Running command: "" <> buildModelFMU(ModelicaTest.MultiBody.Forces.FrameTorques,fileNamePrefix="ModelicaTest_3_2_2_cs_ModelicaTest_MultiBody_Forces_FrameTorques",fmuType="cs",version="2.0",platforms={"dynamic"})
Notification: Performance of loadModel(ModelicaTest): time 3.003/3.003, allocations: 235.2 MB / 242.3 MB, free: 9.559 MB / 202.7 MB
Notification: Performance of FrontEnd - loaded program: time 3.026e-05/3.052e-05, allocations: 4 kB / 299.6 MB, free: 204 kB / 250.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.4225/0.4225, allocations: 54.86 MB / 354.4 MB, free: 15.2 MB / 298.7 MB
Notification: Performance of FrontEnd - scodeFlatten: time 0.2228/0.6454, allocations: 100.1 MB / 454.5 MB, free: 10.95 MB / 394.7 MB
Notification: Performance of FrontEnd - mkProgramGraph: time 0.0003503/0.6458, allocations: 79.89 kB / 454.6 MB, free: 10.88 MB / 394.7 MB
Notification: Performance of FrontEnd - DAE generated: time 0.9337/1.58, allocations: 112.5 MB / 0.5538 GB, free: 10.28 MB / 394.7 MB
Notification: Performance of FrontEnd: time 2.946e-06/1.58, allocations: 0 / 0.5538 GB, free: 10.28 MB / 394.7 MB
Notification: Performance of Transformations before backend: time 0.0004437/1.58, allocations: 112 kB / 0.5539 GB, free: 10.17 MB / 394.7 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 1956
 * Number of variables: 1956
Notification: Performance of Generate backend data structure: time 0.02524/1.605, allocations: 5.456 MB / 0.5592 GB, free: 4.645 MB / 394.7 MB
Notification: Performance of prepare preOptimizeDAE: time 6.148e-05/1.605, allocations: 16.02 kB / 0.5592 GB, free: 4.629 MB / 394.7 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.004661/1.61, allocations: 0.7543 MB / 0.56 GB, free: 3.863 MB / 394.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.0678/1.678, allocations: 6.95 MB / 0.5668 GB, free: 12.89 MB / 410.7 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.03294/1.711, allocations: 6.864 MB / 0.5735 GB, free: 5.973 MB / 410.7 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0005523/1.712, allocations: 231.6 kB / 0.5737 GB, free: 5.746 MB / 410.7 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.003282/1.715, allocations: 327.9 kB / 0.574 GB, free: 5.426 MB / 410.7 MB
Notification: Performance of preOpt removeEqualFunctionCalls (simulation): time 0.02562/1.741, allocations: 7.457 MB / 0.5813 GB, free: 13.96 MB / 426.7 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.0396/1.78, allocations: 11.73 MB / 0.5927 GB, free: 0.9766 MB / 426.7 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0004524/1.781, allocations: 79.25 kB / 0.5928 GB, free: 0.8984 MB / 426.7 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.00256/1.783, allocations: 36 kB / 0.5928 GB, free: 0.8633 MB / 426.7 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.00395/1.787, allocations: 1.251 MB / 0.5941 GB, free: 15.61 MB / 442.7 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.6124/2.4, allocations: 57.39 MB / 0.6501 GB, free: 54.73 MB / 458.7 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.007028/2.407, allocations: 3.443 MB / 0.6535 GB, free: 54.04 MB / 458.7 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.004435/2.411, allocations: 2.098 MB / 0.6555 GB, free: 54 MB / 458.7 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.0002046/2.412, allocations: 36.47 kB / 0.6556 GB, free: 54 MB / 458.7 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 4.779e-05/2.412, allocations: 53.5 kB / 0.6556 GB, free: 53.96 MB / 458.7 MB
Notification: Performance of pre-optimization done (n=185): time 7.744e-06/2.412, allocations: 3.594 kB / 0.6556 GB, free: 53.96 MB / 458.7 MB
Notification: Performance of matching and sorting (n=198): time 0.06164/2.473, allocations: 17.52 MB / 0.6727 GB, free: 49.62 MB / 458.7 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 9.173e-05/2.473, allocations: 225.7 kB / 0.6729 GB, free: 49.37 MB / 458.7 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.01076/2.484, allocations: 4.125 MB / 0.677 GB, free: 48.96 MB / 458.7 MB
Notification: Performance of collectPreVariables (initialization): time 0.000545/2.485, allocations: 29.61 kB / 0.677 GB, free: 48.93 MB / 458.7 MB
Notification: Performance of collectInitialEqns (initialization): time 0.0044/2.489, allocations: 4.214 MB / 0.6811 GB, free: 46.9 MB / 458.7 MB
Notification: Performance of collectInitialBindings (initialization): time 0.00133/2.491, allocations: 0.7631 MB / 0.6819 GB, free: 46.47 MB / 458.7 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0008693/2.491, allocations: 0 / 0.6819 GB, free: 46.47 MB / 458.7 MB
Notification: Performance of setup shared object (initialization): time 0.0005883/2.492, allocations: 0.6207 MB / 0.6825 GB, free: 46.16 MB / 458.7 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.005909/2.498, allocations: 2.19 MB / 0.6846 GB, free: 46.14 MB / 458.7 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.009573/2.508, allocations: 6.861 MB / 0.6913 GB, free: 39.66 MB / 458.7 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.009499/2.517, allocations: 3.853 MB / 0.6951 GB, free: 38.55 MB / 458.7 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001988/2.517, allocations: 53.64 kB / 0.6951 GB, free: 38.54 MB / 458.7 MB
Notification: Performance of matching and sorting (n=977) (initialization): time 0.02656/2.544, allocations: 8.387 MB / 0.7033 GB, free: 36.28 MB / 458.7 MB
Notification: Performance of prepare postOptimizeDAE: time 0.0001517/2.544, allocations: 78.81 kB / 0.7034 GB, free: 36.28 MB / 458.7 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0002859/2.545, allocations: 166.7 kB / 0.7035 GB, free: 36.28 MB / 458.7 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.002655/2.547, allocations: 0.6129 MB / 0.7041 GB, free: 36.18 MB / 458.7 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.01215/2.559, allocations: 1.718 MB / 0.7058 GB, free: 35.97 MB / 458.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.009873/2.569, allocations: 5.538 MB / 0.7112 GB, free: 32.2 MB / 458.7 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.009099/2.578, allocations: 245.8 kB / 0.7115 GB, free: 32.17 MB / 458.7 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.002028/2.581, allocations: 467 kB / 0.7119 GB, free: 32.11 MB / 458.7 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 764
 * Number of states: 0 ()
 * Number of discrete variables: 42 (Revolute2.cylinderColor[3],Revolute2.cylinderColor[2],Revolute2.cylinderColor[1],frameTorque2.color[3],frameTorque2.color[2],frameTorque2.color[1],frameTorque1.color[3],frameTorque1.color[2],frameTorque1.color[1],FixedRotation1.color[3],FixedRotation1.color[2],FixedRotation1.color[1],fixed2.color[3],fixed2.color[2],fixed2.color[1],body2.color[3],body2.color[2],body2.color[1],body2.body.sphereColor[3],body2.body.sphereColor[2],body2.body.sphereColor[1],fixed1.color[3],fixed1.color[2],fixed1.color[1],body1.color[3],body1.color[2],body1.color[1],body1.body.sphereColor[3],body1.body.sphereColor[2],body1.body.sphereColor[1],Revolute1.cylinderColor[3],Revolute1.cylinderColor[2],Revolute1.cylinderColor[1],world.gravityArrowColor[3],world.gravityArrowColor[2],world.gravityArrowColor[1],world.axisColor_x[3],world.axisColor_x[2],world.axisColor_x[1],world.gravitySphereColor[3],world.gravitySphereColor[2],world.gravitySphereColor[1])
 * Number of discrete states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (925):
 * Single equations (assignments): 920
 * Array equations: 3
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 0
 * Torn equation systems: 2
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 2 {(1,100.0%) 14,(1,100.0%) 14}
 * Non-linear torn systems: 0
Notification: Performance of prepare postOptimizeDAE: time 0.002557/2.583, allocations: 0.5159 MB / 0.7124 GB, free: 31.68 MB / 458.7 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001313/2.584, allocations: 429 kB / 0.7128 GB, free: 31.45 MB / 458.7 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.009351/2.594, allocations: 2.906 MB / 0.7157 GB, free: 30.35 MB / 458.7 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 7.214e-05/2.594, allocations: 30.14 kB / 0.7157 GB, free: 30.35 MB / 458.7 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 2.166e-05/2.594, allocations: 3.625 kB / 0.7157 GB, free: 30.35 MB / 458.7 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 5.062e-05/2.594, allocations: 10.69 kB / 0.7157 GB, free: 30.35 MB / 458.7 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.02508/2.619, allocations: 7.55 MB / 0.7231 GB, free: 24.91 MB / 458.7 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 2.581e-05/2.619, allocations: 4 kB / 0.7231 GB, free: 24.91 MB / 458.7 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.003752/2.623, allocations: 298.7 kB / 0.7234 GB, free: 24.67 MB / 458.7 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.002124/2.625, allocations: 353.9 kB / 0.7237 GB, free: 24.41 MB / 458.7 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.000464/2.626, allocations: 7.422 kB / 0.7237 GB, free: 24.41 MB / 458.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.008787/2.634, allocations: 4.854 MB / 0.7284 GB, free: 19.78 MB / 458.7 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 7.725e-06/2.635, allocations: 0 / 0.7284 GB, free: 19.78 MB / 458.7 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.01455/2.649, allocations: 5.682 MB / 0.734 GB, free: 14.66 MB / 458.7 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.002989/2.652, allocations: 0.7128 MB / 0.7347 GB, free: 13.97 MB / 458.7 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001454/2.654, allocations: 4 kB / 0.7347 GB, free: 13.97 MB / 458.7 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.004319/2.658, allocations: 65.62 kB / 0.7348 GB, free: 13.93 MB / 458.7 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0007479/2.659, allocations: 119.6 kB / 0.7349 GB, free: 13.86 MB / 458.7 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0004782/2.659, allocations: 55.94 kB / 0.7349 GB, free: 13.8 MB / 458.7 MB
Notification: Performance of sorting global known variables: time 0.01163/2.671, allocations: 2.785 MB / 0.7376 GB, free: 11.39 MB / 458.7 MB
Notification: Performance of sort global known variables: time 1.804e-06/2.671, allocations: 2.688 kB / 0.7376 GB, free: 11.39 MB / 458.7 MB
Notification: Performance of remove unused functions: time 0.01382/2.685, allocations: 1.06 MB / 0.7387 GB, free: 10.34 MB / 458.7 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 8
 * Number of states: 4 (Revolute2.phi,Revolute2.w,Revolute1.phi,Revolute1.w)
 * Number of discrete variables: 0 ()
 * Number of discrete states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (155):
 * Single equations (assignments): 150
 * Array equations: 3
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 0
 * Torn equation systems: 2
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 2 {(1,100.0%) 11,(1,100.0%) 11}
 * Non-linear torn systems: 0
Notification: Performance of Backend phase and start with SimCode phase: time 0.01916/2.704, allocations: 6.665 MB / 0.7452 GB, free: 4.254 MB / 458.7 MB
Notification: Performance of simCode: created initialization part: time 0.01721/2.721, allocations: 5.423 MB / 0.7505 GB, free: 15.37 MB / 474.7 MB
Notification: Performance of simCode: created event and clocks part: time 8.546e-06/2.721, allocations: 3.938 kB / 0.7505 GB, free: 15.37 MB / 474.7 MB
Notification: Performance of simCode: created simulation system equations: time 0.005033/2.726, allocations: 1.664 MB / 0.7521 GB, free: 13.85 MB / 474.7 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.005303/2.732, allocations: 492.5 kB / 0.7526 GB, free: 13.44 MB / 474.7 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.05724/2.789, allocations: 11.12 MB / 0.7634 GB, free: 3.812 MB / 474.7 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.01695/2.806, allocations: 4.233 MB / 0.7676 GB, free: 0.6641 MB / 474.7 MB
Notification: Performance of simCode: alias equations: time 0.03356/2.84, allocations: 2.784 MB / 0.7703 GB, free: 0 / 474.7 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.01917/2.859, allocations: 2.939 MB / 0.7732 GB, free: 15.27 MB / 490.7 MB
Notification: Performance of SimCode: time 1.843e-06/2.859, allocations: 0 / 0.7732 GB, free: 15.27 MB / 490.7 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.7785/3.637, allocations: 90.13 MB / 0.8612 GB, free: 128.2 MB / 0.5105 GB
Notification: Performance of buildModelFMU: configured platform dynamic using cached values: time 0.000329/3.638, allocations: 140.8 kB / 0.8613 GB, free: 128 MB / 0.5105 GB
Notification: Performance of buildModelFMU: Generate platform dynamic: time 7.872/11.51, allocations: 0 / 0.8613 GB, free: 128 MB / 0.5105 GB
""

Variables in the reference:time,Revolute1.phi,Revolute1.w,Revolute2.phi,Revolute2.w

Variables in the result:Constant1[1].k,Constant1[1].y,Constant1[2].k,Constant1[2].y,Constant1[3].k,Constant1[3].y,Constant2[1].k,Constant2[1].y,Constant2[2].k,Constant2[2].y,Constant2[3].k,Constant2[3].y,FixedRotation1.R_rel.T[1,1],FixedRotation1.R_rel.T[1,2],FixedRotation1.R_rel.T[1,3],FixedRotation1.R_rel.T[2,1],FixedRotation1.R_rel.T[2,2],FixedRotation1.R_rel.T[2,3],FixedRotation1.R_rel.T[3,1],FixedRotation1.R_rel.T[3,2],FixedRotation1.R_rel.T[3,3],FixedRotation1.R_rel.w[1],FixedRotation1.R_rel.w[2],FixedRotation1.R_rel.w[3],FixedRotation1.R_rel_inv.T[1,1],FixedRotation1.R_rel_inv.T[1,2],FixedRotation1.R_rel_inv.T[1,3],FixedRotation1.R_rel_inv.T[2,1],FixedRotation1.R_rel_inv.T[2,2],FixedRotation1.R_rel_inv.T[2,3],FixedRotation1.R_rel_inv.T[3,1],FixedRotation1.R_rel_inv.T[3,2],FixedRotation1.R_rel_inv.T[3,3],FixedRotation1.R_rel_inv.w[1],FixedRotation1.R_rel_inv.w[2],FixedRotation1.R_rel_inv.w[3],FixedRotation1.angle,FixedRotation1.angles[1],FixedRotation1.angles[2],FixedRotation1.angles[3],FixedRotation1.animation,FixedRotation1.color[1],FixedRotation1.color[2],FixedRotation1.color[3],FixedRotation1.extra,FixedRotation1.frame_a.R.T[1,1],FixedRotation1.frame_a.R.T[1,2],FixedRotation1.frame_a.R.T[1,3],FixedRotation1.frame_a.R.T[2,1],FixedRotation1.frame_a.R.T[2,2],FixedRotation1.frame_a.R.T[2,3],FixedRotation1.frame_a.R.T[3,1],FixedRotation1.frame_a.R.T[3,2],FixedRotation1.frame_a.R.T[3,3],FixedRotation1.frame_a.R.w[1],FixedRotation1.frame_a.R.w[2],FixedRotation1.frame_a.R.w[3],FixedRotation1.frame_a.f[1],FixedRotation1.frame_a.f[2],FixedRotation1.frame_a.f[3],FixedRotation1.frame_a.r_0[1],FixedRotation1.frame_a.r_0[2],FixedRotation1.frame_a.r_0[3],FixedRotation1.frame_a.t[1],FixedRotation1.frame_a.t[2],FixedRotation1.frame_a.t[3],FixedRotation1.frame_b.R.T[1,1],FixedRotation1.frame_b.R.T[1,2],FixedRotation1.frame_b.R.T[1,3],FixedRotation1.frame_b.R.T[2,1],FixedRotation1.frame_b.R.T[2,2],FixedRotation1.frame_b.R.T[2,3],FixedRotation1.frame_b.R.T[3,1],FixedRotation1.frame_b.R.T[3,2],FixedRotation1.frame_b.R.T[3,3],FixedRotation1.frame_b.R.w[1],FixedRotation1.frame_b.R.w[2],FixedRotation1.frame_b.R.w[3],FixedRotation1.frame_b.f[1],FixedRotation1.frame_b.f[2],FixedRotation1.frame_b.f[3],FixedRotation1.frame_b.r_0[1],FixedRotation1.frame_b.r_0[2],FixedRotation1.frame_b.r_0[3],FixedRotation1.frame_b.t[1],FixedRotation1.frame_b.t[2],FixedRotation1.frame_b.t[3],FixedRotation1.height,FixedRotation1.length,FixedRotation1.lengthDirection[1],FixedRotation1.lengthDirection[2],FixedRotation1.lengthDirection[3],FixedRotation1.n[1],FixedRotation1.n[2],FixedRotation1.n[3],FixedRotation1.n_x[1],FixedRotation1.n_x[2],FixedRotation1.n_x[3],FixedRotation1.n_y[1],FixedRotation1.n_y[2],FixedRotation1.n_y[3],FixedRotation1.r[1],FixedRotation1.r[2],FixedRotation1.r[3],FixedRotation1.r_shape[1],FixedRotation1.r_shape[2],FixedRotation1.r_shape[3],FixedRotation1.rotationType,FixedRotation1.sequence[1],FixedRotation1.sequence[2],FixedRotation1.sequence[3],FixedRotation1.shape.R.T[1,1],FixedRotation1.shape.R.T[1,2],FixedRotation1.shape.R.T[1,3],FixedRotation1.shape.R.T[2,1],FixedRotation1.shape.R.T[2,2],FixedRotation1.shape.R.T[2,3],FixedRotation1.shape.R.T[3,1],FixedRotation1.shape.R.T[3,2],FixedRotation1.shape.R.T[3,3],FixedRotation1.shape.R.w[1],FixedRotation1.shape.R.w[2],FixedRotation1.shape.R.w[3],FixedRotation1.shape.color[1],FixedRotation1.shape.color[2],FixedRotation1.shape.color[3],FixedRotation1.shape.extra,FixedRotation1.shape.height,FixedRotation1.shape.length,FixedRotation1.shape.lengthDirection[1],FixedRotation1.shape.lengthDirection[2],FixedRotation1.shape.lengthDirection[3],FixedRotation1.shape.r[1],FixedRotation1.shape.r[2],FixedRotation1.shape.r[3],FixedRotation1.shape.r_shape[1],FixedRotation1.shape.r_shape[2],FixedRotation1.shape.r_shape[3],FixedRotation1.shape.specularCoefficient,FixedRotation1.shape.width,FixedRotation1.shape.widthDirection[1],FixedRotation1.shape.widthDirection[2],FixedRotation1.shape.widthDirection[3],FixedRotation1.specularCoefficient,FixedRotation1.width,FixedRotation1.widthDirection[1],FixedRotation1.widthDirection[2],FixedRotation1.widthDirection[3],Revolute1.R_rel.T[1,1],Revolute1.R_rel.T[1,2],Revolute1.R_rel.T[1,3],Revolute1.R_rel.T[2,1],Revolute1.R_rel.T[2,2],Revolute1.R_rel.T[2,3],Revolute1.R_rel.T[3,1],Revolute1.R_rel.T[3,2],Revolute1.R_rel.T[3,3],Revolute1.R_rel.w[1],Revolute1.R_rel.w[2],Revolute1.R_rel.w[3],Revolute1.a,Revolute1.angle,Revolute1.animation,Revolute1.constantTorque.flange.phi,Revolute1.constantTorque.flange.tau,Revolute1.constantTorque.phi,Revolute1.constantTorque.phi_support,Revolute1.constantTorque.tau,Revolute1.constantTorque.tau_constant,Revolute1.constantTorque.useSupport,Revolute1.constantTorque.w,Revolute1.cylinder.R.T[1,1],Revolute1.cylinder.R.T[1,2],Revolute1.cylinder.R.T[1,3],Revolute1.cylinder.R.T[2,1],Revolute1.cylinder.R.T[2,2],Revolute1.cylinder.R.T[2,3],Revolute1.cylinder.R.T[3,1],Revolute1.cylinder.R.T[3,2],Revolute1.cylinder.R.T[3,3],Revolute1.cylinder.R.w[1],Revolute1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