Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.First.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: "" <> buildModelFMU(Modelica.Mechanics.Rotational.Examples.First,fileNamePrefix="Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_First",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(Modelica.Mechanics.Rotational.Examples.First,fileNamePrefix="Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_First",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 0.001035/0.001035, allocations: 114 kB / 17.28 MB, free: 6.219 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.0009801/0.0009802, allocations: 189.3 kB / 18.2 MB, free: 5.297 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.332/1.332, allocations: 205.1 MB / 224 MB, free: 12.46 MB / 190.1 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 0.001234/0.001234, allocations: 55.92 kB / 280.3 MB, free: 3.395 MB / 222.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.09152/0.09276, allocations: 46.62 MB / 326.9 MB, free: 4.707 MB / 270.1 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.Rotational.Examples.First): time 0.003417/0.09622, allocations: 2.391 MB / 329.3 MB, free: 2.293 MB / 270.1 MB
Notification: Performance of NFInst.instExpressions: time 0.0009168/0.09717, allocations: 0.6203 MB / 329.9 MB, free: 1.664 MB / 270.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.0001115/0.09729, allocations: 7.938 kB / 329.9 MB, free: 1.656 MB / 270.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.0001403/0.09746, allocations: 27.78 kB / 329.9 MB, free: 1.629 MB / 270.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.0001364/0.09761, allocations: 63.47 kB / 330 MB, free: 1.566 MB / 270.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.0001807/0.0978, allocations: 55.94 kB / 330 MB, free: 1.512 MB / 270.1 MB
Notification: Performance of NFFlatten.flatten: time 0.000246/0.09805, allocations: 270.7 kB / 330.3 MB, free: 1.246 MB / 270.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.0001896/0.09825, allocations: 98.73 kB / 330.4 MB, free: 1.152 MB / 270.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.0001299/0.09839, allocations: 107.5 kB / 330.5 MB, free: 1.047 MB / 270.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.0001332/0.09853, allocations: 115.5 kB / 330.6 MB, free: 0.9336 MB / 270.1 MB
Notification: Performance of NFPackage.collectConstants: time 3.369e-05/0.09857, allocations: 24 kB / 330.6 MB, free: 0.9102 MB / 270.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 3.331e-05/0.09861, allocations: 24 kB / 330.7 MB, free: 0.8867 MB / 270.1 MB
Notification: Performance of NFScalarize.scalarize: time 4.169e-05/0.09866, allocations: 47.78 kB / 330.7 MB, free: 0.8398 MB / 270.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.0001035/0.09876, allocations: 123.4 kB / 330.8 MB, free: 0.7188 MB / 270.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.0002376/0.09901, allocations: 263.3 kB / 331.1 MB, free: 472 kB / 270.1 MB
Notification: Performance of FrontEnd - DAE generated: time 3.226e-06/0.09902, allocations: 0 / 331.1 MB, free: 472 kB / 270.1 MB
Notification: Performance of FrontEnd: time 1.352e-06/0.09903, allocations: 0 / 331.1 MB, free: 472 kB / 270.1 MB
Notification: Performance of Transformations before backend: time 5.571e-06/0.09904, allocations: 0 / 331.1 MB, free: 472 kB / 270.1 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 54
 * Number of variables: 54
Notification: Performance of Generate backend data structure: time 0.0006757/0.09972, allocations: 0.5301 MB / 331.6 MB, free: 15.88 MB / 286.1 MB
Notification: Performance of prepare preOptimizeDAE: time 5.152e-05/0.09978, allocations: 15.89 kB / 331.6 MB, free: 15.86 MB / 286.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 5.537e-05/0.09984, allocations: 50.73 kB / 331.7 MB, free: 15.8 MB / 286.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 5.173e-05/0.09989, allocations: 32.64 kB / 331.7 MB, free: 15.77 MB / 286.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.0002291/0.1001, allocations: 232.7 kB / 331.9 MB, free: 15.51 MB / 286.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 1.641e-05/0.1002, allocations: 12.81 kB / 332 MB, free: 15.5 MB / 286.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 4.106e-05/0.1002, allocations: 28.28 kB / 332 MB, free: 15.47 MB / 286.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.0003342/0.1005, allocations: 199.4 kB / 332.2 MB, free: 15.27 MB / 286.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 1.502e-05/0.1006, allocations: 0 / 332.2 MB, free: 15.27 MB / 286.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 2.368e-05/0.1006, allocations: 12 kB / 332.2 MB, free: 15.25 MB / 286.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 7.424e-06/0.1006, allocations: 15.88 kB / 332.2 MB, free: 15.24 MB / 286.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.0002572/0.1009, allocations: 137.7 kB / 332.3 MB, free: 15.11 MB / 286.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.0008448/0.1017, allocations: 0.6268 MB / 333 MB, free: 14.43 MB / 286.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.0002716/0.102, allocations: 185.9 kB / 333.1 MB, free: 14.24 MB / 286.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.0001595/0.1022, allocations: 100.8 kB / 333.2 MB, free: 14.14 MB / 286.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 2.277e-05/0.1022, allocations: 8 kB / 333.3 MB, free: 14.13 MB / 286.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 2.099e-05/0.1022, allocations: 34.56 kB / 333.3 MB, free: 14.09 MB / 286.1 MB
Notification: Performance of pre-optimization done (n=24): time 1.302e-06/0.1022, allocations: 0 / 333.3 MB, free: 14.09 MB / 286.1 MB
Notification: Performance of matching and sorting (n=32): time 0.001701/0.1039, allocations: 1.068 MB / 334.4 MB, free: 12.93 MB / 286.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 3.3e-05/0.104, allocations: 59.34 kB / 334.4 MB, free: 12.86 MB / 286.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.000151/0.1041, allocations: 182.9 kB / 334.6 MB, free: 12.67 MB / 286.1 MB
Notification: Performance of collectPreVariables (initialization): time 1.968e-05/0.1042, allocations: 29.7 kB / 334.6 MB, free: 12.63 MB / 286.1 MB
Notification: Performance of collectInitialEqns (initialization): time 7.453e-05/0.1043, allocations: 140.7 kB / 334.8 MB, free: 12.49 MB / 286.1 MB
Notification: Performance of collectInitialBindings (initialization): time 7.285e-05/0.1043, allocations: 118.3 kB / 334.9 MB, free: 12.38 MB / 286.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 7.491e-05/0.1044, allocations: 53.7 kB / 334.9 MB, free: 12.32 MB / 286.1 MB
Notification: Performance of setup shared object (initialization): time 0.0001022/0.1045, allocations: 334.8 kB / 335.3 MB, free: 11.98 MB / 286.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.0001302/0.1047, allocations: 71.97 kB / 335.3 MB, free: 11.91 MB / 286.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.0001478/0.1048, allocations: 106.3 kB / 335.4 MB, free: 11.8 MB / 286.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.0002891/0.1051, allocations: 199.5 kB / 335.6 MB, free: 11.59 MB / 286.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 1.123e-06/0.1051, allocations: 0 / 335.6 MB, free: 11.59 MB / 286.1 MB
Notification: Performance of matching and sorting (n=37) (initialization): time 0.0004417/0.1056, allocations: 291.1 kB / 335.9 MB, free: 11.3 MB / 286.1 MB
Notification: Performance of prepare postOptimizeDAE: time 1.513e-05/0.1056, allocations: 7.938 kB / 335.9 MB, free: 11.29 MB / 286.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 6.122e-06/0.1056, allocations: 4 kB / 335.9 MB, free: 11.29 MB / 286.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.0001588/0.1058, allocations: 44.77 kB / 336 MB, free: 11.24 MB / 286.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.0002315/0.106, allocations: 56.03 kB / 336 MB, free: 11.19 MB / 286.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.00129/0.1073, allocations: 1.744 MB / 337.8 MB, free: 9.301 MB / 286.1 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.0001151/0.1074, allocations: 15.97 kB / 337.8 MB, free: 9.285 MB / 286.1 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 1.573e-05/0.1075, allocations: 8 kB / 337.8 MB, free: 9.277 MB / 286.1 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 3
 * Number of states: 0 ()
 * Number of discrete variables: 0 ()
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (32):
 * Single equations (assignments): 31
 * 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): 1 system
   {(1,5,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of prepare postOptimizeDAE: time 0.0001106/0.1076, allocations: 133.9 kB / 337.9 MB, free: 9.137 MB / 286.1 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 4.333e-05/0.1076, allocations: 31.69 kB / 337.9 MB, free: 9.105 MB / 286.1 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 5.807e-05/0.1077, allocations: 30.66 kB / 338 MB, free: 9.078 MB / 286.1 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 5.56e-06/0.1077, allocations: 7.984 kB / 338 MB, free: 9.07 MB / 286.1 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 5.691e-06/0.1077, allocations: 0 / 338 MB, free: 9.07 MB / 286.1 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 5.641e-06/0.1077, allocations: 0 / 338 MB, free: 9.07 MB / 286.1 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.001028/0.1088, allocations: 0.7852 MB / 338.8 MB, free: 8.207 MB / 286.1 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 2.555e-06/0.1088, allocations: 0 / 338.8 MB, free: 8.207 MB / 286.1 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.0002531/0.109, allocations: 59.91 kB / 338.8 MB, free: 8.148 MB / 286.1 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.0001121/0.1092, allocations: 40.92 kB / 338.9 MB, free: 8.105 MB / 286.1 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 1.683e-05/0.1092, allocations: 4 kB / 338.9 MB, free: 8.102 MB / 286.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.00102/0.1102, allocations: 1.489 MB / 340.4 MB, free: 6.473 MB / 286.1 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 1.664e-06/0.1102, allocations: 4 kB / 340.4 MB, free: 6.469 MB / 286.1 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.0006077/0.1108, allocations: 478.5 kB / 340.8 MB, free: 5.973 MB / 286.1 MB
Notification: Performance of postOpt removeConstants (simulation): time 5.422e-05/0.1109, allocations: 104.9 kB / 340.9 MB, free: 5.852 MB / 286.1 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 2.811e-05/0.1109, allocations: 8 kB / 340.9 MB, free: 5.844 MB / 286.1 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.0001342/0.1111, allocations: 8 kB / 340.9 MB, free: 5.836 MB / 286.1 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 5.541e-05/0.1111, allocations: 19.97 kB / 341 MB, free: 5.816 MB / 286.1 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 1.497e-05/0.1112, allocations: 12 kB / 341 MB, free: 5.805 MB / 286.1 MB
Notification: Performance of sorting global known variables: time 9.348e-05/0.1113, allocations: 131.2 kB / 341.1 MB, free: 5.676 MB / 286.1 MB
Notification: Performance of sort global known variables: time 1.3e-07/0.1113, allocations: 0 / 341.1 MB, free: 5.676 MB / 286.1 MB
Notification: Performance of remove unused functions: time 0.0003517/0.1116, allocations: 68 kB / 341.2 MB, free: 5.609 MB / 286.1 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 4
 * Number of states: 4 (inertia3.phi,inertia3.w,damper.phi_rel,damper.w_rel)
 * 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 (29):
 * Single equations (assignments): 28
 * 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): 1 system
   {(1,3,100.0%)}
 * Non-linear torn systems (#iteration vars, #inner vars): 0 systems
Notification: Performance of Backend phase and start with SimCode phase: time 0.0008536/0.1125, allocations: 1.005 MB / 342.2 MB, free: 4.566 MB / 286.1 MB
Notification: Performance of simCode: created initialization part: time 0.0005686/0.1131, allocations: 354.9 kB / 342.5 MB, free: 4.207 MB / 286.1 MB
Notification: Performance of simCode: created event and clocks part: time 2.134e-06/0.1131, allocations: 0 / 342.5 MB, free: 4.207 MB / 286.1 MB
Notification: Performance of simCode: created simulation system equations: time 0.0003079/0.1134, allocations: 246.4 kB / 342.8 MB, free: 3.953 MB / 286.1 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.0004193/0.1138, allocations: 39.91 kB / 342.8 MB, free: 3.914 MB / 286.1 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.003065/0.1169, allocations: 2.855 MB / 345.7 MB, free: 0.9531 MB / 286.1 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0002694/0.1172, allocations: 0.7522 MB / 346.4 MB, free: 180 kB / 286.1 MB
Notification: Performance of simCode: alias equations: time 8.956e-05/0.1173, allocations: 26.3 kB / 346.4 MB, free: 148 kB / 286.1 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.0001022/0.1174, allocations: 75.41 kB / 346.5 MB, free: 72 kB / 286.1 MB
Notification: Performance of SimCode: time 1.573e-06/0.1174, allocations: 0 / 346.5 MB, free: 72 kB / 286.1 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.01908/0.1365, allocations: 5.029 MB / 351.5 MB, free: 11.03 MB / 302.1 MB
Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0001936/0.1367, allocations: 209.7 kB / 351.7 MB, free: 10.78 MB / 302.1 MB
Notification: Performance of buildModelFMU: Generate platform static: time 1.842/1.979, allocations: 0 / 351.7 MB, free: 10.78 MB / 302.1 MB
(rm -f Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.First.pipe ; mkfifo Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.First.pipe ; head -c 1048576 < Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.First.pipe >> ../files/Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.First.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.First_res.mat --tempDir=temp_Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_First_fmu --startTime=0 --stopTime=1 --timeout=50 --tolerance=1e-06 Modelica_3_2_3_Modelica_Mechanics_Rotational_Examples_First.fmu > Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.First.pipe 2>&1)
diffSimulationResults("Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.First_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v3.2.3+build.4/Modelica/Mechanics/Rotational/Examples/First/First.csv","../files/Modelica_3.2.3_Modelica.Mechanics.Rotational.Examples.First.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
""

Variables in the reference:time,damper.phi_rel,damper.w_rel,inertia3.phi,inertia3.w

Variables in the result:Jload,Jmotor,amplitude,damper.a_rel,damper.d,damper.flange_a.phi,damper.flange_a.tau,damper.flange_b.phi,damper.flange_b.tau,damper.lossPower,damper.phi_nominal,damper.phi_rel,damper.stateSelect,damper.tau,damper.useHeatPort,damper.w_rel,damping,der(damper.phi_rel),der(damper.w_rel),der(der(idealGear.phi_a)),der(der(idealGear.phi_b)),der(idealGear.phi_a),der(idealGear.phi_b),der(inertia1.phi),der(inertia1.w),der(inertia2.phi),der(inertia2.w),der(inertia3.phi),der(inertia3.w),fixed.flange.phi,fixed.flange.tau,fixed.phi0,freqHz,idealGear.flange_a.phi,idealGear.flange_a.tau,idealGear.flange_b.phi,idealGear.flange_b.tau,idealGear.phi_a,idealGear.phi_b,idealGear.ratio,idealGear.support.phi,idealGear.support.tau,idealGear.useSupport,inertia1.J,inertia1.a,inertia1.flange_a.phi,inertia1.flange_a.tau,inertia1.flange_b.phi,inertia1.flange_b.tau,inertia1.phi,inertia1.stateSelect,inertia1.w,inertia2.J,inertia2.a,inertia2.flange_a.phi,inertia2.flange_a.tau,inertia2.flange_b.phi,inertia2.flange_b.tau,inertia2.phi,inertia2.stateSelect,inertia2.w,inertia3.J,inertia3.a,inertia3.flange_a.phi,inertia3.flange_a.tau,inertia3.flange_b.phi,inertia3.flange_b.tau,inertia3.phi,inertia3.stateSelect,inertia3.w,ratio,sine.amplitude,sine.freqHz,sine.offset,sine.phase,sine.startTime,sine.y,spring.c,spring.flange_a.phi,spring.flange_a.tau,spring.flange_b.phi,spring.flange_b.tau,spring.phi_rel,spring.phi_rel0,spring.tau,time,torque.flange.phi,torque.flange.tau,torque.support.phi,torque.support.tau,torque.tau,torque.useSupport