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 0.000903/0.000903, allocations: 99.86 kB / 15.05 MB, free: 1.105 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.0009627/0.0009627, allocations: 177.3 kB / 15.94 MB, free: 228 kB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.437/1.437, allocations: 205.4 MB / 222.1 MB, free: 5.66 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 0.0004549/0.000455, allocations: 12 kB / 278.9 MB, free: 12.85 MB / 238.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.249/0.2495, allocations: 47.59 MB / 326.4 MB, free: 1.422 MB / 254.1 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint): time 0.06689/0.3164, allocations: 73.49 MB / 399.9 MB, free: 9.859 MB / 334.1 MB
Notification: Performance of NFInst.instExpressions: time 0.03731/0.3538, allocations: 17.29 MB / 417.2 MB, free: 8.512 MB / 350.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.01912/0.373, allocations: 383 kB / 417.6 MB, free: 8.137 MB / 350.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.01277/0.3858, allocations: 3.705 MB / 421.3 MB, free: 4.414 MB / 350.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.02955/0.4154, allocations: 10.31 MB / 431.6 MB, free: 10.07 MB / 366.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.006021/0.4214, allocations: 1.209 MB / 432.8 MB, free: 8.863 MB / 366.1 MB
Notification: Performance of NFFlatten.flatten: time 0.008352/0.4298, allocations: 3.905 MB / 436.7 MB, free: 4.949 MB / 366.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.01377/0.4436, allocations: 9.463 MB / 446.2 MB, free: 11.39 MB / 382.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.003018/0.4467, allocations: 1.662 MB / 447.9 MB, free: 9.727 MB / 382.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.003011/0.4497, allocations: 2.032 MB / 449.9 MB, free: 7.688 MB / 382.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.0009805/0.4507, allocations: 224 kB / 450.1 MB, free: 7.469 MB / 382.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.002854/0.4536, allocations: 1.385 MB / 451.5 MB, free: 6.082 MB / 382.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.002461/0.456, allocations: 2.669 MB / 454.2 MB, free: 3.406 MB / 382.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.001318/0.4574, allocations: 1.368 MB / 455.5 MB, free: 2.027 MB / 382.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.2041/0.6615, allocations: 9.628 MB / 465.2 MB, free: 13.69 MB / 382.1 MB
Notification: Performance of FrontEnd - DAE generated: time 4.499e-06/0.6616, allocations: 0 / 465.2 MB, free: 13.69 MB / 382.1 MB
Notification: Performance of FrontEnd: time 3.406e-06/0.6616, allocations: 0 / 465.2 MB, free: 13.69 MB / 382.1 MB
Notification: Performance of Transformations before backend: time 0.0004529/0.662, allocations: 0 / 465.2 MB, free: 13.69 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 0.02013/0.6822, allocations: 7.276 MB / 472.4 MB, free: 10.84 MB / 382.1 MB
Notification: Performance of prepare preOptimizeDAE: time 4.626e-05/0.6822, allocations: 9.125 kB / 472.4 MB, free: 10.84 MB / 382.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.01258/0.6948, allocations: 2.728 MB / 475.2 MB, free: 10.38 MB / 382.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.01305/0.7079, allocations: 4.817 MB / 480 MB, free: 9.625 MB / 382.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0005918/0.7086, allocations: 438.7 kB / 480.4 MB, free: 9.613 MB / 382.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.0043/0.7129, allocations: 0.6659 MB / 481.1 MB, free: 9.598 MB / 382.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.03788/0.7508, allocations: 17.15 MB / 498.2 MB, free: 4.906 MB / 382.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0002505/0.7511, allocations: 68.08 kB / 498.3 MB, free: 4.895 MB / 382.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.001035/0.7521, allocations: 266.2 kB / 498.6 MB, free: 4.895 MB / 382.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.003332/0.7555, allocations: 2.584 MB / 0.4894 GB, free: 4.371 MB / 382.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.03089/0.7864, allocations: 14.82 MB / 0.5039 GB, free: 13.98 MB / 398.1 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 0.09368/0.8801, allocations: 64.31 MB / 0.5667 GB, free: 9.062 MB / 446.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.02239/0.9025, allocations: 7.567 MB / 0.5741 GB, free: 2.895 MB / 446.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.03237/0.9349, allocations: 16.76 MB / 0.5904 GB, free: 6.211 MB / 462.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 6.343e-05/0.9351, allocations: 73.31 kB / 0.5905 GB, free: 6.148 MB / 462.1 MB
Notification: Performance of pre-optimization done (n=262): time 6.462e-06/0.9351, allocations: 0 / 0.5905 GB, free: 6.148 MB / 462.1 MB
Notification: Performance of matching and sorting (n=278): time 0.08516/1.02, allocations: 28.25 MB / 0.6181 GB, free: 10.8 MB / 494.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.001383/1.022, allocations: 1.622 MB / 0.6197 GB, free: 9.02 MB / 494.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.01208/1.034, allocations: 6.238 MB / 0.6258 GB, free: 2.77 MB / 494.1 MB
Notification: Performance of collectPreVariables (initialization): time 0.0007649/1.035, allocations: 65.7 kB / 0.6258 GB, free: 2.699 MB / 494.1 MB
Notification: Performance of collectInitialEqns (initialization): time 0.202/1.237, allocations: 4.853 MB / 0.6306 GB, free: 205.8 MB / 494.1 MB
Notification: Performance of collectInitialBindings (initialization): time 0.001819/1.238, allocations: 1.082 MB / 0.6316 GB, free: 205.2 MB / 494.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0009165/1.239, allocations: 179.4 kB / 0.6318 GB, free: 205.2 MB / 494.1 MB
Notification: Performance of setup shared object (initialization): time 0.0005495/1.24, allocations: 0.6929 MB / 0.6325 GB, free: 204.9 MB / 494.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.005512/1.245, allocations: 3.378 MB / 0.6358 GB, free: 204.2 MB / 494.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.007101/1.253, allocations: 8.784 MB / 0.6444 GB, free: 195.8 MB / 494.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.007519/1.26, allocations: 5.309 MB / 0.6495 GB, free: 193.8 MB / 494.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.000114/1.26, allocations: 63.86 kB / 0.6496 GB, free: 193.8 MB / 494.1 MB
Notification: Performance of matching and sorting (n=1180) (initialization): time 0.03181/1.292, allocations: 14.78 MB / 0.664 GB, free: 187 MB / 494.1 MB
Notification: Performance of prepare postOptimizeDAE: time 0.0001144/1.292, allocations: 92.92 kB / 0.6641 GB, free: 186.9 MB / 494.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.01574/1.308, allocations: 6.79 MB / 0.6708 GB, free: 181.6 MB / 494.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.0129/1.321, allocations: 3.261 MB / 0.6739 GB, free: 179.5 MB / 494.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.007471/1.328, allocations: 2.117 MB / 0.676 GB, free: 177.4 MB / 494.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.01681/1.345, allocations: 16.29 MB / 0.6919 GB, free: 160.3 MB / 494.1 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.008259/1.354, allocations: 0.5906 MB / 0.6925 GB, free: 159.7 MB / 494.1 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001345/1.355, allocations: 0.5403 MB / 0.693 GB, free: 159.1 MB / 494.1 MB
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 (1116):
 * Single equations (assignments): 1100
 * Array equations: 8
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 3
 * Torn equation systems: 5
 * Mixed (continuous/discrete) equation systems: 0
Notification: Equation system details:
 * Constant Jacobian: 0
 * Linear Jacobian (size,density): 2 {(3,100.0%),(4,100.0%)}
 * Non-linear Jacobian: 1 {4}
 * Without analytic Jacobian: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 5 {(3,100.0%) 3,(3,100.0%) 3,(2,100.0%) 1,(2,100.0%) 1,(2,100.0%) 1}
 * Non-linear torn systems: 0
Notification: Performance of prepare postOptimizeDAE: time 0.005532/1.361, allocations: 3.247 MB / 0.6962 GB, free: 155.9 MB / 494.1 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.0009309/1.361, allocations: 0.5206 MB / 0.6967 GB, free: 155.4 MB / 494.1 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01037/1.372, allocations: 6.562 MB / 0.7031 GB, free: 148.7 MB / 494.1 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.008683/1.381, allocations: 5.653 MB / 0.7086 GB, free: 143 MB / 494.1 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 0.008173/1.389, allocations: 5.48 MB / 0.714 GB, free: 137.4 MB / 494.1 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 3.154e-05/1.389, allocations: 15.95 kB / 0.714 GB, free: 137.4 MB / 494.1 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.03107/1.42, allocations: 17.5 MB / 0.7311 GB, free: 119.7 MB / 494.1 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 2.224e-05/1.42, allocations: 8.188 kB / 0.7311 GB, free: 119.7 MB / 494.1 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002209/1.422, allocations: 0.5156 MB / 0.7316 GB, free: 119.2 MB / 494.1 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.004838/1.427, allocations: 1.846 MB / 0.7334 GB, free: 117.3 MB / 494.1 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0003166/1.427, allocations: 75.95 kB / 0.7335 GB, free: 117.2 MB / 494.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.009945/1.437, allocations: 9.973 MB / 0.7432 GB, free: 106.9 MB / 494.1 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.0007348/1.438, allocations: 1.48 MB / 0.7447 GB, free: 105.3 MB / 494.1 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.01403/1.452, allocations: 11.32 MB / 0.7557 GB, free: 93.34 MB / 494.1 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.002187/1.454, allocations: 0.5955 MB / 0.7563 GB, free: 92.72 MB / 494.1 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001434/1.456, allocations: 61.39 kB / 0.7564 GB, free: 92.66 MB / 494.1 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.003137/1.459, allocations: 227.7 kB / 0.7566 GB, free: 92.44 MB / 494.1 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0005449/1.46, allocations: 201.5 kB / 0.7568 GB, free: 92.24 MB / 494.1 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002135/1.46, allocations: 89.5 kB / 0.7568 GB, free: 92.15 MB / 494.1 MB
Notification: Performance of sorting global known variables: time 0.006658/1.466, allocations: 3.93 MB / 0.7607 GB, free: 88.22 MB / 494.1 MB
Notification: Performance of sort global known variables: time 3.6e-07/1.466, allocations: 0 / 0.7607 GB, free: 88.22 MB / 494.1 MB
Notification: Performance of remove unused functions: time 0.01148/1.478, allocations: 1.735 MB / 0.7624 GB, free: 86.5 MB / 494.1 MB
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 (linear and non-linear blocks): 4
 * Torn equation systems: 2
 * Mixed (continuous/discrete) equation systems: 0
Notification: Equation system details:
 * Constant Jacobian: 0
 * Linear Jacobian (size,density): 3 {(2,100.0%),(3,100.0%),(4,100.0%)}
 * Non-linear Jacobian: 1 {4}
 * Without analytic Jacobian: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 2 {(3,100.0%) 3,(3,100.0%) 3}
 * Non-linear torn systems: 0
Notification: Performance of Backend phase and start with SimCode phase: time 0.001358/1.479, allocations: 282.5 kB / 0.7626 GB, free: 86.23 MB / 494.1 MB
Notification: Performance of simCode: created initialization part: time 0.01513/1.494, allocations: 9.083 MB / 0.7715 GB, free: 77.07 MB / 494.1 MB
Notification: Performance of simCode: created event and clocks part: time 1.323e-05/1.495, allocations: 4 kB / 0.7715 GB, free: 77.07 MB / 494.1 MB
Notification: Performance of simCode: created simulation system equations: time 0.005175/1.5, allocations: 3.376 MB / 0.7748 GB, free: 73.59 MB / 494.1 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.005036/1.505, allocations: 0.7916 MB / 0.7756 GB, free: 72.81 MB / 494.1 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.02926/1.534, allocations: 17.99 MB / 0.7932 GB, free: 54.66 MB / 494.1 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.006946/1.541, allocations: 5.019 MB / 0.7981 GB, free: 49.61 MB / 494.1 MB
Notification: Performance of simCode: alias equations: time 0.008186/1.549, allocations: 2.915 MB / 0.8009 GB, free: 46.69 MB / 494.1 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.001758/1.551, allocations: 379.4 kB / 0.8013 GB, free: 46.32 MB / 494.1 MB
Notification: Performance of SimCode: time 1.263e-06/1.551, allocations: 0 / 0.8013 GB, free: 46.32 MB / 494.1 MB
Notification: Performance of Templates: time 0.3103/1.861, allocations: 62.23 MB / 0.862 GB, free: 183.5 MB / 494.1 MB
make -j1 -f Modelica_3.2.1_Modelica.Mechanics.MultiBody.Examples.Constraints.SphericalConstraint.makefile
Environment - environmentSimulation:
(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)
Environment - environmentSimulation: