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MapleSim 5.01 Update Details and Downloads Maplesoft has released MapleSim 5.02, which contains all the enhancements in this update plus additional improvements. Visit MapleSim 5.02 for details and to download MapleSim 5.02. MapleSim 5.01 is a maintenance update available to all users running MapleSim 5.  It includes: Templates: Updates to Equations and Code Generation templates, including the ability to specify “add states as outputs” to the generated cod Code generation:  A variety of improvements to  code generation, improving performance for both MapleSim and the MapleSim connector products Simulation engine: Enhancements to event handling and initialization, especially for models with many changing configurations during initialization Interface: Improved handling of user libraries Multibody: Improvements to handling redundant constraints and initial conditions on free joints