Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr ModelicaTest_3.2.1_ModelicaTest.MultiBody.Forces.Spring2.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.Spring2,tolerance=1e-06,outputFormat="empty",numberOfIntervals=5000,variableFilter="",fileNamePrefix="ModelicaTest_3.2.1_ModelicaTest.MultiBody.Forces.Spring2") translateModel(ModelicaTest.MultiBody.Forces.Spring2,tolerance=1e-06,outputFormat="empty",numberOfIntervals=5000,variableFilter="",fileNamePrefix="ModelicaTest_3.2.1_ModelicaTest.MultiBody.Forces.Spring2") Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo): time 0.0008909/0.0008909, allocations: 91.84 kB / 15.36 MB, free: 0.7383 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.005971/0.005971, allocations: 169.9 kB / 16.26 MB, free: 6.613 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.462/1.462, allocations: 205.4 MB / 222.4 MB, free: 5.562 MB / 174.1 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.1+maint.om/package.mo): time 0.3246/0.3246, allocations: 38.04 MB / 308.8 MB, free: 10.39 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 0.0006089/0.0006089, allocations: 12.7 kB / 377 MB, free: 14.81 MB / 318.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.09935/0.09997, allocations: 57.53 MB / 434.6 MB, free: 5.191 MB / 366.1 MB Notification: Performance of NFInst.instantiate(ModelicaTest.MultiBody.Forces.Spring2): time 0.2133/0.3134, allocations: 49.62 MB / 484.2 MB, free: 24.55 MB / 382.1 MB Notification: Performance of NFInst.instExpressions: time 0.01945/0.3328, allocations: 10.63 MB / 494.8 MB, free: 18.68 MB / 382.1 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.007962/0.3408, allocations: 218.4 kB / 495 MB, free: 18.65 MB / 382.1 MB Notification: Performance of NFTyping.typeComponents: time 0.001487/0.3424, allocations: 477.9 kB / 495.5 MB, free: 18.46 MB / 382.1 MB Notification: Performance of NFTyping.typeBindings: time 0.004421/0.3468, allocations: 1.982 MB / 497.5 MB, free: 17.59 MB / 382.1 MB Notification: Performance of NFTyping.typeClassSections: time 0.001646/0.3485, allocations: 0.8645 MB / 498.3 MB, free: 17.21 MB / 382.1 MB Notification: Performance of NFFlatten.flatten: time 0.007713/0.3562, allocations: 7.551 MB / 0.494 GB, free: 15.08 MB / 382.1 MB Notification: Performance of NFFlatten.resolveConnections: time 0.009499/0.3657, allocations: 5.37 MB / 0.4993 GB, free: 12.89 MB / 382.1 MB Notification: Performance of NFEvalConstants.evaluate: time 0.003094/0.3689, allocations: 1.393 MB / 0.5006 GB, free: 12.38 MB / 382.1 MB Notification: Performance of NFSimplifyModel.simplify: time 0.004555/0.3734, allocations: 2.487 MB / 0.5031 GB, free: 11.62 MB / 382.1 MB Notification: Performance of NFPackage.collectConstants: time 0.001222/0.3747, allocations: 178.7 kB / 0.5032 GB, free: 11.62 MB / 382.1 MB Notification: Performance of NFFlatten.collectFunctions: time 0.003019/0.3777, allocations: 1.062 MB / 0.5043 GB, free: 11.37 MB / 382.1 MB Notification: Performance of NFScalarize.scalarize: time 0.003536/0.3813, allocations: 2.1 MB / 0.5063 GB, free: 10.75 MB / 382.1 MB Notification: Performance of NFVerifyModel.verify: time 0.006221/0.3875, allocations: 2.364 MB / 0.5086 GB, free: 9.145 MB / 382.1 MB Notification: Performance of NFConvertDAE.convert: time 0.01176/0.3993, allocations: 7.437 MB / 0.5159 GB, free: 5.105 MB / 382.1 MB Notification: Performance of FrontEnd - DAE generated: time 4.749e-06/0.3994, allocations: 0 / 0.5159 GB, free: 5.105 MB / 382.1 MB Notification: Performance of FrontEnd: time 2.655e-06/0.3994, allocations: 0 / 0.5159 GB, free: 5.105 MB / 382.1 MB Notification: Performance of Transformations before backend: time 0.0003153/0.3997, allocations: 0 / 0.5159 GB, free: 5.105 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: 1730 * Number of variables: 1730 Notification: Performance of Generate backend data structure: time 0.01352/0.4132, allocations: 4.865 MB / 0.5207 GB, free: 1.793 MB / 382.1 MB Notification: Performance of prepare preOptimizeDAE: time 4.344e-05/0.4133, allocations: 8.906 kB / 0.5207 GB, free: 1.793 MB / 382.1 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 0.01002/0.4233, allocations: 2.352 MB / 0.523 GB, free: 0.5938 MB / 382.1 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.006146/0.4295, allocations: 2.94 MB / 0.5258 GB, free: 14.47 MB / 398.1 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0002904/0.4298, allocations: 295.7 kB / 0.5261 GB, free: 14.18 MB / 398.1 MB Notification: Performance of preOpt expandDerOperator (simulation): time 0.002182/0.432, allocations: 0.6007 MB / 0.5267 GB, free: 13.58 MB / 398.1 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.02728/0.4593, allocations: 12.13 MB / 0.5386 GB, free: 0.6406 MB / 398.1 MB Notification: Performance of preOpt findStateOrder (simulation): time 0.0002426/0.4596, allocations: 59.44 kB / 0.5386 GB, free: 0.582 MB / 398.1 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.001444/0.4611, allocations: 175.8 kB / 0.5388 GB, free: 420 kB / 398.1 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.003607/0.4647, allocations: 2.135 MB / 0.5409 GB, free: 14.27 MB / 414.1 MB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.02499/0.4897, allocations: 10.78 MB / 0.5514 GB, free: 3.473 MB / 414.1 MB Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.06612/0.5559, allocations: 47.76 MB / 0.598 GB, free: 2.504 MB / 462.1 MB Notification: Performance of preOpt comSubExp (simulation): time 0.01466/0.5706, allocations: 5.408 MB / 0.6033 GB, free: 12.93 MB / 478.1 MB Notification: Performance of preOpt resolveLoops (simulation): time 0.003936/0.5745, allocations: 2.49 MB / 0.6057 GB, free: 10.42 MB / 478.1 MB Notification: Performance of preOpt evalFunc (simulation): time 0.01802/0.5926, allocations: 12.32 MB / 0.6178 GB, free: 13.56 MB / 494.1 MB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 5.022e-05/0.5927, allocations: 55.88 kB / 0.6178 GB, free: 13.5 MB / 494.1 MB Notification: Performance of pre-optimization done (n=219): time 5.01e-06/0.5927, allocations: 0 / 0.6178 GB, free: 13.5 MB / 494.1 MB Notification: Performance of matching and sorting (n=258): time 0.2649/0.8576, allocations: 25.34 MB / 0.6426 GB, free: 144 MB / 494.1 MB Notification: Performance of inlineWhenForInitialization (initialization): time 0.002293/0.8599, allocations: 4.58 MB / 0.647 GB, free: 139.5 MB / 494.1 MB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.006172/0.8661, allocations: 4.564 MB / 0.6515 GB, free: 137.9 MB / 494.1 MB Notification: Performance of collectPreVariables (initialization): time 0.0007338/0.8669, allocations: 66.84 kB / 0.6516 GB, free: 137.8 MB / 494.1 MB Notification: Performance of collectInitialEqns (initialization): time 0.001685/0.8686, allocations: 3.522 MB / 0.655 GB, free: 135.1 MB / 494.1 MB Notification: Performance of collectInitialBindings (initialization): time 0.001464/0.87, allocations: 1.021 MB / 0.656 GB, free: 134.4 MB / 494.1 MB Notification: Performance of simplifyInitialFunctions (initialization): time 0.000808/0.8709, allocations: 0.6523 MB / 0.6566 GB, free: 134.1 MB / 494.1 MB Notification: Performance of setup shared object (initialization): time 4.45e-05/0.8709, allocations: 308.9 kB / 0.6569 GB, free: 133.8 MB / 494.1 MB Notification: Performance of preBalanceInitialSystem (initialization): time 0.004457/0.8754, allocations: 3.28 MB / 0.6601 GB, free: 132.8 MB / 494.1 MB Notification: Performance of partitionIndependentBlocks (initialization): time 0.006817/0.8822, allocations: 7.597 MB / 0.6676 GB, free: 125.9 MB / 494.1 MB Notification: Performance of analyzeInitialSystem (initialization): time 0.01235/0.8946, allocations: 11.48 MB / 0.6788 GB, free: 117 MB / 494.1 MB Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.000137/0.8948, allocations: 43.62 kB / 0.6788 GB, free: 117 MB / 494.1 MB Notification: Performance of matching and sorting (n=1003) (initialization): time 0.04834/0.9431, allocations: 16.3 MB / 0.6947 GB, free: 112.2 MB / 494.1 MB Notification: Performance of prepare postOptimizeDAE: time 0.0001685/0.9433, allocations: 68.86 kB / 0.6948 GB, free: 112.2 MB / 494.1 MB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.02999/0.9733, allocations: 9.567 MB / 0.7041 GB, free: 110 MB / 494.1 MB Notification: Performance of postOpt tearingSystem (initialization): time 0.03027/1.004, allocations: 6.69 MB / 0.7107 GB, free: 103.6 MB / 494.1 MB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.00555/1.009, allocations: 1.712 MB / 0.7123 GB, free: 101.9 MB / 494.1 MB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.02647/1.036, allocations: 23.51 MB / 0.7353 GB, free: 77.33 MB / 494.1 MB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.007315/1.043, allocations: 0.6628 MB / 0.7359 GB, free: 76.67 MB / 494.1 MB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001457/1.045, allocations: 467.3 kB / 0.7364 GB, free: 76.21 MB / 494.1 MB Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 688 * Number of states: 0 () * Number of discrete variables: 45 (fixedTranslation1.color[3],fixedTranslation1.color[2],fixedTranslation1.color[1],body2.sphereColor[3],body2.sphereColor[2],body2.sphereColor[1],spring2.massColor[3],spring2.massColor[2],spring2.massColor[1],spring2.color[3],spring2.color[2],spring2.color[1],body1.sphereColor[3],body1.sphereColor[2],body1.sphereColor[1],body.sphereColor[3],body.sphereColor[2],body.sphereColor[1],spring1.color[3],spring1.color[2],spring1.color[1],spring1.massColor[3],spring1.massColor[2],spring1.massColor[1],spring.color[3],spring.color[2],spring.color[1],spring.massColor[3],spring.massColor[2],spring.massColor[1],fixedTranslation.color[3],fixedTranslation.color[2],fixedTranslation.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]) * Number of discrete states: 0 () * Number of clocked states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for initialization (922): * Single equations (assignments): 900 * Array equations: 9 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 8 * Torn equation systems: 5 * Mixed (continuous/discrete) equation systems: 0 Notification: Equation system details (not torn): * Constant Jacobian (size): 0 systems * Linear Jacobian (size,density): 5 systems {(4,100.0%), (4,100.0%), (3,100.0%), (4,100.0%), (3,100.0%)} * Non-linear Jacobian (size): 3 systems {4, 4, 4} * Without analytic Jacobian (size): 0 systems Notification: Torn system details for strict tearing set: * Linear torn systems (#iteration vars, #inner vars, density): 5 systems {(1,1,100.0%), (1,1,100.0%), (5,13,100.0%), (2,1,100.0%), (2,1,100.0%)} * Non-linear torn systems (#iteration vars, #inner vars): 0 systems Notification: Performance of prepare postOptimizeDAE: time 0.004932/1.05, allocations: 2.341 MB / 0.7387 GB, free: 73.86 MB / 494.1 MB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.00125/1.051, allocations: 418.7 kB / 0.7391 GB, free: 73.45 MB / 494.1 MB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.0156/1.066, allocations: 7.314 MB / 0.7462 GB, free: 66.04 MB / 494.1 MB Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.01373/1.08, allocations: 6.657 MB / 0.7527 GB, free: 59.3 MB / 494.1 MB Notification: Performance of postOpt constantLinearSystem (simulation): time 3.76e-05/1.08, allocations: 8 kB / 0.7527 GB, free: 59.3 MB / 494.1 MB Notification: Performance of postOpt simplifysemiLinear (simulation): time 4.542e-05/1.08, allocations: 11.95 kB / 0.7527 GB, free: 59.29 MB / 494.1 MB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.029/1.109, allocations: 15.61 MB / 0.768 GB, free: 43.52 MB / 494.1 MB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 3.02e-05/1.109, allocations: 8 kB / 0.768 GB, free: 43.51 MB / 494.1 MB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002014/1.111, allocations: 440 kB / 0.7684 GB, free: 43.08 MB / 494.1 MB Notification: Performance of postOpt tearingSystem (simulation): time 0.009731/1.121, allocations: 3.403 MB / 0.7717 GB, free: 39.63 MB / 494.1 MB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0005378/1.122, allocations: 79.88 kB / 0.7718 GB, free: 39.55 MB / 494.1 MB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.01717/1.139, allocations: 19.12 MB / 0.7905 GB, free: 19.38 MB / 494.1 MB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.00211/1.141, allocations: 4.436 MB / 0.7948 GB, free: 14.53 MB / 494.1 MB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.01925/1.16, allocations: 10.85 MB / 0.8054 GB, free: 3.465 MB / 494.1 MB Notification: Performance of postOpt removeConstants (simulation): time 0.001279/1.162, allocations: 491.5 kB / 0.8059 GB, free: 2.961 MB / 494.1 MB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001238/1.163, allocations: 63.98 kB / 0.8059 GB, free: 2.898 MB / 494.1 MB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.003235/1.166, allocations: 299.5 kB / 0.8062 GB, free: 2.605 MB / 494.1 MB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.001047/1.167, allocations: 213.5 kB / 0.8064 GB, free: 2.398 MB / 494.1 MB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0005588/1.168, allocations: 79.95 kB / 0.8065 GB, free: 2.32 MB / 494.1 MB Notification: Performance of sorting global known variables: time 0.005621/1.173, allocations: 2.843 MB / 0.8093 GB, free: 15.48 MB / 0.4981 GB Notification: Performance of sort global known variables: time 2.204e-06/1.173, allocations: 0 / 0.8093 GB, free: 15.48 MB / 0.4981 GB Notification: Performance of remove unused functions: time 0.009341/1.183, allocations: 1.599 MB / 0.8108 GB, free: 13.88 MB / 0.4981 GB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 25 * Number of states: 36 ($STATESET3.x[3],$STATESET3.x[2],$STATESET3.x[1],$STATESET2.x[3],$STATESET2.x[2],$STATESET2.x[1],$STATESET1.x[3],$STATESET1.x[2],$STATESET1.x[1],body.frame_a.r_0[1],body.frame_a.r_0[2],body.frame_a.r_0[3],body.v_0[1],body.v_0[2],body.v_0[3],body.w_a[1],body.w_a[2],body.w_a[3],body1.frame_a.r_0[1],body1.frame_a.r_0[2],body1.frame_a.r_0[3],body1.v_0[1],body1.v_0[2],body1.v_0[3],body1.w_a[1],body1.w_a[2],body1.w_a[3],body2.frame_a.r_0[1],body2.frame_a.r_0[2],body2.frame_a.r_0[3],body2.v_0[1],body2.v_0[2],body2.v_0[3],body2.w_a[1],body2.w_a[2],body2.w_a[3]) * 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 (194): * Single equations (assignments): 178 * Array equations: 3 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 8 * Torn equation systems: 5 * Mixed (continuous/discrete) equation systems: 0 Notification: Equation system details (not torn): * Constant Jacobian (size): 0 systems * Linear Jacobian (size,density): 5 systems {(4,100.0%), (3,100.0%), (4,100.0%), (3,100.0%), (4,100.0%)} * Non-linear Jacobian (size): 3 systems {4, 4, 4} * Without analytic Jacobian (size): 0 systems Notification: Torn system details for strict tearing set: * Linear torn systems (#iteration vars, #inner vars, density): 5 systems {(1,1,100.0%), (1,1,100.0%), (5,8,100.0%), (2,1,100.0%), (2,1,100.0%)} * Non-linear torn systems (#iteration vars, #inner vars): 0 systems Notification: Performance of Backend phase and start with SimCode phase: time 0.001148/1.184, allocations: 220.8 kB / 0.8111 GB, free: 13.66 MB / 0.4981 GB Notification: Performance of simCode: created initialization part: time 0.01926/1.203, allocations: 9.868 MB / 0.8207 GB, free: 3.602 MB / 0.4981 GB Notification: Performance of simCode: created event and clocks part: time 1.238e-05/1.203, allocations: 0 / 0.8207 GB, free: 3.602 MB / 0.4981 GB Notification: Performance of simCode: created simulation system equations: time 0.1949/1.398, allocations: 4.884 MB / 0.8255 GB, free: 144.3 MB / 0.4981 GB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.006525/1.405, allocations: 0.5374 MB / 0.826 GB, free: 144.3 MB / 0.4981 GB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.01772/1.423, allocations: 16.15 MB / 0.8418 GB, free: 137.2 MB / 0.4981 GB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.00355/1.426, allocations: 3.707 MB / 0.8454 GB, free: 136.4 MB / 0.4981 GB Notification: Performance of simCode: alias equations: time 0.005156/1.431, allocations: 2.245 MB / 0.8476 GB, free: 136.2 MB / 0.4981 GB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.0009642/1.432, allocations: 303.4 kB / 0.8479 GB, free: 136.2 MB / 0.4981 GB Notification: Performance of SimCode: time 9.91e-07/1.432, allocations: 0 / 0.8479 GB, free: 136.2 MB / 0.4981 GB Notification: Performance of Templates: time 0.1012/1.533, allocations: 65.09 MB / 0.9114 GB, free: 103.1 MB / 0.4981 GB make -j1 -f ModelicaTest_3.2.1_ModelicaTest.MultiBody.Forces.Spring2.makefile Environment - environmentSimulation: (rm -f ModelicaTest_3.2.1_ModelicaTest.MultiBody.Forces.Spring2.pipe ; mkfifo ModelicaTest_3.2.1_ModelicaTest.MultiBody.Forces.Spring2.pipe ; head -c 1048576 < ModelicaTest_3.2.1_ModelicaTest.MultiBody.Forces.Spring2.pipe >> ../files/ModelicaTest_3.2.1_ModelicaTest.MultiBody.Forces.Spring2.sim & ./ModelicaTest_3.2.1_ModelicaTest.MultiBody.Forces.Spring2 -abortSlowSimulation -alarm=480 -lv LOG_STATS > ModelicaTest_3.2.1_ModelicaTest.MultiBody.Forces.Spring2.pipe 2>&1) Environment - environmentSimulation: