Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr ModelicaTest_3.2.1_ModelicaTest.MultiBody.Forces.ForcesAndTorques.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)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.1+maint.om/package.mo", uses=false)
Using package ModelicaTest with version 3.2.1 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.1+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 4.0.0 (/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(ModelicaTest.MultiBody.Forces.ForcesAndTorques,tolerance=1e-06,outputFormat="empty",numberOfIntervals=5000,variableFilter="",fileNamePrefix="ModelicaTest_3.2.1_ModelicaTest.MultiBody.Forces.ForcesAndTorques")
translateModel(ModelicaTest.MultiBody.Forces.ForcesAndTorques,tolerance=1e-06,outputFormat="empty",numberOfIntervals=5000,variableFilter="",fileNamePrefix="ModelicaTest_3.2.1_ModelicaTest.MultiBody.Forces.ForcesAndTorques")
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo): time 0.006394/0.006394, allocations: 101.1 kB / 15.73 MB, free: 6.043 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001179/0.001179, allocations: 190.6 kB / 16.67 MB, free: 5.977 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.386/1.386, allocations: 205.1 MB / 222.5 MB, free: 4.375 MB / 174.1 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.1+maint.om/package.mo): time 0.2855/0.2855, allocations: 37.99 MB / 307.9 MB, free: 10.41 MB / 254.1 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: ModelicaTest requested package Modelica of version 3.2.1. Modelica 3.2.3 is used instead which states that it is fully compatible without conversion script needed.
Notification: Performance of FrontEnd - loaded program: time 0.001541/0.001541, allocations: 67.91 kB / 433 MB, free: 5.363 MB / 366.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.3424/0.344, allocations: 56.46 MB / 489.5 MB, free: 19.98 MB / 382.1 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Forces.ForcesAndTorques): time 0.01755/0.3616, allocations: 18.74 MB / 0.4963 GB, free: 6.633 MB / 382.1 MB
Notification: Performance of NFInst.instExpressions: time 0.01399/0.3756, allocations: 5.466 MB / 0.5017 GB, free: 2.945 MB / 382.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.004315/0.38, allocations: 124.5 kB / 0.5018 GB, free: 2.922 MB / 382.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.01131/0.3914, allocations: 5.844 MB / 0.5075 GB, free: 15.51 MB / 398.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.01042/0.4018, allocations: 3.05 MB / 0.5105 GB, free: 13.26 MB / 398.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.003933/0.4058, allocations: 1.214 MB / 0.5117 GB, free: 12.41 MB / 398.1 MB
Notification: Performance of NFFlatten.flatten: time 0.01264/0.4184, allocations: 7.477 MB / 0.519 GB, free: 8.332 MB / 398.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.01148/0.43, allocations: 7.57 MB / 0.5264 GB, free: 1.891 MB / 398.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.006354/0.4364, allocations: 2.94 MB / 0.5292 GB, free: 14.94 MB / 414.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.007786/0.4442, allocations: 4.015 MB / 0.5331 GB, free: 10.91 MB / 414.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.002761/0.447, allocations: 0.668 MB / 0.5338 GB, free: 10.25 MB / 414.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.00446/0.4515, allocations: 1.545 MB / 0.5353 GB, free: 8.699 MB / 414.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.006006/0.4575, allocations: 3.749 MB / 0.539 GB, free: 4.941 MB / 414.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.008862/0.4664, allocations: 4.222 MB / 0.5431 GB, free: 0.6953 MB / 414.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.01885/0.4853, allocations: 13.21 MB / 0.556 GB, free: 3.438 MB / 430.1 MB
Notification: Performance of FrontEnd - DAE generated: time 9.298e-06/0.4853, allocations: 0 / 0.556 GB, free: 3.438 MB / 430.1 MB
Notification: Performance of FrontEnd: time 1.994e-06/0.4853, allocations: 0 / 0.556 GB, free: 3.438 MB / 430.1 MB
Notification: Performance of Transformations before backend: time 0.000477/0.4858, allocations: 4 kB / 0.556 GB, free: 3.434 MB / 430.1 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 2763
 * Number of variables: 2763
Notification: Performance of Generate backend data structure: time 0.02245/0.5083, allocations: 8.85 MB / 0.5646 GB, free: 10.49 MB / 446.1 MB
Notification: Performance of prepare preOptimizeDAE: time 4.435e-05/0.5083, allocations: 11.89 kB / 0.5647 GB, free: 10.48 MB / 446.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.0131/0.5214, allocations: 2.981 MB / 0.5676 GB, free: 7.484 MB / 446.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.01056/0.532, allocations: 4.957 MB / 0.5724 GB, free: 2.445 MB / 446.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.000431/0.5325, allocations: 451.9 kB / 0.5728 GB, free: 2.004 MB / 446.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.002077/0.5346, allocations: 0.5972 MB / 0.5734 GB, free: 1.406 MB / 446.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.04064/0.5752, allocations: 18.49 MB / 0.5915 GB, free: 13.87 MB / 478.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0002567/0.5755, allocations: 67.36 kB / 0.5915 GB, free: 13.8 MB / 478.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.001151/0.5767, allocations: 283.8 kB / 0.5918 GB, free: 13.52 MB / 478.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.005856/0.5825, allocations: 3.546 MB / 0.5953 GB, free: 9.969 MB / 478.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.0317/0.6143, allocations: 15.67 MB / 0.6106 GB, free: 10.26 MB / 494.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.552/1.166, allocations: 69.86 MB / 0.6788 GB, free: 76.68 MB / 0.4982 GB
Notification: Performance of preOpt comSubExp (simulation): time 0.02202/1.188, allocations: 8.464 MB / 0.6871 GB, free: 74.09 MB / 0.4982 GB
Notification: Performance of preOpt resolveLoops (simulation): time 0.006396/1.195, allocations: 4.995 MB / 0.6919 GB, free: 72.08 MB / 0.4982 GB
Notification: Performance of preOpt evalFunc (simulation): time 0.01971/1.215, allocations: 11.86 MB / 0.7035 GB, free: 65.86 MB / 0.4982 GB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 5.165e-05/1.215, allocations: 68.38 kB / 0.7036 GB, free: 65.8 MB / 0.4982 GB
Notification: Performance of pre-optimization done (n=347): time 6.612e-06/1.215, allocations: 0 / 0.7036 GB, free: 65.8 MB / 0.4982 GB
Notification: Performance of matching and sorting (n=389): time 0.08669/1.301, allocations: 38.93 MB / 0.7416 GB, free: 37.05 MB / 0.4982 GB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.0001003/1.302, allocations: 244.9 kB / 0.7418 GB, free: 36.76 MB / 0.4982 GB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.0104/1.312, allocations: 7.432 MB / 0.7491 GB, free: 29.34 MB / 0.4982 GB
Notification: Performance of collectPreVariables (initialization): time 0.001338/1.313, allocations: 81.7 kB / 0.7492 GB, free: 29.25 MB / 0.4982 GB
Notification: Performance of collectInitialEqns (initialization): time 0.002783/1.316, allocations: 5.209 MB / 0.7543 GB, free: 24.05 MB / 0.4982 GB
Notification: Performance of collectInitialBindings (initialization): time 0.002276/1.318, allocations: 1.448 MB / 0.7557 GB, free: 22.62 MB / 0.4982 GB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.003686/1.322, allocations: 2.09 MB / 0.7577 GB, free: 20.52 MB / 0.4982 GB
Notification: Performance of setup shared object (initialization): time 8.99e-05/1.322, allocations: 305.1 kB / 0.758 GB, free: 20.21 MB / 0.4982 GB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.006635/1.329, allocations: 4.471 MB / 0.7624 GB, free: 15.74 MB / 0.4982 GB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.009683/1.339, allocations: 10.09 MB / 0.7722 GB, free: 2.91 MB / 0.4982 GB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01999/1.359, allocations: 15.64 MB / 0.7875 GB, free: 0.5391 MB / 0.5138 GB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001788/1.359, allocations: 60 kB / 0.7876 GB, free: 492 kB / 0.5138 GB
Notification: Performance of matching and sorting (n=1343) (initialization): time 0.0338/1.393, allocations: 16.46 MB / 0.8036 GB, free: 0 / 0.5294 GB
Notification: Performance of prepare postOptimizeDAE: time 0.0002649/1.393, allocations: 88.05 kB / 0.8037 GB, free: 15.91 MB / 0.545 GB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0003461/1.393, allocations: 196 kB / 0.8039 GB, free: 15.72 MB / 0.545 GB
Notification: Performance of postOpt tearingSystem (initialization): time 0.005898/1.399, allocations: 2.313 MB / 0.8062 GB, free: 13.4 MB / 0.545 GB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.00896/1.408, allocations: 2.441 MB / 0.8086 GB, free: 10.96 MB / 0.545 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.02014/1.428, allocations: 14.44 MB / 0.8226 GB, free: 12.25 MB / 0.5607 GB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.009477/1.438, allocations: 0.5951 MB / 0.8232 GB, free: 11.65 MB / 0.5607 GB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.002114/1.44, allocations: 0.5859 MB / 0.8238 GB, free: 11.07 MB / 0.5607 GB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 890
 * Number of states: 0 ()
 * Number of discrete variables: 69 (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],forceAndTorque2.connectionLineColor[3],forceAndTorque2.connectionLineColor[2],forceAndTorque2.connectionLineColor[1],forceAndTorque2.torqueColor[3],forceAndTorque2.torqueColor[2],forceAndTorque2.torqueColor[1],forceAndTorque2.forceColor[3],forceAndTorque2.forceColor[2],forceAndTorque2.forceColor[1],forceAndTorque1.connectionLineColor[3],forceAndTorque1.connectionLineColor[2],forceAndTorque1.connectionLineColor[1],forceAndTorque1.torqueColor[3],forceAndTorque1.torqueColor[2],forceAndTorque1.torqueColor[1],forceAndTorque1.forceColor[3],forceAndTorque1.forceColor[2],forceAndTorque1.forceColor[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 (1261):
 * Single equations (assignments): 1254
 * 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 0.008642/1.449, allocations: 3.626 MB / 0.8273 GB, free: 7.43 MB / 0.5607 GB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.002356/1.451, allocations: 0.6363 MB / 0.828 GB, free: 6.785 MB / 0.5607 GB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.02061/1.472, allocations: 9.199 MB / 0.8369 GB, free: 13.55 MB / 0.5763 GB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 6.285e-05/1.472, allocations: 40 kB / 0.837 GB, free: 13.51 MB / 0.5763 GB
Notification: Performance of postOpt constantLinearSystem (simulation): time 3.652e-05/1.472, allocations: 8 kB / 0.837 GB, free: 13.5 MB / 0.5763 GB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 7.923e-05/1.472, allocations: 27.92 kB / 0.837 GB, free: 13.47 MB / 0.5763 GB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.04103/1.513, allocations: 19.15 MB / 0.8557 GB, free: 10.19 MB / 0.5919 GB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 4.423e-05/1.513, allocations: 11.92 kB / 0.8557 GB, free: 10.18 MB / 0.5919 GB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.003796/1.517, allocations: 0.6982 MB / 0.8564 GB, free: 9.477 MB / 0.5919 GB
Notification: Performance of postOpt tearingSystem (simulation): time 0.005694/1.523, allocations: 2.05 MB / 0.8584 GB, free: 7.418 MB / 0.5919 GB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0009155/1.524, allocations: 83.92 kB / 0.8585 GB, free: 7.336 MB / 0.5919 GB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.2812/1.805, allocations: 13.76 MB / 0.8719 GB, free: 195.7 MB / 0.5919 GB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 1.178e-05/1.805, allocations: 11.56 kB / 0.8719 GB, free: 195.7 MB / 0.5919 GB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.0239/1.829, allocations: 14.33 MB / 0.8859 GB, free: 190.3 MB / 0.5919 GB
Notification: Performance of postOpt removeConstants (simulation): time 0.004073/1.833, allocations: 1.346 MB / 0.8873 GB, free: 190 MB / 0.5919 GB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.002065/1.835, allocations: 74.72 kB / 0.8873 GB, free: 189.9 MB / 0.5919 GB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.00478/1.84, allocations: 274.1 kB / 0.8876 GB, free: 189.9 MB / 0.5919 GB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.001068/1.841, allocations: 241.9 kB / 0.8878 GB, free: 189.8 MB / 0.5919 GB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0006094/1.841, allocations: 105.3 kB / 0.8879 GB, free: 189.8 MB / 0.5919 GB
Notification: Performance of sorting global known variables: time 0.01119/1.853, allocations: 4.789 MB / 0.8926 GB, free: 188.2 MB / 0.5919 GB
Notification: Performance of sort global known variables: time 2e-07/1.853, allocations: 0 / 0.8926 GB, free: 188.2 MB / 0.5919 GB
Notification: Performance of remove unused functions: time 0.01288/1.865, allocations: 1.947 MB / 0.8945 GB, free: 188 MB / 0.5919 GB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 32
 * 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 (329):
 * Single equations (assignments): 324
 * 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 0.001389/1.867, allocations: 230.7 kB / 0.8947 GB, free: 187.9 MB / 0.5919 GB
Notification: Performance of simCode: created initialization part: time 0.01995/1.887, allocations: 10.81 MB / 0.9053 GB, free: 184 MB / 0.5919 GB
Notification: Performance of simCode: created event and clocks part: time 1.789e-05/1.887, allocations: 2.062 kB / 0.9053 GB, free: 184 MB / 0.5919 GB
Notification: Performance of simCode: created simulation system equations: time 0.007541/1.894, allocations: 4.33 MB / 0.9095 GB, free: 182.3 MB / 0.5919 GB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.008297/1.903, allocations: 0.836 MB / 0.9103 GB, free: 181.9 MB / 0.5919 GB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.03197/1.935, allocations: 18.36 MB / 0.9283 GB, free: 170 MB / 0.5919 GB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.006067/1.941, allocations: 5.478 MB / 0.9336 GB, free: 165.2 MB / 0.5919 GB
Notification: Performance of simCode: alias equations: time 0.006892/1.948, allocations: 3.318 MB / 0.9368 GB, free: 161.9 MB / 0.5919 GB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.0016/1.949, allocations: 467.3 kB / 0.9373 GB, free: 161.4 MB / 0.5919 GB
Notification: Performance of SimCode: time 1.122e-06/1.949, allocations: 0 / 0.9373 GB, free: 161.4 MB / 0.5919 GB
Notification: Performance of Templates: time 0.1149/2.064, allocations: 73.56 MB / 1.009 GB, free: 87.98 MB / 0.5919 GB
make -j1 -f ModelicaTest_3.2.1_ModelicaTest.MultiBody.Forces.ForcesAndTorques.makefile
(rm -f ModelicaTest_3.2.1_ModelicaTest.MultiBody.Forces.ForcesAndTorques.pipe ; mkfifo ModelicaTest_3.2.1_ModelicaTest.MultiBody.Forces.ForcesAndTorques.pipe ; head -c 1048576 < ModelicaTest_3.2.1_ModelicaTest.MultiBody.Forces.ForcesAndTorques.pipe >> ../files/ModelicaTest_3.2.1_ModelicaTest.MultiBody.Forces.ForcesAndTorques.sim & ./ModelicaTest_3.2.1_ModelicaTest.MultiBody.Forces.ForcesAndTorques  -abortSlowSimulation -alarm=480 -lv LOG_STATS > ModelicaTest_3.2.1_ModelicaTest.MultiBody.Forces.ForcesAndTorques.pipe 2>&1)