Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr Modelica_trunk_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.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 trunk/package.mo", uses=false)
Using package Modelica with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/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: "" <> buildModelFMU(Modelica.Mechanics.Rotational.Examples.LossyGearDemo3,fileNamePrefix="Modelica_trunk_Modelica_Mechanics_Rotational_Examples_LossyGearDemo3",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(Modelica.Mechanics.Rotational.Examples.LossyGearDemo3,fileNamePrefix="Modelica_trunk_Modelica_Mechanics_Rotational_Examples_LossyGearDemo3",fmuType="me",version="2.0",platforms={"static"})
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo): time 0.001421/0.001421, allocations: 103.9 kB / 17.63 MB, free: 5.523 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo): time 0.001162/0.001162, allocations: 206.4 kB / 18.58 MB, free: 4.582 MB / 14.72 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo): time 1.355/1.355, allocations: 227.4 MB / 246.8 MB, free: 10.62 MB / 206.1 MB
Notification: Performance of FrontEnd - loaded program: time 0.001236/0.001236, allocations: 60.03 kB / 307 MB, free: 0.5195 MB / 238.1 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.09001/0.09127, allocations: 50.54 MB / 357.6 MB, free: 13.98 MB / 302.1 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.Rotational.Examples.LossyGearDemo3): time 0.004099/0.0954, allocations: 2.444 MB / 360 MB, free: 11.52 MB / 302.1 MB
Notification: Performance of NFInst.instExpressions: time 0.001914/0.09735, allocations: 1.065 MB / 361.1 MB, free: 10.45 MB / 302.1 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.0001926/0.09756, allocations: 4 kB / 361.1 MB, free: 10.44 MB / 302.1 MB
Notification: Performance of NFTyping.typeComponents: time 0.0003018/0.09791, allocations: 47.52 kB / 361.1 MB, free: 10.39 MB / 302.1 MB
Notification: Performance of NFTyping.typeBindings: time 0.0006509/0.09857, allocations: 158.4 kB / 361.3 MB, free: 10.24 MB / 302.1 MB
Notification: Performance of NFTyping.typeClassSections: time 0.0004604/0.09904, allocations: 167.6 kB / 361.5 MB, free: 10.07 MB / 302.1 MB
Notification: Performance of NFFlatten.flatten: time 0.0005865/0.09964, allocations: 470.7 kB / 361.9 MB, free: 9.613 MB / 302.1 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.0001763/0.09983, allocations: 68.69 kB / 362 MB, free: 9.547 MB / 302.1 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.0003104/0.1001, allocations: 203.5 kB / 362.2 MB, free: 9.348 MB / 302.1 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.0004681/0.1006, allocations: 243.2 kB / 362.4 MB, free: 9.109 MB / 302.1 MB
Notification: Performance of NFPackage.collectConstants: time 0.0001087/0.1007, allocations: 36 kB / 362.5 MB, free: 9.074 MB / 302.1 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.0003138/0.1011, allocations: 127.9 kB / 362.6 MB, free: 8.949 MB / 302.1 MB
Notification: Performance of NFScalarize.scalarize: time 0.0002106/0.1013, allocations: 107.7 kB / 362.7 MB, free: 8.844 MB / 302.1 MB
Notification: Performance of NFVerifyModel.verify: time 0.0002934/0.1016, allocations: 179.2 kB / 362.9 MB, free: 8.668 MB / 302.1 MB
Notification: Performance of NFConvertDAE.convert: time 0.0007634/0.1024, allocations: 494.8 kB / 363.3 MB, free: 8.184 MB / 302.1 MB
Notification: Performance of FrontEnd - DAE generated: time 4.358e-06/0.1024, allocations: 0 / 363.3 MB, free: 8.184 MB / 302.1 MB
Notification: Performance of FrontEnd: time 1.693e-06/0.1024, allocations: 0 / 363.3 MB, free: 8.184 MB / 302.1 MB
Notification: Performance of Transformations before backend: time 1.536e-05/0.1024, allocations: 3.938 kB / 363.3 MB, free: 8.18 MB / 302.1 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 67
 * Number of variables: 67
Notification: Performance of Generate backend data structure: time 0.001602/0.104, allocations: 0.6628 MB / 364 MB, free: 7.469 MB / 302.1 MB
Notification: Performance of prepare preOptimizeDAE: time 4.848e-05/0.1041, allocations: 8.031 kB / 364 MB, free: 7.461 MB / 302.1 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.000105/0.1042, allocations: 66.72 kB / 364.1 MB, free: 7.387 MB / 302.1 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.0003748/0.1046, allocations: 48.55 kB / 364.1 MB, free: 7.34 MB / 302.1 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.0005067/0.1051, allocations: 293.5 kB / 364.4 MB, free: 7.012 MB / 302.1 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0001414/0.1052, allocations: 88.45 kB / 364.5 MB, free: 6.914 MB / 302.1 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 6.365e-05/0.1053, allocations: 36.28 kB / 364.5 MB, free: 6.879 MB / 302.1 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.0008414/0.1062, allocations: 385.2 kB / 364.9 MB, free: 6.48 MB / 302.1 MB
Notification: Performance of preOpt findStateOrder (simulation): time 2.225e-05/0.1062, allocations: 4 kB / 364.9 MB, free: 6.477 MB / 302.1 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 3.781e-05/0.1062, allocations: 8 kB / 364.9 MB, free: 6.469 MB / 302.1 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 1.233e-05/0.1063, allocations: 8 kB / 364.9 MB, free: 6.461 MB / 302.1 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.0008864/0.1072, allocations: 417.9 kB / 365.3 MB, free: 6.055 MB / 302.1 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.002219/0.1094, allocations: 1.272 MB / 366.6 MB, free: 4.707 MB / 302.1 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.0007206/0.1101, allocations: 346.5 kB / 367 MB, free: 4.359 MB / 302.1 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.0004159/0.1106, allocations: 184.8 kB / 367.1 MB, free: 4.176 MB / 302.1 MB
Notification: Performance of preOpt evalFunc (simulation): time 4.102e-05/0.1106, allocations: 11.98 kB / 367.1 MB, free: 4.164 MB / 302.1 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 3.981e-05/0.1107, allocations: 35.22 kB / 367.2 MB, free: 4.121 MB / 302.1 MB
Notification: Performance of pre-optimization done (n=43): time 2.174e-06/0.1107, allocations: 0 / 367.2 MB, free: 4.121 MB / 302.1 MB
Notification: Performance of matching and sorting (n=45): time 0.005159/0.1158, allocations: 1.902 MB / 369.1 MB, free: 2.105 MB / 302.1 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 6.507e-05/0.1159, allocations: 84.86 kB / 369.2 MB, free: 2.004 MB / 302.1 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.0003502/0.1163, allocations: 250.1 kB / 369.4 MB, free: 1.746 MB / 302.1 MB
Notification: Performance of collectPreVariables (initialization): time 4.244e-05/0.1163, allocations: 33.7 kB / 369.4 MB, free: 1.707 MB / 302.1 MB
Notification: Performance of collectInitialEqns (initialization): time 0.0001053/0.1165, allocations: 148.6 kB / 369.6 MB, free: 1.559 MB / 302.1 MB
Notification: Performance of collectInitialBindings (initialization): time 0.0001301/0.1166, allocations: 146 kB / 369.7 MB, free: 1.414 MB / 302.1 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0001574/0.1168, allocations: 86.11 kB / 369.8 MB, free: 1.324 MB / 302.1 MB
Notification: Performance of setup shared object (initialization): time 0.0001338/0.1169, allocations: 334.8 kB / 370.1 MB, free: 0.9883 MB / 302.1 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.0003903/0.1173, allocations: 160.8 kB / 370.3 MB, free: 0.832 MB / 302.1 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.0004249/0.1177, allocations: 225.9 kB / 370.5 MB, free: 0.5938 MB / 302.1 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.0007416/0.1185, allocations: 335.2 kB / 370.8 MB, free: 260 kB / 302.1 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 1.903e-06/0.1185, allocations: 0 / 370.8 MB, free: 260 kB / 302.1 MB
Notification: Performance of matching and sorting (n=52) (initialization): time 0.1696/0.2881, allocations: 0.5564 MB / 371.4 MB, free: 20.13 MB / 302.1 MB
Notification: Performance of prepare postOptimizeDAE: time 4.085e-05/0.2882, allocations: 9.656 kB / 371.4 MB, free: 20.13 MB / 302.1 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 1.114e-05/0.2883, allocations: 0.9688 kB / 371.4 MB, free: 20.13 MB / 302.1 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.000959/0.2892, allocations: 293.5 kB / 371.7 MB, free: 20.12 MB / 302.1 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.0002964/0.2895, allocations: 57.52 kB / 371.8 MB, free: 20.12 MB / 302.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.004006/0.2936, allocations: 2.896 MB / 374.7 MB, free: 18.38 MB / 302.1 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.0003293/0.2939, allocations: 26.94 kB / 374.7 MB, free: 18.38 MB / 302.1 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 6.124e-05/0.294, allocations: 19.02 kB / 374.7 MB, free: 18.37 MB / 302.1 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 5
 * Number of states: 0 ()
 * Number of discrete variables: 7 (gear.ideal,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 (27):
 * Single equations (assignments): 26
 * 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
   {(2,24)}
Notification: Performance of prepare postOptimizeDAE: time 0.0002011/0.2942, allocations: 160.6 kB / 374.9 MB, free: 18.23 MB / 302.1 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.0001021/0.2943, allocations: 26.97 kB / 374.9 MB, free: 18.23 MB / 302.1 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 8.545e-05/0.2944, allocations: 45.97 kB / 374.9 MB, free: 18.2 MB / 302.1 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 5.971e-06/0.2944, allocations: 7.812 kB / 374.9 MB, free: 18.2 MB / 302.1 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 3.517e-06/0.2944, allocations: 3.938 kB / 374.9 MB, free: 18.19 MB / 302.1 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 6.212e-06/0.2944, allocations: 3.375 kB / 374.9 MB, free: 18.19 MB / 302.1 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.002049/0.2965, allocations: 1.11 MB / 376 MB, free: 17.59 MB / 302.1 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 4.278e-06/0.2965, allocations: 7.766 kB / 376.1 MB, free: 17.58 MB / 302.1 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.0002343/0.2967, allocations: 52.98 kB / 376.1 MB, free: 17.58 MB / 302.1 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.0007623/0.2975, allocations: 283.8 kB / 376.4 MB, free: 17.51 MB / 302.1 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 3.757e-05/0.2976, allocations: 12.34 kB / 376.4 MB, free: 17.51 MB / 302.1 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.003445/0.301, allocations: 2.85 MB / 379.2 MB, free: 15.37 MB / 302.1 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 2.224e-06/0.301, allocations: 0 / 379.2 MB, free: 15.37 MB / 302.1 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.001636/0.3027, allocations: 0.8103 MB / 380.1 MB, free: 14.96 MB / 302.1 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.0001584/0.3029, allocations: 149.7 kB / 380.2 MB, free: 14.83 MB / 302.1 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 6.888e-05/0.3029, allocations: 7.906 kB / 380.2 MB, free: 14.82 MB / 302.1 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.0002799/0.3032, allocations: 28.36 kB / 380.2 MB, free: 14.82 MB / 302.1 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0001927/0.3034, allocations: 64.88 kB / 380.3 MB, free: 14.8 MB / 302.1 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 3.982e-05/0.3035, allocations: 12.36 kB / 380.3 MB, free: 14.8 MB / 302.1 MB
Notification: Performance of sorting global known variables: time 0.0002321/0.3037, allocations: 187.7 kB / 380.5 MB, free: 14.7 MB / 302.1 MB
Notification: Performance of sort global known variables: time 1.3e-07/0.3037, allocations: 0 / 380.5 MB, free: 14.7 MB / 302.1 MB
Notification: Performance of remove unused functions: time 0.0007148/0.3045, allocations: 131.6 kB / 380.6 MB, free: 14.68 MB / 302.1 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 1
 * Number of states: 2 (Inertia2.phi,Inertia2.w)
 * Number of discrete variables: 5 (gear.tau_aPos,gear.startForward,gear.startBackward,gear.locked,gear.mode)
 * Number of discrete states: 1 (gear.mode)
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (21):
 * Single equations (assignments): 20
 * 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
   {(2,23)}
Notification: Performance of Backend phase and start with SimCode phase: time 0.002563/0.307, allocations: 1.656 MB / 382.3 MB, free: 13.66 MB / 302.1 MB
Notification: Performance of simCode: created initialization part: time 0.001498/0.3085, allocations: 0.6334 MB / 382.9 MB, free: 13.35 MB / 302.1 MB
Notification: Performance of simCode: created event and clocks part: time 3.476e-06/0.3086, allocations: 1.562 kB / 382.9 MB, free: 13.35 MB / 302.1 MB
Notification: Performance of simCode: created simulation system equations: time 0.0007484/0.3093, allocations: 430.8 kB / 383.3 MB, free: 13.11 MB / 302.1 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.0005781/0.3099, allocations: 46.17 kB / 383.4 MB, free: 13.09 MB / 302.1 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.0056/0.3155, allocations: 3.423 MB / 386.8 MB, free: 10.93 MB / 302.1 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0002887/0.3158, allocations: 0.7806 MB / 387.6 MB, free: 10.23 MB / 302.1 MB
Notification: Performance of simCode: alias equations: time 0.000273/0.3161, allocations: 79.89 kB / 387.7 MB, free: 10.2 MB / 302.1 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.0001643/0.3163, allocations: 90.75 kB / 387.8 MB, free: 10.14 MB / 302.1 MB
Notification: Performance of SimCode: time 8.72e-07/0.3163, allocations: 0 / 387.8 MB, free: 10.14 MB / 302.1 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.04512/0.3614, allocations: 10.34 MB / 398.1 MB, free: 6.012 MB / 302.1 MB
Notification: Performance of buildModelFMU: Generate platform static: time 14.47/14.83, allocations: 8.047 kB / 398.1 MB, free: 6.004 MB / 302.1 MB
(rm -f Modelica_trunk_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.pipe ; mkfifo Modelica_trunk_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.pipe ; head -c 1048576 < Modelica_trunk_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.pipe >> ../files/Modelica_trunk_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=Modelica_trunk_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3_res.mat --tempDir=temp_Modelica_trunk_Modelica_Mechanics_Rotational_Examples_LossyGearDemo3_fmu --startTime=0 --stopTime=1 --timeout=50 --tolerance=1e-06 Modelica_trunk_Modelica_Mechanics_Rotational_Examples_LossyGearDemo3.fmu > Modelica_trunk_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.pipe 2>&1)
diffSimulationResults("Modelica_trunk_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/Modelica/Mechanics/Rotational/Examples/LossyGearDemo3/LossyGearDemo3.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/Modelica_trunk_Modelica.Mechanics.Rotational.Examples.LossyGearDemo3.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
""

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

Variables in the result: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,der(Inertia1.w),der(Inertia2.phi),der(Inertia2.w),der(gear.phi_a),gear.a_a,gear.eta_mf1,gear.eta_mf2,gear.flange_a.phi,gear.flange_a.tau,gear.flange_b.phi,gear.flange_b.tau,gear.ideal,gear.interpolation_result[1,1],gear.interpolation_result[1,2],gear.interpolation_result[1,3],gear.interpolation_result[1,4],gear.locked,gear.lossPower,gear.lossTable[1,1],gear.lossTable[1,2],gear.lossTable[1,3],gear.lossTable[1,4],gear.lossTable[1,5],gear.mode,gear.phi_a,gear.phi_b,gear.quadrant1,gear.quadrant1_p,gear.quadrant2,gear.quadrant2_p,gear.quadrant3,gear.quadrant3_m,gear.quadrant4,gear.quadrant4_m,gear.ratio,gear.sa,gear.smoothness,gear.startBackward,gear.startForward,gear.tauLoss,gear.tauLossMax,gear.tauLossMax_p,gear.tauLossMin,gear.tauLossMin_m,gear.tau_aPos,gear.tau_bf1,gear.tau_bf2,gear.tau_bf_a,gear.tau_eta,gear.tau_etaPos,gear.tau_eta_m,gear.tau_eta_p,gear.useHeatPort,gear.useSupport,gear.w_a,step.height,step.offset,step.startTime,step.y,step1.height,step1.offset,step1.startTime,step1.y,time,torque1.flange.phi,torque1.flange.tau,torque1.tau,torque1.useSupport,torque2.flange.phi,torque2.flange.tau,torque2.tau,torque2.useSupport