Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr ModelicaTest_3.2.3_ModelicaTest.Rotational.ForUsersGuide.SimpleDriveTrain.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 3.2.3+maint.om/package.mo", uses=false)
Using package ModelicaTest with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.3+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: "" <> buildModelFMU(ModelicaTest.Rotational.ForUsersGuide.SimpleDriveTrain,fileNamePrefix="ModelicaTest_3_2_3_ModelicaTest_Rotational_ForUsersGuide_SimpleDriveTrain",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(ModelicaTest.Rotational.ForUsersGuide.SimpleDriveTrain,fileNamePrefix="ModelicaTest_3_2_3_ModelicaTest_Rotational_ForUsersGuide_SimpleDriveTrain",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 0.001566/0.001566, allocations: 104.7 kB / 16.27 MB, free: 5.977 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001926/0.001926, allocations: 188.6 kB / 17.2 MB, free: 5.609 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.348/1.348, allocations: 205.1 MB / 223.1 MB, free: 12.31 MB / 190.1 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 3.2.3+maint.om/package.mo): time 0.2074/0.2074, allocations: 43.53 MB / 313.9 MB, free: 0.5234 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: Performance of FrontEnd - loaded program: time 0.001662/0.001662, allocations: 64.06 kB / 382.8 MB, free: 56.7 MB / 318.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.1065/0.1082, allocations: 57.79 MB / 440.6 MB, free: 6.832 MB / 318.1 MB
Notification: Performance of NFInst.instantiate(ModelicaTest.Rotational.ForUsersGuide.SimpleDriveTrain): time 0.00419/0.1125, allocations: 1.904 MB / 442.5 MB, free: 4.906 MB / 318.1 MB
Notification: Performance of NFInst.instExpressions: time 0.0009227/0.1134, allocations: 0.5307 MB / 443 MB, free: 4.367 MB / 318.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.0001084/0.1135, allocations: 4 kB / 443.1 MB, free: 4.363 MB / 318.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.000147/0.1137, allocations: 23.78 kB / 443.1 MB, free: 4.34 MB / 318.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.0001123/0.1138, allocations: 39.64 kB / 443.1 MB, free: 4.301 MB / 318.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.0002099/0.1141, allocations: 43.89 kB / 443.2 MB, free: 4.258 MB / 318.1 MB
Notification: Performance of NFFlatten.flatten: time 0.0001934/0.1143, allocations: 151.2 kB / 443.3 MB, free: 4.109 MB / 318.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.0001902/0.1145, allocations: 73.78 kB / 443.4 MB, free: 4.035 MB / 318.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.0001085/0.1146, allocations: 47.86 kB / 443.4 MB, free: 3.988 MB / 318.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.0001263/0.1147, allocations: 71.69 kB / 443.5 MB, free: 3.918 MB / 318.1 MB
Notification: Performance of NFPackage.collectConstants: time 2.92e-05/0.1148, allocations: 12 kB / 443.5 MB, free: 3.906 MB / 318.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 3.189e-05/0.1148, allocations: 12 kB / 443.5 MB, free: 3.895 MB / 318.1 MB
Notification: Performance of NFScalarize.scalarize: time 3.353e-05/0.1148, allocations: 31.86 kB / 443.5 MB, free: 3.863 MB / 318.1 MB
Notification: Performance of NFVerifyModel.verify: time 7.807e-05/0.1149, allocations: 67.66 kB / 443.6 MB, free: 3.797 MB / 318.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.0001899/0.1151, allocations: 143.5 kB / 443.8 MB, free: 3.656 MB / 318.1 MB
Notification: Performance of FrontEnd - DAE generated: time 3.567e-06/0.1152, allocations: 0 / 443.8 MB, free: 3.656 MB / 318.1 MB
Notification: Performance of FrontEnd: time 1.493e-06/0.1152, allocations: 0 / 443.8 MB, free: 3.656 MB / 318.1 MB
Notification: Performance of Transformations before backend: time 6.452e-06/0.1152, allocations: 0 / 443.8 MB, free: 3.656 MB / 318.1 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 32
 * Number of variables: 32
Notification: Performance of Generate backend data structure: time 0.0005778/0.1158, allocations: 435.1 kB / 444.2 MB, free: 3.184 MB / 318.1 MB
Notification: Performance of prepare preOptimizeDAE: time 4.347e-05/0.1158, allocations: 15.89 kB / 444.2 MB, free: 3.168 MB / 318.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 4.21e-05/0.1159, allocations: 46.73 kB / 444.2 MB, free: 3.113 MB / 318.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 4.213e-05/0.1159, allocations: 16.75 kB / 444.3 MB, free: 3.098 MB / 318.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.0001827/0.1161, allocations: 208.1 kB / 444.5 MB, free: 2.855 MB / 318.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 1.623e-05/0.1161, allocations: 8.375 kB / 444.5 MB, free: 2.848 MB / 318.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 3.854e-05/0.1162, allocations: 12.38 kB / 444.5 MB, free: 2.836 MB / 318.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.0003053/0.1165, allocations: 129.6 kB / 444.6 MB, free: 2.703 MB / 318.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 1.606e-05/0.1165, allocations: 3.938 kB / 444.6 MB, free: 2.699 MB / 318.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 1.995e-05/0.1166, allocations: 4 kB / 444.6 MB, free: 2.695 MB / 318.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 8.005e-06/0.1166, allocations: 8 kB / 444.6 MB, free: 2.688 MB / 318.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.0002409/0.1168, allocations: 83.89 kB / 444.7 MB, free: 2.605 MB / 318.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.0007335/0.1176, allocations: 472.2 kB / 445.2 MB, free: 2.094 MB / 318.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.0002589/0.1178, allocations: 118.4 kB / 445.3 MB, free: 1.969 MB / 318.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.0001339/0.118, allocations: 56.83 kB / 445.3 MB, free: 1.91 MB / 318.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 1.964e-05/0.118, allocations: 4 kB / 445.3 MB, free: 1.906 MB / 318.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 1.799e-05/0.118, allocations: 30.56 kB / 445.4 MB, free: 1.867 MB / 318.1 MB
Notification: Performance of pre-optimization done (n=13): time 1.644e-06/0.1181, allocations: 0 / 445.4 MB, free: 1.867 MB / 318.1 MB
Notification: Performance of matching and sorting (n=19): time 0.00176/0.1198, allocations: 0.8147 MB / 446.2 MB, free: 0.9609 MB / 318.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 2.325e-05/0.1199, allocations: 51.41 kB / 446.2 MB, free: 0.8984 MB / 318.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.0001179/0.12, allocations: 145.2 kB / 446.4 MB, free: 0.75 MB / 318.1 MB
Notification: Performance of collectPreVariables (initialization): time 1.619e-05/0.12, allocations: 33.7 kB / 446.4 MB, free: 0.7109 MB / 318.1 MB
Notification: Performance of collectInitialEqns (initialization): time 5.154e-05/0.1201, allocations: 108.3 kB / 446.5 MB, free: 0.6016 MB / 318.1 MB
Notification: Performance of collectInitialBindings (initialization): time 5.127e-05/0.1201, allocations: 71 kB / 446.6 MB, free: 0.5312 MB / 318.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 7.097e-05/0.1202, allocations: 33.7 kB / 446.6 MB, free: 0.4922 MB / 318.1 MB
Notification: Performance of setup shared object (initialization): time 4.855e-05/0.1203, allocations: 326.8 kB / 446.9 MB, free: 168 kB / 318.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.0001305/0.1204, allocations: 39.98 kB / 447 MB, free: 128 kB / 318.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.0001475/0.1206, allocations: 79.34 kB / 447.1 MB, free: 36 kB / 318.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.0003559/0.121, allocations: 135.3 kB / 447.2 MB, free: 15.89 MB / 334.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 1.573e-06/0.121, allocations: 0 / 447.2 MB, free: 15.89 MB / 334.1 MB
Notification: Performance of matching and sorting (n=22) (initialization): time 0.0005584/0.1215, allocations: 210.1 kB / 447.4 MB, free: 15.68 MB / 334.1 MB
Notification: Performance of prepare postOptimizeDAE: time 2.57e-05/0.1216, allocations: 13.19 kB / 447.4 MB, free: 15.66 MB / 334.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 6.322e-06/0.1216, allocations: 0 / 447.4 MB, free: 15.66 MB / 334.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.0002204/0.1218, allocations: 40.83 kB / 447.4 MB, free: 15.62 MB / 334.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.0002613/0.1221, allocations: 35.92 kB / 447.5 MB, free: 15.59 MB / 334.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.002068/0.1242, allocations: 1.74 MB / 449.2 MB, free: 13.71 MB / 334.1 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.000128/0.1243, allocations: 8.062 kB / 449.2 MB, free: 13.7 MB / 334.1 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 1.762e-05/0.1244, allocations: 8 kB / 449.2 MB, free: 13.69 MB / 334.1 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 4
 * 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 (17):
 * Single equations (assignments): 16
 * 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 0.0001518/0.1245, allocations: 130.9 kB / 449.4 MB, free: 13.55 MB / 334.1 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 6.208e-05/0.1246, allocations: 7.906 kB / 449.4 MB, free: 13.55 MB / 334.1 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 5.39e-05/0.1247, allocations: 25.17 kB / 449.4 MB, free: 13.52 MB / 334.1 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 4.709e-06/0.1247, allocations: 3.938 kB / 449.4 MB, free: 13.52 MB / 334.1 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 7.193e-06/0.1247, allocations: 4 kB / 449.4 MB, free: 13.52 MB / 334.1 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 4.238e-06/0.1247, allocations: 0 / 449.4 MB, free: 13.52 MB / 334.1 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.0011/0.1258, allocations: 0.5544 MB / 450 MB, free: 12.9 MB / 334.1 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 2.916e-06/0.1258, allocations: 0 / 450 MB, free: 12.9 MB / 334.1 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.0002457/0.1261, allocations: 35.92 kB / 450 MB, free: 12.86 MB / 334.1 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.0001459/0.1262, allocations: 32.86 kB / 450 MB, free: 12.83 MB / 334.1 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 1.888e-05/0.1263, allocations: 8 kB / 450 MB, free: 12.82 MB / 334.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.001591/0.1279, allocations: 1.485 MB / 451.5 MB, free: 11.19 MB / 334.1 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 4.128e-06/0.1279, allocations: 0 / 451.5 MB, free: 11.19 MB / 334.1 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.0007225/0.1286, allocations: 359.8 kB / 451.9 MB, free: 10.82 MB / 334.1 MB
Notification: Performance of postOpt removeConstants (simulation): time 6.122e-05/0.1287, allocations: 88.95 kB / 452 MB, free: 10.71 MB / 334.1 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 2.703e-05/0.1288, allocations: 0 / 452 MB, free: 10.71 MB / 334.1 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.0001738/0.1289, allocations: 8 kB / 452 MB, free: 10.71 MB / 334.1 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 6.434e-05/0.129, allocations: 15.91 kB / 452 MB, free: 10.69 MB / 334.1 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 1.595e-05/0.129, allocations: 8 kB / 452 MB, free: 10.68 MB / 334.1 MB
Notification: Performance of sorting global known variables: time 0.0001116/0.1292, allocations: 110.7 kB / 452.1 MB, free: 10.58 MB / 334.1 MB
Notification: Performance of sort global known variables: time 2.4e-07/0.1292, allocations: 0 / 452.1 MB, free: 10.58 MB / 334.1 MB
Notification: Performance of remove unused functions: time 0.0006483/0.1298, allocations: 44 kB / 452.1 MB, free: 10.54 MB / 334.1 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 2
 * Number of states: 2 (J1.phi,J1.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 (16):
 * Single equations (assignments): 15
 * 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 0.001109/0.131, allocations: 0.8739 MB / 453 MB, free: 9.625 MB / 334.1 MB
Notification: Performance of simCode: created initialization part: time 0.000744/0.1317, allocations: 266.6 kB / 453.3 MB, free: 9.352 MB / 334.1 MB
Notification: Performance of simCode: created event and clocks part: time 3.446e-06/0.1317, allocations: 0 / 453.3 MB, free: 9.352 MB / 334.1 MB
Notification: Performance of simCode: created simulation system equations: time 0.0003646/0.1321, allocations: 202.5 kB / 453.5 MB, free: 9.141 MB / 334.1 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.0006093/0.1327, allocations: 16 kB / 453.5 MB, free: 9.125 MB / 334.1 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.00354/0.1363, allocations: 2.045 MB / 455.5 MB, free: 6.98 MB / 334.1 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0003494/0.1367, allocations: 0.7166 MB / 456.2 MB, free: 6.238 MB / 334.1 MB
Notification: Performance of simCode: alias equations: time 8.036e-05/0.1368, allocations: 13.53 kB / 456.3 MB, free: 6.223 MB / 334.1 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 8.655e-05/0.1369, allocations: 43.36 kB / 456.3 MB, free: 6.184 MB / 334.1 MB
Notification: Performance of SimCode: time 5.21e-07/0.1369, allocations: 4 kB / 456.3 MB, free: 6.18 MB / 334.1 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.02844/0.1653, allocations: 3.339 MB / 459.6 MB, free: 2.855 MB / 334.1 MB
Notification: Performance of buildModelFMU: Generate platform static: time 12.24/12.4, allocations: 7.734 kB / 459.7 MB, free: 2.852 MB / 334.1 MB
(rm -f ModelicaTest_3.2.3_ModelicaTest.Rotational.ForUsersGuide.SimpleDriveTrain.pipe ; mkfifo ModelicaTest_3.2.3_ModelicaTest.Rotational.ForUsersGuide.SimpleDriveTrain.pipe ; head -c 1048576 < ModelicaTest_3.2.3_ModelicaTest.Rotational.ForUsersGuide.SimpleDriveTrain.pipe >> ../files/ModelicaTest_3.2.3_ModelicaTest.Rotational.ForUsersGuide.SimpleDriveTrain.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=ModelicaTest_3.2.3_ModelicaTest.Rotational.ForUsersGuide.SimpleDriveTrain_res.mat --tempDir=temp_ModelicaTest_3_2_3_ModelicaTest_Rotational_ForUsersGuide_SimpleDriveTrain_fmu --startTime=0 --stopTime=1.1 --timeout=50 --tolerance=1e-06 ModelicaTest_3_2_3_ModelicaTest_Rotational_ForUsersGuide_SimpleDriveTrain.fmu > ModelicaTest_3.2.3_ModelicaTest.Rotational.ForUsersGuide.SimpleDriveTrain.pipe 2>&1)
diffSimulationResults("ModelicaTest_3.2.3_ModelicaTest.Rotational.ForUsersGuide.SimpleDriveTrain_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v3.2.3+build.4/ModelicaTest/Rotational/ForUsersGuide/SimpleDriveTrain/SimpleDriveTrain.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/ModelicaTest_3.2.3_ModelicaTest.Rotational.ForUsersGuide.SimpleDriveTrain.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
""

Variables in the reference:time,J2.phi,J2.w

Variables in the result:J1.J,J1.a,J1.flange_a.phi,J1.flange_a.tau,J1.flange_b.phi,J1.flange_b.tau,J1.phi,J1.stateSelect,J1.w,J2.J,J2.a,J2.flange_a.phi,J2.flange_a.tau,J2.flange_b.phi,J2.flange_b.tau,J2.phi,J2.stateSelect,J2.w,der(J1.phi),der(J1.w),der(J2.phi),der(J2.w),der(der(gear.phi_a)),der(der(gear.phi_b)),der(gear.phi_a),der(gear.phi_b),fixed.flange.phi,fixed.flange.tau,fixed.phi0,gear.flange_a.phi,gear.flange_a.tau,gear.flange_b.phi,gear.flange_b.tau,gear.phi_a,gear.phi_b,gear.ratio,gear.support.phi,gear.support.tau,gear.useSupport,sine.amplitude,sine.freqHz,sine.offset,sine.phase,sine.startTime,sine.y,time,torque.flange.phi,torque.flange.tau,torque.support.phi,torque.support.tau,torque.tau,torque.useSupport