performance of postOpt tearingSystem (initialization): time 0.02311/1.342, allocations: 8.8 MB / 0.8742 GB, free: 26.09 MB / 0.5606 GB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.004415/1.347, allocations: 1.018 MB / 0.8752 GB, free: 25.07 MB / 0.5606 GB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.07796/1.425, allocations: 53.16 MB / 0.9271 GB, free: 3.598 MB / 0.5919 GB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.006938/1.431, allocations: 487.3 kB / 0.9275 GB, free: 3.121 MB / 0.5919 GB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001237/1.433, allocations: 283.9 kB / 0.9278 GB, free: 2.844 MB / 0.5919 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 (515): * Single equations (assignments): 506 * 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 {(13,102,46.2%), (3,23,88.9%)} * Non-linear torn systems (#iteration vars, #inner vars): 1 system {(2,48)} Notification: Performance of prepare postOptimizeDAE: time 0.005474/1.438, allocations: 2.264 MB / 0.93 GB, free: 0.5703 MB / 0.5919 GB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.00157/1.44, allocations: 0.489 MB / 0.9305 GB, free: 80 kB / 0.5919 GB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.04098/1.481, allocations: 17.83 MB / 0.9479 GB, free: 14.19 MB / 0.6231 GB Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.04195/1.523, allocations: 16.32 MB / 0.9639 GB, free: 13.82 MB / 0.6387 GB Notification: Performance of postOpt constantLinearSystem (simulation): time 0.0001696/1.523, allocations: 29.59 kB / 0.9639 GB, free: 13.79 MB / 0.6387 GB Notification: Performance of postOpt simplifysemiLinear (simulation): time 0.0001863/1.523, allocations: 19.92 kB / 0.9639 GB, free: 13.77 MB / 0.6387 GB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.3802/1.903, allocations: 33.61 MB / 0.9967 GB, free: 211.1 MB / 0.6387 GB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 4.388e-05/1.903, allocations: 6.062 kB / 0.9967 GB, free: 211.1 MB / 0.6387 GB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.00244/1.906, allocations: 452.9 kB / 0.9972 GB, free: 211.1 MB / 0.6387 GB Notification: Performance of postOpt tearingSystem (simulation): time 0.02239/1.928, allocations: 8.635 MB / 1.006 GB, free: 208.1 MB / 0.6387 GB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0009665/1.929, allocations: 72 kB / 1.006 GB, free: 208.1 MB / 0.6387 GB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.05789/1.987, allocations: 51.66 MB / 1.056 GB, free: 157.6 MB / 0.6387 GB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.01176/1.999, allocations: 9.591 MB / 1.065 GB, free: 148 MB / 0.6387 GB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.03763/2.036, allocations: 23.98 MB / 1.089 GB, free: 124.3 MB / 0.6387 GB Notification: Performance of postOpt removeConstants (simulation): time 0.001462/2.038, allocations: 477.8 kB / 1.089 GB, free: 124.1 MB / 0.6387 GB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001351/2.039, allocations: 75.28 kB / 1.089 GB, free: 124 MB / 0.6387 GB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.00418/2.043, allocations: 380.8 kB / 1.09 GB, free: 123.6 MB / 0.6387 GB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.001532/2.045, allocations: 343.8 kB / 1.09 GB, free: 123.3 MB / 0.6387 GB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0003668/2.045, allocations: 99.98 kB / 1.09 GB, free: 123.2 MB / 0.6387 GB Notification: Performance of sorting global known variables: time 0.003984/2.049, allocations: 2.835 MB / 1.093 GB, free: 120.4 MB / 0.6387 GB Notification: Performance of sort global known variables: time 2.2e-07/2.049, allocations: 0 / 1.093 GB, free: 120.4 MB / 0.6387 GB Notification: Performance of remove unused functions: time 0.006979/2.056, allocations: 1.98 MB / 1.095 GB, free: 118.4 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 {(11,97,54.5%), (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 0.03899/2.095, allocations: 24.64 MB / 1.119 GB, free: 93.75 MB / 0.6387 GB Notification: Performance of simCode: created initialization part: time 0.01948/2.115, allocations: 12.13 MB / 1.131 GB, free: 81.57 MB / 0.6387 GB Notification: Performance of simCode: created event and clocks part: time 1.062e-05/2.115, allocations: 4 kB / 1.131 GB, free: 81.56 MB / 0.6387 GB Notification: Performance of simCode: created simulation system equations: time 0.01244/2.127, allocations: 6.691 MB / 1.137 GB, free: 74.81 MB / 0.6387 GB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.00716/2.134, allocations: 0.8495 MB / 1.138 GB, free: 73.98 MB / 0.6387 GB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.1503/2.285, allocations: 80.45 MB / 1.217 GB, free: 6.125 MB / 0.6544 GB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.007555/2.292, allocations: 3.639 MB / 1.22 GB, free: 2.449 MB / 0.6544 GB Notification: Performance of simCode: alias equations: time 0.3003/2.592, allocations: 1.604 MB / 1.222 GB, free: 225.8 MB / 0.6544 GB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.005697/2.598, allocations: 2.617 MB / 1.224 GB, free: 225.8 MB / 0.6544 GB Notification: Performance of SimCode: time 1.623e-06/2.598, allocations: 0 / 1.224 GB, free: 225.8 MB / 0.6544 GB Notification: Performance of buildModelFMU: Generate the FMI files: time 0.2929/2.891, allocations: 174.7 MB / 1.395 GB, free: 75.21 MB / 0.6544 GB Notification: Performance of buildModelFMU: Generate platform static: time 21.29/24.18, allocations: 7.922 kB / 1.395 GB, free: 75.2 MB / 0.6544 GB " [Timeout remaining time 636] (rm -f ModelicaTest_4.1.0_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint.pipe ; mkfifo ModelicaTest_4.1.0_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint.pipe ; head -c 1048576 < ModelicaTest_4.1.0_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint.pipe >> ../files/ModelicaTest_4.1.0_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint.sim & python3 -m fmpy simulate --output-file ModelicaTest_4.1.0_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint_res.csv --start-time 0 --stop-time 5 --timeout 50 --relative-tolerance 1e-06 --interface-type ModelExchange --solver CVode --output-interval 0.000998602 ModelicaTest_4_1_0_ModelicaTest_MultiBody_Joints_RevolutePlanarLoopConstraint.fmu > ModelicaTest_4.1.0_ModelicaTest.MultiBody.Joints.RevolutePlanarLoopConstraint.pipe 2>&1) [Timeout 52.5] [Calling os._exit(0), Time elapsed: 27.370006975717843] 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'] 24.38667738204822 24.396305115 23.921215439 Calling exit ...