Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr Modelica_4.1.0-beta.om_Modelica.Mechanics.Rotational.Examples.LossyGearDemo2.conf.json
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.1.0-beta.om/package.mo", uses=false)
Using package Modelica with version 4.1.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.1.0-beta.om/package.mo)
Using package Complex with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo)
Using package ModelicaServices with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo)
Running command: translateModel(Modelica.Mechanics.Rotational.Examples.LossyGearDemo2,tolerance=1e-06,outputFormat="mat",numberOfIntervals=1000,variableFilter="time|Inertia2.phi|Inertia2.w|bearingFriction.mode|bearingFriction.startBackward|bearingFriction.startForward|gear.mode",fileNamePrefix="Modelica_4.1.0-beta.om_Modelica.Mechanics.Rotational.Examples.LossyGearDemo2")
translateModel(Modelica.Mechanics.Rotational.Examples.LossyGearDemo2,tolerance=1e-06,outputFormat="mat",numberOfIntervals=1000,variableFilter="time|Inertia2.phi|Inertia2.w|bearingFriction.mode|bearingFriction.startBackward|bearingFriction.startForward|gear.mode",fileNamePrefix="Modelica_4.1.0-beta.om_Modelica.Mechanics.Rotational.Examples.LossyGearDemo2")
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo): time 0.001357/0.001357, allocations: 118.8 kB / 17.83 MB, free: 5.258 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo): time 0.00144/0.00144, allocations: 206 kB / 18.79 MB, free: 4.309 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.1.0-beta.om/package.mo): time 1.457/1.457, allocations: 230.4 MB / 250 MB, free: 9.066 MB / 206.1 MB
Warning: Requested package Modelica of version trunk, but this package was already loaded with version 4.1.0. OpenModelica cannot reason about compatibility between the two packages since they are not semantic versions.
Warning: Requested package Complex of version 4.1.0, but this package was already loaded with version trunk. OpenModelica cannot reason about compatibility between the two packages since they are not semantic versions.
Warning: Requested package ModelicaServices of version 4.1.0, but this package was already loaded with version trunk. OpenModelica cannot reason about compatibility between the two packages since they are not semantic versions.
Notification: Performance of FrontEnd - loaded program: time 0.001913/0.001913, allocations: 63.83 kB / 367.3 MB, free: 7.074 MB / 302.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.2481/0.25, allocations: 53.31 MB / 420.6 MB, free: 8.375 MB / 334.1 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.Rotational.Examples.LossyGearDemo2): time 0.004679/0.2547, allocations: 2.882 MB / 423.5 MB, free: 5.484 MB / 334.1 MB
Notification: Performance of NFInst.instExpressions: time 0.002397/0.2571, allocations: 1.279 MB / 424.8 MB, free: 4.195 MB / 334.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.0001617/0.2573, allocations: 7.938 kB / 424.8 MB, free: 4.188 MB / 334.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.0003626/0.2576, allocations: 91.27 kB / 424.9 MB, free: 4.098 MB / 334.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.0005804/0.2582, allocations: 218.5 kB / 425.1 MB, free: 3.887 MB / 334.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.0006345/0.2589, allocations: 247.5 kB / 425.4 MB, free: 3.645 MB / 334.1 MB
Notification: Performance of NFFlatten.flatten: time 0.0009159/0.2598, allocations: 0.7172 MB / 426.1 MB, free: 2.926 MB / 334.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.000224/0.26, allocations: 87.44 kB / 426.2 MB, free: 2.832 MB / 334.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.0005132/0.2605, allocations: 331 kB / 426.5 MB, free: 2.508 MB / 334.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.0005052/0.261, allocations: 386.8 kB / 426.9 MB, free: 2.129 MB / 334.1 MB
Notification: Performance of NFPackage.collectConstants: time 9.518e-05/0.2611, allocations: 56 kB / 426.9 MB, free: 2.074 MB / 334.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.0003029/0.2614, allocations: 155.9 kB / 427.1 MB, free: 1.922 MB / 334.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.0002208/0.2616, allocations: 155.6 kB / 427.2 MB, free: 1.77 MB / 334.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.000293/0.2619, allocations: 278.7 kB / 427.5 MB, free: 1.496 MB / 334.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.0008974/0.2628, allocations: 0.7161 MB / 428.2 MB, free: 0.7812 MB / 334.1 MB
Notification: Performance of FrontEnd - DAE generated: time 4.448e-06/0.2628, allocations: 0 / 428.2 MB, free: 0.7812 MB / 334.1 MB
Notification: Performance of FrontEnd: time 1.272e-06/0.2628, allocations: 0 / 428.2 MB, free: 0.7812 MB / 334.1 MB
Notification: Performance of Transformations before backend: time 1.164e-05/0.2628, allocations: 4 kB / 428.2 MB, free: 0.7773 MB / 334.1 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 100
 * Number of variables: 100
Notification: Performance of Generate backend data structure: time 0.001704/0.2645, allocations: 0.8569 MB / 429.1 MB, free: 15.87 MB / 350.1 MB
Notification: Performance of prepare preOptimizeDAE: time 3.908e-05/0.2646, allocations: 8.031 kB / 429.1 MB, free: 15.86 MB / 350.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.0004661/0.2651, allocations: 80.56 kB / 429.2 MB, free: 15.78 MB / 350.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.0007782/0.2658, allocations: 370.5 kB / 429.5 MB, free: 15.38 MB / 350.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0001875/0.266, allocations: 92.95 kB / 429.6 MB, free: 15.28 MB / 350.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.0001121/0.2661, allocations: 48.33 kB / 429.7 MB, free: 15.23 MB / 350.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.001168/0.2673, allocations: 0.5567 MB / 430.2 MB, free: 14.66 MB / 350.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 3.587e-05/0.2673, allocations: 7.938 kB / 430.2 MB, free: 14.66 MB / 350.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 5.735e-05/0.2674, allocations: 16 kB / 430.2 MB, free: 14.64 MB / 350.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 1.328e-05/0.2674, allocations: 8 kB / 430.2 MB, free: 14.63 MB / 350.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.001392/0.2688, allocations: 0.6128 MB / 430.9 MB, free: 14.02 MB / 350.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.002633/0.2714, allocations: 1.307 MB / 432.2 MB, free: 12.66 MB / 350.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.00123/0.2727, allocations: 497.3 kB / 432.6 MB, free: 12.16 MB / 350.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.0006556/0.2733, allocations: 286.3 kB / 432.9 MB, free: 11.88 MB / 350.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 6.447e-05/0.2734, allocations: 16.48 kB / 432.9 MB, free: 11.86 MB / 350.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 3.63e-05/0.2734, allocations: 43.11 kB / 433 MB, free: 11.81 MB / 350.1 MB
Notification: Performance of pre-optimization done (n=62): time 2.004e-06/0.2734, allocations: 0 / 433 MB, free: 11.81 MB / 350.1 MB
Notification: Performance of matching and sorting (n=70): time 0.007255/0.2807, allocations: 2.731 MB / 435.7 MB, free: 8.957 MB / 350.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 7.107e-05/0.2807, allocations: 85.67 kB / 435.8 MB, free: 8.855 MB / 350.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.0004756/0.2812, allocations: 351.3 kB / 436.1 MB, free: 8.504 MB / 350.1 MB
Notification: Performance of collectPreVariables (initialization): time 6.55e-05/0.2813, allocations: 45.69 kB / 436.2 MB, free: 8.453 MB / 350.1 MB
Notification: Performance of collectInitialEqns (initialization): time 0.0001412/0.2814, allocations: 169.7 kB / 436.4 MB, free: 8.281 MB / 350.1 MB
Notification: Performance of collectInitialBindings (initialization): time 0.0002205/0.2816, allocations: 246 kB / 436.6 MB, free: 8.039 MB / 350.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.000245/0.2819, allocations: 126.2 kB / 436.7 MB, free: 7.91 MB / 350.1 MB
Notification: Performance of setup shared object (initialization): time 0.0001751/0.2821, allocations: 358.7 kB / 437.1 MB, free: 7.551 MB / 350.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.0006357/0.2827, allocations: 265.2 kB / 437.3 MB, free: 7.289 MB / 350.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.0007155/0.2834, allocations: 334.5 kB / 437.7 MB, free: 6.953 MB / 350.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.00111/0.2845, allocations: 491.2 kB / 438.1 MB, free: 6.465 MB / 350.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 1.793e-06/0.2845, allocations: 0 / 438.1 MB, free: 6.465 MB / 350.1 MB
Notification: Performance of matching and sorting (n=80) (initialization): time 0.001872/0.2864, allocations: 0.8179 MB / 439 MB, free: 5.637 MB / 350.1 MB
Notification: Performance of prepare postOptimizeDAE: time 1.585e-05/0.2864, allocations: 8 kB / 439 MB, free: 5.629 MB / 350.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 6.452e-06/0.2864, allocations: 4.031 kB / 439 MB, free: 5.625 MB / 350.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.001165/0.2876, allocations: 437.3 kB / 439.4 MB, free: 5.195 MB / 350.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.0004541/0.288, allocations: 87.88 kB / 439.5 MB, free: 5.109 MB / 350.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.001417/0.2895, allocations: 1.025 MB / 440.5 MB, free: 4.059 MB / 350.1 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.0004729/0.2899, allocations: 63.94 kB / 440.6 MB, free: 3.996 MB / 350.1 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 7.186e-05/0.29, allocations: 23.98 kB / 440.6 MB, free: 3.973 MB / 350.1 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 3
 * Number of states: 0 ()
 * Number of discrete variables: 15 (bearingFriction.free,gear.ideal,bearingFriction.mode,$PRE.bearingFriction.mode,bearingFriction.locked,bearingFriction.startBackward,$PRE.bearingFriction.startBackward,bearingFriction.startForward,$PRE.bearingFriction.startForward,gear.mode,$PRE.gear.mode,gear.locked,gear.startBackward,gear.startForward,gear.tau_aPos)
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (46):
 * Single equations (assignments): 45
 * Array equations: 0
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (not torn): 0
 * Torn equation systems: 1
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems (#iteration vars, #inner vars, density): 0 systems
 * Non-linear torn systems (#iteration vars, #inner vars): 1 system
   {(2,33)}
Notification: Performance of prepare postOptimizeDAE: time 0.0002571/0.2903, allocations: 189.7 kB / 440.8 MB, free: 3.777 MB / 350.1 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.0001193/0.2904, allocations: 43.72 kB / 440.8 MB, free: 3.734 MB / 350.1 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.000155/0.2905, allocations: 67.86 kB / 440.9 MB, free: 3.664 MB / 350.1 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 8.586e-06/0.2905, allocations: 8 kB / 440.9 MB, free: 3.656 MB / 350.1 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 5.13e-06/0.2906, allocations: 0 / 440.9 MB, free: 3.656 MB / 350.1 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 7.244e-06/0.2906, allocations: 3.984 kB / 440.9 MB, free: 3.652 MB / 350.1 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.003466/0.294, allocations: 1.687 MB / 442.6 MB, free: 1.898 MB / 350.1 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.296e-06/0.294, allocations: 3.938 kB / 442.6 MB, free: 1.895 MB / 350.1 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.0003934/0.2944, allocations: 83.88 kB / 442.7 MB, free: 1.812 MB / 350.1 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.001054/0.2955, allocations: 420.5 kB / 443.1 MB, free: 1.398 MB / 350.1 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 6.232e-05/0.2955, allocations: 19.97 kB / 443.1 MB, free: 1.379 MB / 350.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.001344/0.2969, allocations: 0.9862 MB / 444.1 MB, free: 376 kB / 350.1 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 1.282e-06/0.2969, allocations: 4.062 kB / 444.1 MB, free: 372 kB / 350.1 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.002715/0.2996, allocations: 1.205 MB / 445.3 MB, free: 15.13 MB / 366.1 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.0002808/0.2999, allocations: 192.7 kB / 445.5 MB, free: 14.93 MB / 366.1 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0001069/0.3, allocations: 20 kB / 445.5 MB, free: 14.91 MB / 366.1 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.0004503/0.3004, allocations: 55.88 kB / 445.6 MB, free: 14.85 MB / 366.1 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0002362/0.3007, allocations: 96.34 kB / 445.6 MB, free: 14.76 MB / 366.1 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 5.734e-05/0.3007, allocations: 19.98 kB / 445.7 MB, free: 14.74 MB / 366.1 MB
Notification: Performance of sorting global known variables: time 0.0003432/0.3011, allocations: 265.9 kB / 445.9 MB, free: 14.48 MB / 366.1 MB
Notification: Performance of sort global known variables: time 1e-07/0.3011, allocations: 0 / 445.9 MB, free: 14.48 MB / 366.1 MB
Notification: Performance of remove unused functions: time 0.0005127/0.3016, allocations: 147.9 kB / 446.1 MB, free: 14.34 MB / 366.1 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 2
 * Number of states: 2 (Inertia2.phi,Inertia2.w)
 * Number of discrete variables: 9 (gear.tau_aPos,gear.startForward,gear.startBackward,gear.locked,gear.mode,bearingFriction.startForward,bearingFriction.startBackward,bearingFriction.locked,bearingFriction.mode)
 * Number of discrete states: 4 (bearingFriction.mode,bearingFriction.startBackward,bearingFriction.startForward,gear.mode)
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (39):
 * Single equations (assignments): 38
 * Array equations: 0
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (not torn): 0
 * Torn equation systems: 1
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems (#iteration vars, #inner vars, density): 0 systems
 * Non-linear torn systems (#iteration vars, #inner vars): 1 system
   {(2,30)}
Notification: Performance of Backend phase and start with SimCode phase: time 0.001383/0.303, allocations: 390.1 kB / 446.5 MB, free: 14.08 MB / 366.1 MB
Notification: Performance of simCode: created initialization part: time 0.001638/0.3046, allocations: 0.6299 MB / 447.1 MB, free: 13.45 MB / 366.1 MB
Notification: Performance of simCode: created event and clocks part: time 2.405e-06/0.3046, allocations: 0 / 447.1 MB, free: 13.45 MB / 366.1 MB
Notification: Performance of simCode: created simulation system equations: time 0.0008852/0.3055, allocations: 352.1 kB / 447.4 MB, free: 13.11 MB / 366.1 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.0005214/0.306, allocations: 64.39 kB / 447.5 MB, free: 13.04 MB / 366.1 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.002678/0.3087, allocations: 1.145 MB / 448.6 MB, free: 11.87 MB / 366.1 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0004862/0.3092, allocations: 0.8212 MB / 449.5 MB, free: 11.02 MB / 366.1 MB
Notification: Performance of simCode: alias equations: time 0.0002721/0.3095, allocations: 79.36 kB / 449.5 MB, free: 10.95 MB / 366.1 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.0001765/0.3096, allocations: 59.39 kB / 449.6 MB, free: 10.89 MB / 366.1 MB
Notification: Performance of SimCode: time 5.91e-07/0.3096, allocations: 3.938 kB / 449.6 MB, free: 10.88 MB / 366.1 MB
Notification: Performance of Templates: time 0.01809/0.3277, allocations: 10.5 MB / 460.1 MB, free: 408 kB / 366.1 MB
make -j1 -f Modelica_4.1.0-beta.om_Modelica.Mechanics.Rotational.Examples.LossyGearDemo2.makefile
(rm -f Modelica_4.1.0-beta.om_Modelica.Mechanics.Rotational.Examples.LossyGearDemo2.pipe ; mkfifo Modelica_4.1.0-beta.om_Modelica.Mechanics.Rotational.Examples.LossyGearDemo2.pipe ; head -c 1048576 < Modelica_4.1.0-beta.om_Modelica.Mechanics.Rotational.Examples.LossyGearDemo2.pipe >> ../files/Modelica_4.1.0-beta.om_Modelica.Mechanics.Rotational.Examples.LossyGearDemo2.sim & ./Modelica_4.1.0-beta.om_Modelica.Mechanics.Rotational.Examples.LossyGearDemo2  -abortSlowSimulation -alarm=480  -emit_protected -lv LOG_STATS > Modelica_4.1.0-beta.om_Modelica.Mechanics.Rotational.Examples.LossyGearDemo2.pipe 2>&1)
diffSimulationResults("Modelica_4.1.0-beta.om_Modelica.Mechanics.Rotational.Examples.LossyGearDemo2_res.mat","/var/lib/jenkins/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.1.0/Modelica/Mechanics/Rotational/Examples/LossyGearDemo2/LossyGearDemo2.csv","/var/lib/jenkins/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/Modelica_4.1.0-beta.om_Modelica.Mechanics.Rotational.Examples.LossyGearDemo2.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
""

Variables in the reference:time,Inertia2.phi,Inertia2.w,bearingFriction.mode,bearingFriction.startBackward,bearingFriction.startForward,gear.mode

Variables in the result:DriveSine.amplitude,DriveSine.continuous,DriveSine.f,DriveSine.offset,DriveSine.phase,DriveSine.startTime,Inertia1.J,Inertia2.J,Inertia2.phi,Inertia2.w,bearingFriction.mode,bearingFriction.peak,bearingFriction.phi_support,bearingFriction.smoothness,bearingFriction.startBackward,bearingFriction.startForward,bearingFriction.support.phi,bearingFriction.tau_pos[1,1],bearingFriction.tau_pos[1,2],bearingFriction.tau_pos[2,1],bearingFriction.tau_pos[2,2],bearingFriction.w_small,fixed.flange.phi,fixed.phi0,gear.eta_mf1_0,gear.eta_mf2_0,gear.lossTable[1,1],gear.lossTable[1,2],gear.lossTable[1,3],gear.lossTable[1,4],gear.lossTable[1,5],gear.mode,gear.phi_support,gear.ratio,gear.smoothness,gear.support.phi,gear.tau_bf1_0,gear.tau_bf2_0,gear.tau_bf_a_0,load.duration,load.height,load.offset,load.startTime,time,torque1.phi_support,torque1.support.phi,torque2.phi_support,torque2.support.phi