Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr OpenIPSL_OpenIPSL.Tests.Controls.PSAT.TG.TGTypeIII_test.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/Modelica 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/OpenIPSL 3.0.1/package.mo", uses=false) Using package OpenIPSL with version 3.0.1 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/OpenIPSL 3.0.1/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 Modelica with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 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: "" <> buildModelFMU(OpenIPSL.Tests.Controls.PSAT.TG.TGTypeIII_test,fileNamePrefix="OpenIPSL_OpenIPSL_Tests_Controls_PSAT_TG_TGTypeIII_test",fmuType="me",version="2.0",platforms={"static"}) "" <> buildModelFMU(OpenIPSL.Tests.Controls.PSAT.TG.TGTypeIII_test,fileNamePrefix="OpenIPSL_OpenIPSL_Tests_Controls_PSAT_TG_TGTypeIII_test",fmuType="me",version="2.0",platforms={"static"}) Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo): time 0.0009919/0.0009919, allocations: 103.3 kB / 15.06 MB, free: 1.098 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo): time 1.294/1.294, allocations: 223.2 MB / 238.9 MB, free: 5.668 MB / 190.1 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001171/0.001171, allocations: 181.1 kB / 290.2 MB, free: 2.363 MB / 238.1 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/OpenIPSL 3.0.1/package.mo): time 0.4697/0.4697, allocations: 78.54 MB / 419.8 MB, free: 4.379 MB / 286.1 MB Notification: Performance of FrontEnd - loaded program: time 0.0003541/0.0003541, allocations: 8 kB / 499.8 MB, free: 6.305 MB / 366.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.1351/0.1355, allocations: 69.36 MB / 0.5558 GB, free: 0.8906 MB / 430.1 MB Notification: Performance of NFInst.instantiate(OpenIPSL.Tests.Controls.PSAT.TG.TGTypeIII_test): time 0.2489/0.3844, allocations: 6.069 MB / 0.5617 GB, free: 37.04 MB / 430.1 MB Notification: Performance of NFInst.instExpressions: time 0.004284/0.3888, allocations: 2.077 MB / 0.5637 GB, free: 36.75 MB / 430.1 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.0009328/0.3897, allocations: 21.34 kB / 0.5637 GB, free: 36.74 MB / 430.1 MB Notification: Performance of NFTyping.typeComponents: time 0.0005499/0.3903, allocations: 168 kB / 0.5639 GB, free: 36.67 MB / 430.1 MB Notification: Performance of NFTyping.typeBindings: time 0.001936/0.3922, allocations: 0.6705 MB / 0.5646 GB, free: 36.59 MB / 430.1 MB Notification: Performance of NFTyping.typeClassSections: time 0.001523/0.3938, allocations: 0.613 MB / 0.5652 GB, free: 36.57 MB / 430.1 MB Notification: Performance of NFFlatten.flatten: time 0.00195/0.3957, allocations: 1.027 MB / 0.5662 GB, free: 36.42 MB / 430.1 MB Notification: Performance of NFFlatten.resolveConnections: time 0.0005121/0.3963, allocations: 360.6 kB / 0.5665 GB, free: 36.34 MB / 430.1 MB Notification: Performance of NFEvalConstants.evaluate: time 0.0006657/0.3969, allocations: 0.5347 MB / 0.567 GB, free: 36.19 MB / 430.1 MB Notification: Performance of NFSimplifyModel.simplify: time 0.0005899/0.3975, allocations: 0.6604 MB / 0.5677 GB, free: 36 MB / 430.1 MB Notification: Performance of NFPackage.collectConstants: time 0.000107/0.3976, allocations: 58.88 kB / 0.5677 GB, free: 36 MB / 430.1 MB Notification: Performance of NFFlatten.collectFunctions: time 0.0004163/0.3981, allocations: 176.8 kB / 0.5679 GB, free: 35.99 MB / 430.1 MB Notification: Performance of NFScalarize.scalarize: time 0.0001764/0.3983, allocations: 235.3 kB / 0.5681 GB, free: 35.91 MB / 430.1 MB Notification: Performance of NFVerifyModel.verify: time 0.0001836/0.3984, allocations: 250.9 kB / 0.5684 GB, free: 35.83 MB / 430.1 MB Notification: Performance of NFConvertDAE.convert: time 0.001079/0.3995, allocations: 1.262 MB / 0.5696 GB, free: 35.64 MB / 430.1 MB Notification: Performance of FrontEnd - DAE generated: time 2.074e-06/0.3995, allocations: 0 / 0.5696 GB, free: 35.64 MB / 430.1 MB Notification: Performance of FrontEnd: time 1.833e-06/0.3996, allocations: 0.6875 kB / 0.5696 GB, free: 35.64 MB / 430.1 MB Notification: Performance of Transformations before backend: time 1.699e-05/0.3996, allocations: 0 / 0.5696 GB, free: 35.64 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: 237 * Number of variables: 237 Notification: Performance of Generate backend data structure: time 0.007116/0.4067, allocations: 2.519 MB / 0.5721 GB, free: 34.73 MB / 430.1 MB Notification: Performance of prepare preOptimizeDAE: time 4.049e-05/0.4067, allocations: 12.53 kB / 0.5721 GB, free: 34.73 MB / 430.1 MB Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.0001809/0.4069, allocations: 151.7 kB / 0.5722 GB, free: 34.69 MB / 430.1 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.00463/0.4116, allocations: 0.8131 MB / 0.573 GB, free: 34.58 MB / 430.1 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.001401/0.413, allocations: 0.8337 MB / 0.5738 GB, free: 34.2 MB / 430.1 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0002368/0.4132, allocations: 242.5 kB / 0.5741 GB, free: 34.04 MB / 430.1 MB Notification: Performance of preOpt expandDerOperator (simulation): time 0.0001595/0.4134, allocations: 96.62 kB / 0.5741 GB, free: 34 MB / 430.1 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.002399/0.4158, allocations: 1.4 MB / 0.5755 GB, free: 33.43 MB / 430.1 MB Notification: Performance of preOpt findStateOrder (simulation): time 1.939e-05/0.4158, allocations: 0 / 0.5755 GB, free: 33.43 MB / 430.1 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0001027/0.4159, allocations: 39.81 kB / 0.5756 GB, free: 33.4 MB / 430.1 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 2.261e-05/0.416, allocations: 27.67 kB / 0.5756 GB, free: 33.39 MB / 430.1 MB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.002311/0.4183, allocations: 1.283 MB / 0.5768 GB, free: 32.99 MB / 430.1 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 0.00532/0.4236, allocations: 4.309 MB / 0.581 GB, free: 30.34 MB / 430.1 MB Notification: Performance of preOpt comSubExp (simulation): time 0.00299/0.4266, allocations: 1.847 MB / 0.5828 GB, free: 29.32 MB / 430.1 MB Notification: Performance of preOpt evalFunc (simulation): time 0.0001215/0.4268, allocations: 12.78 kB / 0.5829 GB, free: 29.32 MB / 430.1 MB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 2.99e-05/0.4268, allocations: 45.61 kB / 0.5829 GB, free: 29.28 MB / 430.1 MB Notification: Performance of pre-optimization done (n=107): time 3.557e-06/0.4268, allocations: 4 kB / 0.5829 GB, free: 29.27 MB / 430.1 MB Notification: Performance of matching and sorting (n=107): time 0.0313/0.4581, allocations: 9.017 MB / 0.5917 GB, free: 27.74 MB / 430.1 MB Notification: Performance of inlineWhenForInitialization (initialization): time 6.529e-05/0.4582, allocations: 115 kB / 0.5918 GB, free: 27.62 MB / 430.1 MB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.001849/0.4601, allocations: 1.005 MB / 0.5928 GB, free: 27.2 MB / 430.1 MB Notification: Performance of collectPreVariables (initialization): time 0.0003187/0.4604, allocations: 45.98 kB / 0.5928 GB, free: 27.15 MB / 430.1 MB Notification: Performance of collectInitialEqns (initialization): time 0.0004172/0.4608, allocations: 0.5621 MB / 0.5934 GB, free: 26.7 MB / 430.1 MB Notification: Performance of collectInitialBindings (initialization): time 0.0004081/0.4613, allocations: 386.5 kB / 0.5938 GB, free: 26.4 MB / 430.1 MB Notification: Performance of simplifyInitialFunctions (initialization): time 8.448e-05/0.4614, allocations: 25.22 kB / 0.5938 GB, free: 26.38 MB / 430.1 MB Notification: Performance of setup shared object (initialization): time 0.000106/0.4615, allocations: 355 kB / 0.5941 GB, free: 26.05 MB / 430.1 MB Notification: Performance of preBalanceInitialSystem (initialization): time 0.001788/0.4633, allocations: 0.8134 MB / 0.5949 GB, free: 25.78 MB / 430.1 MB Notification: Performance of partitionIndependentBlocks (initialization): time 0.001827/0.4651, allocations: 1.004 MB / 0.5959 GB, free: 25.31 MB / 430.1 MB Notification: Performance of analyzeInitialSystem (initialization): time 0.001758/0.4669, allocations: 0.8911 MB / 0.5968 GB, free: 24.94 MB / 430.1 MB Notification: Performance of solveInitialSystemEqSystem (initialization): time 5.651e-06/0.4669, allocations: 1.125 kB / 0.5968 GB, free: 24.94 MB / 430.1 MB Notification: Performance of matching and sorting (n=170) (initialization): time 0.01654/0.4834, allocations: 5.496 MB / 0.6021 GB, free: 23.71 MB / 430.1 MB Notification: Performance of prepare postOptimizeDAE: time 0.000309/0.4838, allocations: 1.497 MB / 0.6036 GB, free: 22.12 MB / 430.1 MB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 1.672e-05/0.4838, allocations: 4.719 kB / 0.6036 GB, free: 22.12 MB / 430.1 MB Notification: Performance of postOpt tearingSystem (initialization): time 0.007414/0.4912, allocations: 2.228 MB / 0.6058 GB, free: 21.75 MB / 430.1 MB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.00113/0.4924, allocations: 219.6 kB / 0.606 GB, free: 21.73 MB / 430.1 MB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.02373/0.5161, allocations: 10.77 MB / 0.6165 GB, free: 15.45 MB / 430.1 MB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.001649/0.5178, allocations: 226.7 kB / 0.6167 GB, free: 15.22 MB / 430.1 MB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.0001034/0.5179, allocations: 48 kB / 0.6168 GB, free: 15.18 MB / 430.1 MB Notification: Performance of prepare postOptimizeDAE: time 1.101e-05/0.518, allocations: 8 kB / 0.6168 GB, free: 15.17 MB / 430.1 MB Notification: Performance of postOpt replaceHomotopyWithSimplified (initialization): time 0.01339/0.5313, allocations: 5.292 MB / 0.6219 GB, free: 9.867 MB / 430.1 MB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 1.743e-05/0.5314, allocations: 4 kB / 0.6219 GB, free: 9.863 MB / 430.1 MB Notification: Performance of postOpt tearingSystem (initialization): time 0.006066/0.5375, allocations: 2.228 MB / 0.6241 GB, free: 7.633 MB / 430.1 MB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.0009537/0.5385, allocations: 203.7 kB / 0.6243 GB, free: 7.434 MB / 430.1 MB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.02186/0.5603, allocations: 10.74 MB / 0.6348 GB, free: 12.57 MB / 446.1 MB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.001697/0.5621, allocations: 202.9 kB / 0.635 GB, free: 12.37 MB / 446.1 MB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.0001377/0.5622, allocations: 47.98 kB / 0.635 GB, free: 12.32 MB / 446.1 MB Warning: Assuming fixed start value for the following 4 variables: tGTypeIII.integrator3.y:VARIABLE(flow=false start = tGTypeIII.integrator3.y_start fixed = true ) "Connector of Real output signal" type: Real tGTypeIII.integrator2.y:VARIABLE(flow=false start = tGTypeIII.integrator2.y_start fixed = true ) "Connector of Real output signal" type: Real tGTypeIII.integrator1.y:VARIABLE(flow=false start = tGTypeIII.integrator1.y_start fixed = true ) "Connector of Real output signal" type: Real tGTypeIII.integrator.y:VARIABLE(flow=false start = tGTypeIII.integrator.y_start fixed = true ) "Connector of Real output signal" type: Real Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 17 * Number of states: 0 () * Number of discrete variables: 4 (tGTypeIII.integrator3.local_reset,tGTypeIII.integrator2.local_reset,tGTypeIII.integrator1.local_reset,tGTypeIII.integrator.local_reset) * Number of discrete states: 0 () * Number of clocked states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for initialization (130): * Single equations (assignments): 129 * Array equations: 0 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (linear and non-linear blocks): 0 * Torn equation systems: 1 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems: 0 * Non-linear torn systems: 1 {25 16} Notification: Performance of prepare postOptimizeDAE: time 0.0007333/0.563, allocations: 366.1 kB / 0.6354 GB, free: 11.96 MB / 446.1 MB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.0002523/0.5632, allocations: 130.4 kB / 0.6355 GB, free: 11.83 MB / 446.1 MB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01489/0.5781, allocations: 5.166 MB / 0.6406 GB, free: 6.641 MB / 446.1 MB Notification: Performance of postOpt inlineArrayEqn (simulation): time 2.137e-05/0.5782, allocations: 19.89 kB / 0.6406 GB, free: 6.621 MB / 446.1 MB Notification: Performance of postOpt constantLinearSystem (simulation): time 5.55e-06/0.5782, allocations: 4.75 kB / 0.6406 GB, free: 6.617 MB / 446.1 MB Notification: Performance of postOpt simplifysemiLinear (simulation): time 3.201e-05/0.5782, allocations: 3.984 kB / 0.6406 GB, free: 6.613 MB / 446.1 MB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.0173/0.5955, allocations: 6.936 MB / 0.6474 GB, free: 15.54 MB / 462.1 MB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 1.405e-05/0.5956, allocations: 0 / 0.6474 GB, free: 15.54 MB / 462.1 MB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.000702/0.5963, allocations: 124.9 kB / 0.6475 GB, free: 15.42 MB / 462.1 MB Notification: Performance of postOpt tearingSystem (simulation): time 0.006489/0.6028, allocations: 2.166 MB / 0.6496 GB, free: 13.25 MB / 462.1 MB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0001718/0.603, allocations: 19.94 kB / 0.6496 GB, free: 13.23 MB / 462.1 MB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.02057/0.6236, allocations: 9.303 MB / 0.6587 GB, free: 3.789 MB / 462.1 MB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 2.234e-06/0.6236, allocations: 0 / 0.6587 GB, free: 3.789 MB / 462.1 MB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.01744/0.6411, allocations: 6.224 MB / 0.6648 GB, free: 13.54 MB / 478.1 MB Notification: Performance of postOpt removeConstants (simulation): time 0.0005492/0.6417, allocations: 219.1 kB / 0.665 GB, free: 13.31 MB / 478.1 MB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.000187/0.6419, allocations: 24 kB / 0.665 GB, free: 13.29 MB / 478.1 MB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.001065/0.6429, allocations: 147.8 kB / 0.6652 GB, free: 13.14 MB / 478.1 MB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0006107/0.6436, allocations: 200.6 kB / 0.6653 GB, free: 12.95 MB / 478.1 MB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 7.774e-05/0.6436, allocations: 28.94 kB / 0.6654 GB, free: 12.92 MB / 478.1 MB Notification: Performance of sorting global known variables: time 0.0009468/0.6446, allocations: 0.6699 MB / 0.666 GB, free: 12.24 MB / 478.1 MB Notification: Performance of sort global known variables: time 2.21e-07/0.6446, allocations: 0 / 0.666 GB, free: 12.24 MB / 478.1 MB Notification: Performance of remove unused functions: time 0.002264/0.6469, allocations: 0.7762 MB / 0.6668 GB, free: 11.46 MB / 478.1 MB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 1 * Number of states: 7 (gen.delta,gen.w,gen.e1q,tGTypeIII.integrator.y,tGTypeIII.integrator1.y,tGTypeIII.integrator2.y,tGTypeIII.integrator3.y) * 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 (70): * Single equations (assignments): 69 * Array equations: 0 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (linear and non-linear blocks): 0 * Torn equation systems: 1 * Mixed (continuous/discrete) equation systems: 0 Notification: Torn system details for strict tearing set: * Linear torn systems: 0 * Non-linear torn systems: 1 {26 14} Notification: Performance of Backend phase and start with SimCode phase: time 0.01689/0.6638, allocations: 6.796 MB / 0.6734 GB, free: 4.633 MB / 478.1 MB Notification: Performance of simCode: created initialization part: time 0.01266/0.6765, allocations: 4.868 MB / 0.6782 GB, free: 15.75 MB / 494.1 MB Notification: Performance of simCode: created event and clocks part: time 8.816e-06/0.6765, allocations: 0 / 0.6782 GB, free: 15.75 MB / 494.1 MB Notification: Performance of simCode: created simulation system equations: time 0.00513/0.6817, allocations: 1.828 MB / 0.68 GB, free: 13.91 MB / 494.1 MB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.0009621/0.6827, allocations: 108.8 kB / 0.6801 GB, free: 13.8 MB / 494.1 MB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.006135/0.6888, allocations: 5.724 MB / 0.6857 GB, free: 7.984 MB / 494.1 MB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0007782/0.6896, allocations: 1.19 MB / 0.6868 GB, free: 6.766 MB / 494.1 MB Notification: Performance of simCode: alias equations: time 0.0005867/0.6902, allocations: 129.5 kB / 0.6869 GB, free: 6.641 MB / 494.1 MB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.000616/0.6908, allocations: 499.2 kB / 0.6874 GB, free: 6.152 MB / 494.1 MB Notification: Performance of SimCode: time 1.393e-06/0.6909, allocations: 0 / 0.6874 GB, free: 6.152 MB / 494.1 MB Notification: Performance of buildModelFMU: Generate the FMI files: time 0.06576/0.7566, allocations: 40.33 MB / 0.7268 GB, free: 14.14 MB / 0.5294 GB Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0001945/0.7569, allocations: 205.1 kB / 0.727 GB, free: 13.9 MB / 0.5294 GB Notification: Performance of buildModelFMU: Generate platform static: time 2.656/3.413, allocations: 4 kB / 0.727 GB, free: 13.9 MB / 0.5294 GB (rm -f OpenIPSL_OpenIPSL.Tests.Controls.PSAT.TG.TGTypeIII_test.pipe ; mkfifo OpenIPSL_OpenIPSL.Tests.Controls.PSAT.TG.TGTypeIII_test.pipe ; head -c 1048576 < OpenIPSL_OpenIPSL.Tests.Controls.PSAT.TG.TGTypeIII_test.pipe >> ../files/OpenIPSL_OpenIPSL.Tests.Controls.PSAT.TG.TGTypeIII_test.sim & /home/hudson/saved_omc/OMSimulator/install/linux/bin/OMSimulator --tempDir=temp_OpenIPSL_OpenIPSL_Tests_Controls_PSAT_TG_TGTypeIII_test_fmu --startTime=0 --stopTime=10 --timeout=50 --tolerance=1e-06 OpenIPSL_OpenIPSL_Tests_Controls_PSAT_TG_TGTypeIII_test.fmu > OpenIPSL_OpenIPSL.Tests.Controls.PSAT.TG.TGTypeIII_test.pipe 2>&1) Environment - environmentSimulation: