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MethodError: no method matching setindex!(::Cassette.NoMetaMeta, ::Cassette.Meta{Cassette.NoMetaData,Cassette.NoMetaMeta}, ::Int64) #41

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ferrolho opened this issue Jul 9, 2020 · 0 comments
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MethodError: no method matching setindex!(::Cassette.NoMetaMeta, ::Cassette.Meta{Cassette.NoMetaData,Cassette.NoMetaMeta}, ::Int64) #41

ferrolho opened this issue Jul 9, 2020 · 0 comments

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@ferrolho
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ferrolho commented Jul 9, 2020 •
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I am getting a MethodError: no method matching setindex!(::Cassette.NoMetaMeta, ::Cassette.Meta{Cassette.NoMetaData,Cassette.NoMetaMeta}, ::Int64) when I run the code snippet below.

As pointed out at [17] in the stacktrace, this is the line triggering the error. I do not know if this is an issue with RigidBodyDynamics.jl or with Cassette.jl. I have been trying to fix this myself but I am lost. If someone points me in the right direction, I am happy to continue trying to look for a fix.

using RigidBodyDynamics
using SparsityDetection

mechanism = rand_chain_mechanism(Float64, [Revolute{Float64} for i = 1:7]...)

state_cache = StateCache(mechanism)
dynamics_result_cache = DynamicsResultCache(mechanism)

EulerStep(q, q̇, q̈, h=0.01) = [ q + h * q̇
                               q̇ + h * q̈ ]

function dynamics_defects!(out, x::AbstractArray{T}) where {T}
    q, v, τ = x[1:7], x[8:14], x[15:21]

    state = state_cache[T]
    set_configuration!(state, q)
    set_velocity!(state, v)

    result = dynamics_result_cache[T]
    dynamics!(result, state, τ)

    next_state_integrated = EulerStep(q, v, result.v̇)
    next_state_discretised = x[22:35]

    defects = next_state_integrated - next_state_discretised
    copyto!(out, defects)
end

input = rand(14 + 7 + 14)
output = rand(14)

dynamics_defects!(output, input)

sparsity_pattern = jacobian_sparsity(dynamics_defects!, output, input)
ERROR: MethodError: no method matching setindex!(::Cassette.NoMetaMeta, ::Cassette.Meta{Cassette.NoMetaData,Cassette.NoMetaMeta}, ::Int64)
Stacktrace:
 [1] overdub(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::typeof(unsafe_copyto!), ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,2},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}, ::Int64, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,2},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}, ::Int64, ::Int64) at /home/henrique/.julia/packages/SparsityDetection/PbKzm/src/jacobian.jl:189
 [2] copyto! at ./array.jl:318 [inlined]
 [3] recurse(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::typeof(copyto!), ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,2},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}, ::Int64, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,2},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}, ::Int64, ::Int64) at /home/henrique/.julia/packages/Cassette/158rp/src/overdub.jl:0
 [4] overdub(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::Function, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,2},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}, ::Int64, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,2},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}, ::Int64, ::Int64) at /home/henrique/.julia/packages/SparsityDetection/PbKzm/src/propagate_tags.jl:37
 [5] copyto! at ./array.jl:330 [inlined]
 [6] recurse(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::typeof(copyto!), ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,2},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,2},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}) at /home/henrique/.julia/packages/Cassette/158rp/src/overdub.jl:0
 [7] overdub(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::Function, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,2},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,2},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}) at /home/henrique/.julia/packages/SparsityDetection/PbKzm/src/propagate_tags.jl:37
 [8] copyto! at ./broadcast.jl:905 [inlined]
 [9] recurse(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::typeof(copyto!), ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,2},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Base.Broadcast.Broadcasted{Nothing,Tuple{Base.OneTo{Int64},Base.OneTo{Int64}},typeof(identity),Tuple{Array{Float64,2}}},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:f, :args, :axes),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:stop,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:stop,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}}},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}) at /home/henrique/.julia/packages/Cassette/158rp/src/overdub.jl:0
 [10] overdub(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::Function, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,2},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Base.Broadcast.Broadcasted{Nothing,Tuple{Base.OneTo{Int64},Base.OneTo{Int64}},typeof(identity),Tuple{Array{Float64,2}}},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:f, :args, :axes),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:stop,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:stop,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}}},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}) at /home/henrique/.julia/packages/SparsityDetection/PbKzm/src/propagate_tags.jl:37
 [11] copyto! at ./broadcast.jl:864 [inlined]
 [12] recurse(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::typeof(copyto!), ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,2},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Base.Broadcast.Broadcasted{Base.Broadcast.DefaultArrayStyle{2},Tuple{Base.OneTo{Int64},Base.OneTo{Int64}},typeof(identity),Tuple{Array{Float64,2}}},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:f, :args, :axes),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:stop,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:stop,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}}},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}) at /home/henrique/.julia/packages/Cassette/158rp/src/overdub.jl:0
 [13] overdub(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::Function, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,2},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Base.Broadcast.Broadcasted{Base.Broadcast.DefaultArrayStyle{2},Tuple{Base.OneTo{Int64},Base.OneTo{Int64}},typeof(identity),Tuple{Array{Float64,2}}},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:f, :args, :axes),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:stop,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:stop,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}}},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}) at /home/henrique/.julia/packages/SparsityDetection/PbKzm/src/propagate_tags.jl:37
 [14] materialize! at ./broadcast.jl:823 [inlined]
 [15] recurse(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::typeof(Base.Broadcast.materialize!), ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,2},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Base.Broadcast.Broadcasted{Base.Broadcast.DefaultArrayStyle{2},Nothing,typeof(identity),Tuple{Array{Float64,2}}},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:f, :args, :axes),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}}}},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}) at /home/henrique/.julia/packages/Cassette/158rp/src/overdub.jl:0
 [16] overdub(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::Function, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,2},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Base.Broadcast.Broadcasted{Base.Broadcast.DefaultArrayStyle{2},Nothing,typeof(identity),Tuple{Array{Float64,2}}},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:f, :args, :axes),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},2}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}}}},Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}) at /home/henrique/.julia/packages/SparsityDetection/PbKzm/src/propagate_tags.jl:37
 [17] dynamics_solve! at /home/henrique/.julia/packages/RigidBodyDynamics/2qxSc/src/mechanism_algorithms.jl:762 [inlined]
 [18] recurse(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::typeof(RigidBodyDynamics.dynamics_solve!), ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},DynamicsResult{Float64,Float64},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mechanism, :massmatrix, :dynamicsbias, :constraintjacobian, :constraintbias, :constraintrowranges, :q̇, :v̇, :ṡ, :λ, :contactwrenches, :totalwrenches, :accelerations, :jointwrenches, :contact_state_derivatives, :L, :A, :z, :Y),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:graph, :tree, :environment, :gravitational_acceleration, :modcount),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:vertices, :edges, :sources, :targets, :inedges, :outedges),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Mutable{Cassette.Meta},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mat, :from, :to),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NTuple{16,Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:location, :model),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:v, :frame),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:normal, :friction),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:k, :λ, :n),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:μ, :k, :b),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{SparsityDetection.ProvinanceSet,NamedTuple{(:value,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta,1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Mutable{Cassette.Meta},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mat, :from, :to),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NTuple{16,Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:location, :model),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:v, :frame),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:normal, :friction),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:k, :λ, :n),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:μ, :k, :b),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{SparsityDetection.ProvinanceSet,NamedTuple{(:value,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput…
 [19] overdub(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::Function, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},DynamicsResult{Float64,Float64},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mechanism, :massmatrix, :dynamicsbias, :constraintjacobian, :constraintbias, :constraintrowranges, :q̇, :v̇, :ṡ, :λ, :contactwrenches, :totalwrenches, :accelerations, :jointwrenches, :contact_state_derivatives, :L, :A, :z, :Y),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:graph, :tree, :environment, :gravitational_acceleration, :modcount),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:vertices, :edges, :sources, :targets, :inedges, :outedges),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Mutable{Cassette.Meta},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mat, :from, :to),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NTuple{16,Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:location, :model),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:v, :frame),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:normal, :friction),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:k, :λ, :n),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:μ, :k, :b),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{SparsityDetection.ProvinanceSet,NamedTuple{(:value,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta,1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Mutable{Cassette.Meta},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mat, :from, :to),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NTuple{16,Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:location, :model),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:v, :frame),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:normal, :friction),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:k, :λ, :n),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:μ, :k, :b),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{SparsityDetection.ProvinanceSet,NamedTuple{(:value,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, Sp…
 [20] #dynamics!#113 at /home/henrique/.julia/packages/RigidBodyDynamics/2qxSc/src/mechanism_algorithms.jl:862 [inlined]
 [21] recurse(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::RigidBodyDynamics.var"##dynamics!#113", ::RigidBodyDynamics.CustomCollections.ConstDict{JointID,RigidBodyDynamics.PDControl.SE3PDGains{RigidBodyDynamics.PDControl.PDGains{Float64,Float64},RigidBodyDynamics.PDControl.PDGains{Float64,Float64}}}, ::typeof(dynamics!), ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},DynamicsResult{Float64,Float64},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mechanism, :massmatrix, :dynamicsbias, :constraintjacobian, :constraintbias, :constraintrowranges, :q̇, :v̇, :ṡ, :λ, :contactwrenches, :totalwrenches, :accelerations, :jointwrenches, :contact_state_derivatives, :L, :A, :z, :Y),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:graph, :tree, :environment, :gravitational_acceleration, :modcount),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:vertices, :edges, :sources, :targets, :inedges, :outedges),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Mutable{Cassette.Meta},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mat, :from, :to),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NTuple{16,Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:location, :model),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:v, :frame),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:normal, :friction),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:k, :λ, :n),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:μ, :k, :b),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{SparsityDetection.ProvinanceSet,NamedTuple{(:value,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta,1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Mutable{Cassette.Meta},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mat, :from, :to),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NTuple{16,Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:location, :model),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:v, :frame),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:normal, :friction),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:k, :λ, :n),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:μ, :k, :b),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{SparsityDetection.ProvinanceSet,NamedTuple{(:value,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{Sparsity…
 [22] overdub(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::Function, ::RigidBodyDynamics.CustomCollections.ConstDict{JointID,RigidBodyDynamics.PDControl.SE3PDGains{RigidBodyDynamics.PDControl.PDGains{Float64,Float64},RigidBodyDynamics.PDControl.PDGains{Float64,Float64}}}, ::Function, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},DynamicsResult{Float64,Float64},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mechanism, :massmatrix, :dynamicsbias, :constraintjacobian, :constraintbias, :constraintrowranges, :q̇, :v̇, :ṡ, :λ, :contactwrenches, :totalwrenches, :accelerations, :jointwrenches, :contact_state_derivatives, :L, :A, :z, :Y),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:graph, :tree, :environment, :gravitational_acceleration, :modcount),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:vertices, :edges, :sources, :targets, :inedges, :outedges),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Mutable{Cassette.Meta},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mat, :from, :to),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NTuple{16,Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:location, :model),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:v, :frame),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:normal, :friction),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:k, :λ, :n),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:μ, :k, :b),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{SparsityDetection.ProvinanceSet,NamedTuple{(:value,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta,1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Mutable{Cassette.Meta},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mat, :from, :to),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NTuple{16,Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:location, :model),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:v, :frame),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:normal, :friction),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:k, :λ, :n),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:μ, :k, :b),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{SparsityDetection.ProvinanceSet,NamedTuple{(:value,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.J…
 [23] dynamics! at /home/henrique/.julia/packages/RigidBodyDynamics/2qxSc/src/mechanism_algorithms.jl:849 [inlined]
 [24] recurse(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::typeof(dynamics!), ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},DynamicsResult{Float64,Float64},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mechanism, :massmatrix, :dynamicsbias, :constraintjacobian, :constraintbias, :constraintrowranges, :q̇, :v̇, :ṡ, :λ, :contactwrenches, :totalwrenches, :accelerations, :jointwrenches, :contact_state_derivatives, :L, :A, :z, :Y),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:graph, :tree, :environment, :gravitational_acceleration, :modcount),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:vertices, :edges, :sources, :targets, :inedges, :outedges),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Mutable{Cassette.Meta},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mat, :from, :to),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NTuple{16,Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:location, :model),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:v, :frame),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:normal, :friction),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:k, :λ, :n),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:μ, :k, :b),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{SparsityDetection.ProvinanceSet,NamedTuple{(:value,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta,1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Mutable{Cassette.Meta},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mat, :from, :to),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NTuple{16,Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:location, :model),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:v, :frame),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:normal, :friction),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:k, :λ, :n),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:μ, :k, :b),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{SparsityDetection.ProvinanceSet,NamedTuple{(:value,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacO…
 [25] overdub(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::Function, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},DynamicsResult{Float64,Float64},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mechanism, :massmatrix, :dynamicsbias, :constraintjacobian, :constraintbias, :constraintrowranges, :q̇, :v̇, :ṡ, :λ, :contactwrenches, :totalwrenches, :accelerations, :jointwrenches, :contact_state_derivatives, :L, :A, :z, :Y),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:graph, :tree, :environment, :gravitational_acceleration, :modcount),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:vertices, :edges, :sources, :targets, :inedges, :outedges),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Mutable{Cassette.Meta},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mat, :from, :to),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NTuple{16,Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:location, :model),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:v, :frame),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:normal, :friction),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:k, :λ, :n),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:μ, :k, :b),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{SparsityDetection.ProvinanceSet,NamedTuple{(:value,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta,1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Mutable{Cassette.Meta},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mat, :from, :to),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NTuple{16,Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:location, :model),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:v, :frame),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:normal, :friction),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:k, :λ, :n),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:μ, :k, :b),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{SparsityDetection.ProvinanceSet,NamedTuple{(:value,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, Sp…
 [26] dynamics! at /home/henrique/.julia/packages/RigidBodyDynamics/2qxSc/src/mechanism_algorithms.jl:849 [inlined]
 [27] recurse(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::typeof(dynamics!), ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},DynamicsResult{Float64,Float64},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mechanism, :massmatrix, :dynamicsbias, :constraintjacobian, :constraintbias, :constraintrowranges, :q̇, :v̇, :ṡ, :λ, :contactwrenches, :totalwrenches, :accelerations, :jointwrenches, :contact_state_derivatives, :L, :A, :z, :Y),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:graph, :tree, :environment, :gravitational_acceleration, :modcount),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:vertices, :edges, :sources, :targets, :inedges, :outedges),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Mutable{Cassette.Meta},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mat, :from, :to),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NTuple{16,Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:location, :model),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:v, :frame),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:normal, :friction),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:k, :λ, :n),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:μ, :k, :b),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{SparsityDetection.ProvinanceSet,NamedTuple{(:value,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta,1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Mutable{Cassette.Meta},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mat, :from, :to),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NTuple{16,Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:location, :model),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:v, :frame),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:normal, :friction),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:k, :λ, :n),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:μ, :k, :b),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{SparsityDetection.ProvinanceSet,NamedTuple{(:value,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacO…
 [28] overdub(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::Function, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},DynamicsResult{Float64,Float64},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mechanism, :massmatrix, :dynamicsbias, :constraintjacobian, :constraintbias, :constraintrowranges, :q̇, :v̇, :ṡ, :λ, :contactwrenches, :totalwrenches, :accelerations, :jointwrenches, :contact_state_derivatives, :L, :A, :z, :Y),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:graph, :tree, :environment, :gravitational_acceleration, :modcount),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:vertices, :edges, :sources, :targets, :inedges, :outedges),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Mutable{Cassette.Meta},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mat, :from, :to),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NTuple{16,Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:location, :model),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:v, :frame),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:normal, :friction),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:k, :λ, :n),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:μ, :k, :b),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{SparsityDetection.ProvinanceSet,NamedTuple{(:value,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta,1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Cassette.NoMetaMeta}},Cassette.Mutable{Cassette.Meta},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:mat, :from, :to),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NTuple{16,Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:location, :model),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:v, :frame),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:data,),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:id,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:normal, :friction),Tuple{Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:k, :λ, :n),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}},Cassette.Immutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:μ, :k, :b),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}},Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{SparsityDetection.ProvinanceSet,NamedTuple{(:value,),Tuple{Cassette.Immutable{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta}}}}}}}}},1}}},Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},NamedTuple{(:name, :inertia, :frame_definitions, :contact_points, :id),Tuple{Cassette.Mutable{Cassette.Meta{Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, Sp…
 [29] dynamics_defects! at ./REPL[8]:9 [inlined]
 [30] recurse(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::typeof(dynamics_defects!), ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,1},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},1},Cassette.Context{nametype(JacobianSparsityContext),Sparsity,Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Cassette.var"##PassType#255",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,1},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},1},Cassette.Context{nametype(JacobianSparsityContext),Sparsity,Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Cassette.var"##PassType#255",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}) at /home/henrique/.julia/packages/Cassette/158rp/src/overdub.jl:0
 [31] overdub(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::Function, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,1},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},1},Cassette.Context{nametype(JacobianSparsityContext),Sparsity,Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Cassette.var"##PassType#255",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,1},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},1},Cassette.Context{nametype(JacobianSparsityContext),Sparsity,Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Cassette.var"##PassType#255",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}) at /home/henrique/.julia/packages/SparsityDetection/PbKzm/src/propagate_tags.jl:45
 [32] overdub(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::typeof(Core._apply_iterate), ::Function, ::Function, ::Tuple{Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,1},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},1},Cassette.Context{nametype(JacobianSparsityContext),Sparsity,Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Cassette.var"##PassType#255",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}},Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,1},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},1},Cassette.Context{nametype(JacobianSparsityContext),Sparsity,Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Cassette.var"##PassType#255",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}}) at /home/henrique/.julia/packages/Cassette/158rp/src/context.jl:266
 [33] #2 at /home/henrique/.julia/packages/SparsityDetection/PbKzm/src/controlflow.jl:148 [inlined]
 [34] recurse(::Cassette.Context{nametype(JacobianSparsityContext),Tuple{Sparsity,SparsityDetection.Path},Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},SparsityDetection.var"##PassType#253",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::SparsityDetection.var"#2#3"{typeof(dynamics_defects!),Tuple{Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,1},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},1},Cassette.Context{nametype(JacobianSparsityContext),Sparsity,Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Cassette.var"##PassType#255",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}},Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,1},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},1},Cassette.Context{nametype(JacobianSparsityContext),Sparsity,Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Cassette.var"##PassType#255",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}}}) at /home/henrique/.julia/packages/Cassette/158rp/src/overdub.jl:0
 [35] abstract_run(::SparsityDetection.var"#22#24", ::Cassette.Context{nametype(JacobianSparsityContext),Sparsity,Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Cassette.var"##PassType#255",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}, ::Function, ::Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,1},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},1},Cassette.Context{nametype(JacobianSparsityContext),Sparsity,Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Cassette.var"##PassType#255",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}}, ::Vararg{Cassette.Tagged{Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Array{Float64,1},Union{SparsityDetection.JacInput, SparsityDetection.JacOutput, SparsityDetection.ProvinanceSet},Array{Cassette.Meta{SparsityDetection.ProvinanceSet,Cassette.NoMetaMeta},1},Cassette.Context{nametype(JacobianSparsityContext),Sparsity,Cassette.Tag{nametype(JacobianSparsityContext),0x5a4345c7a7af0026,Nothing},Cassette.var"##PassType#255",IdDict{Module,Dict{Symbol,Cassette.BindingMeta}},Cassette.DisableHooks}},N} where N; verbose::Bool) at /home/henrique/.julia/packages/SparsityDetection/PbKzm/src/controlflow.jl:148
 [36] jacobian_sparsity(::Function, ::Array{Float64,1}, ::Array{Float64,1}; sparsity::Sparsity, verbose::Bool, raw::Bool) at /home/henrique/.julia/packages/SparsityDetection/PbKzm/src/jacobian.jl:135
 [37] jacobian_sparsity(::Function, ::Array{Float64,1}, ::Array{Float64,1}) at /home/henrique/.julia/packages/SparsityDetection/PbKzm/src/jacobian.jl:130
 [38] top-level scope at REPL[12]:1

The stacktrace above has been truncated to respect the maximum limits of the GitHub Issue form. Full stacktrace is available here.

(test) pkg> st
Status `~/test/Project.toml`
  [366cf18f] RigidBodyDynamics v2.2.0
  [684fba80] SparsityDetection v0.3.3
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