Hi Guys

Please refer to the below code. Each differential equation presents acceleration terms from the other 2 differential equations, I assume that this would be a circular reference. I cannot get the system to solve, can anyone please guide me as to what is wrong?

from wolframclient.evaluation import WolframLanguageSession
from wolframclient.language import wl, wlexpr
import matplotlib.pyplot as plt
import numpy as np

session = WolframLanguageSession()

wolfram_code = """

                    IC = {x[0] == 0, theta[0] == 0, phi[0] == 0, x'[0] == 0, theta'[0] == 0, phi'[0] == 0};





                    l = 1;
                    m = 1000;
                    r = 0.1;
                    g = 9.81;

                    Kt = 1000;
                    Kb = 10000;
                    Ib = 1000;
                    It = 1000;

                    C1 = 0;
                    C2 = 0;
                    C3 = 0;



                    one = -0.5*m*(2*l*theta''[t]*Cos[theta[t]]-2*l*theta'[t]*Sin[theta[t]]+2*r*phi''[t]*Sin[phi[t]]+2*r*phi'[t]^2*Cos[theta[t]])-C1*x'[t];


                    two_part_one = -0.5*m*(2*l*x''[t]*Cos[theta[t]]-2*l*x'[t]*theta'[t]*Sin[theta[t]]+2*r*phi''[t]*Cos[theta[t]]*Sin[theta[t]]+2*r*l*theta'[t]*phi'[t]*Cos[2*theta[t]]);
                    two_part_two = 0.5*m*(-2*l*theta'[t]*x'[t]*Sin[theta[t]]+2*r*l*theta'[t]*phi'[t]*Cos[2*theta[t]])+Kb*theta[t]+m*g*l*Sin[theta[t]]-C2*theta'[t];
                    two = two_part_one+two_part_two;

                    three_part_one = -0.5*m*(m*r*x''[t]*Sin[theta[t]]+2*r*x'[t]*theta'[t]*Cos[theta[t]]+2*r*l*theta''[t]*Cos[theta[t]]*Sin[theta[t]]+2*r*l*theta'[t]^2*Cos[theta[t]]);
                    three_part_two = 0.5*m*(-2*r*phi'[t]*x'[t]*Cos[phi[t]])-Kt*phi[t]-C3*phi'[t];
                    three = three_part_one+three_part_two; 

                    S = NDSolve[{x''[t] == one/m, theta''[t] == two/(m*l^2+2*Ib), phi''[t] == three/(m*r+2*It),IC},{x,theta,phi},{t,0,10}]



"""

# Evaluate the Wolfram code
result = session.evaluate(wlexpr(wolfram_code))

# Terminate the Wolfram session
session.terminate()