Running command: "" <> buildModelFMU(ModelicaTest.MultiBody.Forces.SpringDamperSeries,fileNamePrefix="ModelicaTest_3_2_2_cs_ModelicaTest_MultiBody_Forces_SpringDamperSeries",fmuType="cs",version="2.0",platforms={"dynamic"})
Notification: Performance of loadModel(ModelicaTest): time 3.028/3.028, allocations: 235.2 MB / 242.3 MB, free: 9.566 MB / 202.7 MB
Notification: Performance of FrontEnd - loaded program: time 3.99e-05/4.018e-05, allocations: 4 kB / 299.6 MB, free: 208 kB / 250.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.4924/0.4925, allocations: 54.86 MB / 354.4 MB, free: 15.2 MB / 298.7 MB
Notification: Performance of FrontEnd - scodeFlatten: time 0.2659/0.7584, allocations: 96.18 MB / 450.6 MB, free: 14.88 MB / 394.7 MB
Notification: Performance of FrontEnd - mkProgramGraph: time 0.0003336/0.7588, allocations: 75.91 kB / 450.7 MB, free: 14.81 MB / 394.7 MB
Notification: Performance of FrontEnd - DAE generated: time 0.7422/1.501, allocations: 63.03 MB / 0.5017 GB, free: 63.79 MB / 394.7 MB
Notification: Performance of FrontEnd: time 2.535e-06/1.501, allocations: 0 / 0.5017 GB, free: 63.79 MB / 394.7 MB
Notification: Performance of Transformations before backend: time 0.0002285/1.501, allocations: 68 kB / 0.5017 GB, free: 63.73 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: 1337
 * Number of variables: 1337
Notification: Performance of Generate backend data structure: time 0.01691/1.518, allocations: 3.351 MB / 0.505 GB, free: 60.32 MB / 394.7 MB
Notification: Performance of prepare preOptimizeDAE: time 6.554e-05/1.518, allocations: 15.97 kB / 0.505 GB, free: 60.3 MB / 394.7 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.003452/1.522, allocations: 0.5316 MB / 0.5055 GB, free: 59.76 MB / 394.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.0221/1.544, allocations: 2.019 MB / 0.5075 GB, free: 57.73 MB / 394.7 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.008678/1.553, allocations: 1.94 MB / 0.5094 GB, free: 55.75 MB / 394.7 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0003382/1.553, allocations: 155.4 kB / 0.5095 GB, free: 55.59 MB / 394.7 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.002474/1.556, allocations: 219.9 kB / 0.5098 GB, free: 55.38 MB / 394.7 MB
Notification: Performance of preOpt removeEqualFunctionCalls (simulation): time 0.01883/1.574, allocations: 5.605 MB / 0.5152 GB, free: 49.77 MB / 394.7 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.02703/1.602, allocations: 8.531 MB / 0.5236 GB, free: 40.36 MB / 394.7 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0002536/1.602, allocations: 51.5 kB / 0.5236 GB, free: 40.3 MB / 394.7 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.001355/1.603, allocations: 28 kB / 0.5236 GB, free: 40.28 MB / 394.7 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.003018/1.606, allocations: 0.9823 MB / 0.5246 GB, free: 39.29 MB / 394.7 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.08099/1.687, allocations: 41.95 MB / 0.5656 GB, free: 12.09 MB / 410.7 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.009488/1.697, allocations: 3.316 MB / 0.5688 GB, free: 8.621 MB / 410.7 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.006044/1.703, allocations: 2.161 MB / 0.5709 GB, free: 6.445 MB / 410.7 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.0009605/1.704, allocations: 388.3 kB / 0.5713 GB, free: 6.012 MB / 410.7 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 7.566e-05/1.704, allocations: 55.81 kB / 0.5713 GB, free: 5.945 MB / 410.7 MB
Notification: Performance of pre-optimization done (n=169): time 6.693e-06/1.704, allocations: 0 / 0.5713 GB, free: 5.945 MB / 410.7 MB
Notification: Performance of matching and sorting (n=214): time 0.1195/1.824, allocations: 20.84 MB / 0.5917 GB, free: 0.957 MB / 426.7 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.0001321/1.824, allocations: 171.5 kB / 0.5918 GB, free: 0.7539 MB / 426.7 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.007243/1.831, allocations: 2.349 MB / 0.5941 GB, free: 14.39 MB / 442.7 MB
Notification: Performance of collectPreVariables (initialization): time 0.0007057/1.832, allocations: 29.7 kB / 0.5942 GB, free: 14.35 MB / 442.7 MB
Notification: Performance of collectInitialEqns (initialization): time 0.003662/1.835, allocations: 2.633 MB / 0.5967 GB, free: 11.68 MB / 442.7 MB
Notification: Performance of collectInitialBindings (initialization): time 0.001821/1.837, allocations: 0.7786 MB / 0.5975 GB, free: 10.89 MB / 442.7 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0008765/1.838, allocations: 0 / 0.5975 GB, free: 10.89 MB / 442.7 MB
Notification: Performance of setup shared object (initialization): time 0.0008663/1.839, allocations: 0.5976 MB / 0.5981 GB, free: 10.28 MB / 442.7 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.008324/1.848, allocations: 2.413 MB / 0.6004 GB, free: 7.859 MB / 442.7 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.01238/1.86, allocations: 5.715 MB / 0.606 GB, free: 496 kB / 442.7 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01207/1.872, allocations: 3.699 MB / 0.6096 GB, free: 12.78 MB / 458.7 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001539/1.872, allocations: 36 kB / 0.6097 GB, free: 12.74 MB / 458.7 MB
Notification: Performance of matching and sorting (n=759) (initialization): time 0.03389/1.906, allocations: 8.173 MB / 0.6177 GB, free: 4.551 MB / 458.7 MB
Notification: Performance of prepare postOptimizeDAE: time 0.000287/1.907, allocations: 56.19 kB / 0.6177 GB, free: 4.496 MB / 458.7 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.000394/1.907, allocations: 120 kB / 0.6178 GB, free: 4.379 MB / 458.7 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.007275/1.914, allocations: 1.045 MB / 0.6188 GB, free: 3.32 MB / 458.7 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.01315/1.927, allocations: 1.372 MB / 0.6202 GB, free: 1.945 MB / 458.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.4323/2.36, allocations: 5.055 MB / 0.6251 GB, free: 114.1 MB / 458.7 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.008132/2.368, allocations: 211.8 kB / 0.6253 GB, free: 114.1 MB / 458.7 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.002068/2.37, allocations: 356.5 kB / 0.6257 GB, free: 114.1 MB / 458.7 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 536
 * Number of states: 0 ()
 * Number of discrete variables: 24 (prismatic1.boxColor[3],prismatic1.boxColor[2],prismatic1.boxColor[1],universal1.cylinderColor[3],universal1.cylinderColor[2],universal1.cylinderColor[1],pointMass.sphereColor[3],pointMass.sphereColor[2],pointMass.sphereColor[1],s1.color[3],s1.color[2],s1.color[1],s1.massColor[3],s1.massColor[2],s1.massColor[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 (718):
 * Single equations (assignments): 711
 * Array equations: 3
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 2
 * Torn equation systems: 2
 * Mixed (continuous/discrete) equation systems: 0
Notification: Equation system details:
 * Constant Jacobian: 0
 * Linear Jacobian (size,density): 2 {(3,100.0%),(3,100.0%)}
 * Non-linear Jacobian: 0
 * Without analytic Jacobian: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 2 {(1,100.0%) 9,(1,100.0%) 4}
 * Non-linear torn systems: 0
Notification: Performance of prepare postOptimizeDAE: time 0.002153/2.372, allocations: 402 kB / 0.626 GB, free: 114 MB / 458.7 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001084/2.373, allocations: 268.7 kB / 0.6263 GB, free: 114 MB / 458.7 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.02298/2.396, allocations: 4.305 MB / 0.6305 GB, free: 113.8 MB / 458.7 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.0001083/2.397, allocations: 22.41 kB / 0.6305 GB, free: 113.8 MB / 458.7 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 3.282e-05/2.397, allocations: 7.406 kB / 0.6305 GB, free: 113.8 MB / 458.7 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 7.784e-05/2.397, allocations: 11.62 kB / 0.6305 GB, free: 113.8 MB / 458.7 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.03898/2.436, allocations: 9.154 MB / 0.6395 GB, free: 113.2 MB / 458.7 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 4.39e-05/2.436, allocations: 3.609 kB / 0.6395 GB, free: 113.2 MB / 458.7 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.007411/2.443, allocations: 374.5 kB / 0.6398 GB, free: 113.2 MB / 458.7 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.007996/2.451, allocations: 0.8622 MB / 0.6407 GB, free: 113.2 MB / 458.7 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.000814/2.452, allocations: 11.19 kB / 0.6407 GB, free: 113.2 MB / 458.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.01175/2.464, allocations: 4.436 MB / 0.645 GB, free: 110.4 MB / 458.7 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 1.287e-05/2.464, allocations: 3.625 kB / 0.645 GB, free: 110.4 MB / 458.7 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.03311/2.497, allocations: 7.754 MB / 0.6526 GB, free: 107.2 MB / 458.7 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.003571/2.501, allocations: 0.7109 MB / 0.6533 GB, free: 106.9 MB / 458.7 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001017/2.502, allocations: 3.875 kB / 0.6533 GB, free: 106.9 MB / 458.7 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.003715/2.506, allocations: 91.11 kB / 0.6534 GB, free: 106.9 MB / 458.7 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0007015/2.506, allocations: 121.4 kB / 0.6535 GB, free: 106.9 MB / 458.7 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0003987/2.507, allocations: 59.73 kB / 0.6536 GB, free: 106.9 MB / 458.7 MB
Notification: Performance of sorting global known variables: time 0.003908/2.511, allocations: 1.529 MB / 0.6551 GB, free: 106.3 MB / 458.7 MB
Notification: Performance of sort global known variables: time 1.062e-06/2.511, allocations: 0 / 0.6551 GB, free: 106.3 MB / 458.7 MB
Notification: Performance of remove unused functions: time 0.007871/2.519, allocations: 0.808 MB / 0.6558 GB, free: 106.3 MB / 458.7 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 5
 * Number of states: 7 (sps1.s_damper,universal1.phi_a,universal1.phi_b,universal1.w_a,universal1.w_b,prismatic1.s,prismatic1.v)
 * Number of discrete variables: 0 ()
 * Number of discrete states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (180):
 * Single equations (assignments): 173
 * Array equations: 3
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 2
 * Torn equation systems: 2
 * Mixed (continuous/discrete) equation systems: 0
Notification: Equation system details:
 * Constant Jacobian: 0
 * Linear Jacobian (size,density): 2 {(3,100.0%),(3,100.0%)}
 * Non-linear Jacobian: 0
 * Without analytic Jacobian: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 2 {(1,100.0%) 6,(1,100.0%) 4}
 * Non-linear torn systems: 0
Notification: Performance of Backend phase and start with SimCode phase: time 0.02221/2.541, allocations: 8.629 MB / 0.6643 GB, free: 102.2 MB / 458.7 MB
Notification: Performance of simCode: created initialization part: time 0.01779/2.559, allocations: 6.256 MB / 0.6704 GB, free: 99.94 MB / 458.7 MB
Notification: Performance of simCode: created event and clocks part: time 8.827e-06/2.559, allocations: 0 / 0.6704 GB, free: 99.94 MB / 458.7 MB
Notification: Performance of simCode: created simulation system equations: time 0.008482/2.567, allocations: 2.696 MB / 0.673 GB, free: 97.8 MB / 458.7 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.002533/2.57, allocations: 202.6 kB / 0.6732 GB, free: 97.63 MB / 458.7 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.03108/2.601, allocations: 8.636 MB / 0.6816 GB, free: 90.35 MB / 458.7 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.006474/2.608, allocations: 2.939 MB / 0.6845 GB, free: 88.09 MB / 458.7 MB
Notification: Performance of simCode: alias equations: time 0.01043/2.618, allocations: 1.93 MB / 0.6864 GB, free: 86.87 MB / 458.7 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.005079/2.623, allocations: 1.551 MB / 0.6879 GB, free: 85.44 MB / 458.7 MB
Notification: Performance of SimCode: time 1.894e-06/2.623, allocations: 0 / 0.6879 GB, free: 85.44 MB / 458.7 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.2089/2.832, allocations: 66.68 MB / 0.753 GB, free: 23.43 MB / 458.7 MB
Notification: Performance of buildModelFMU: configured platform dynamic using cached values: time 0.000334/2.833, allocations: 140.2 kB / 0.7532 GB, free: 23.24 MB / 458.7 MB
Notification: Performance of buildModelFMU: Generate platform dynamic: time 6.07/8.903, allocations: 0 / 0.7532 GB, free: 23.24 MB / 458.7 MB
""

Variables in the reference:time,prismatic1.s,prismatic1.v,sps1.s_damper,universal1.phi_a,universal1.phi_b,universal1.w_a,universal1.w_b

Variables in the result:_D_cse1,_D_cse2,_D_cse3,_D_cse4,_D_cse5,der(pointMass.r_0[1]),der(pointMass.r_0[2]),der(pointMass.r_0[3]),der(pointMass.v_0[1]),der(pointMass.v_0[2]),der(pointMass.v_0[3]),der(prismatic1.frame_a.R.T[1,1]),der(prismatic1.frame_a.R.T[1,2]),der(prismatic1.frame_a.R.T[1,3]),der(prismatic1.frame_a.R.T[2,1]),der(prismatic1.frame_a.R.T[2,2]),der(prismatic1.frame_a.R.T[2,3]),der(prismatic1.frame_a.R.T[3,1]),der(prismatic1.frame_a.R.T[3,2]),der(prismatic1.frame_a.R.T[3,3]),der(prismatic1.frame_a.R.w[1]),der(prismatic1.frame_a.R.w[2]),der(prismatic1.frame_a.R.w[3]),der(prismatic1.s),der(prismatic1.v),der(sps1.s_damper),der(universal1.phi_a),der(universal1.phi_b),der(universal1.revolute_a.R_rel.w[1]),der(universal1.revolute_a.R_rel.w[2]),der(universal1.revolute_a.R_rel.w[3]),der(universal1.revolute_a.frame_b.R.T[1,1]),der(universal1.revolute_a.frame_b.R.T[1,2]),der(universal1.revolute_a.frame_b.R.T[1,3]),der(universal1.revolute_a.frame_b.R.T[2,1]),der(universal1.revolute_a.frame_b.R.T[2,2]),der(universal1.revolute_a.frame_b.R.T[2,3]),der(universal1.revolute_a.frame_b.R.T[3,1]),der(universal1.revolute_a.frame_b.R.T[3,2]),der(universal1.revolute_a.frame_b.R.T[3,3]),der(universal1.revolute_a.frame_b.R.w[1]),der(universal1.revolute_a.frame_b.R.w[2]),der(universal1.revolute_a.frame_b.R.w[3]),der(universal1.revolute_b.R_rel.T[1,1]),der(universal1.revolute_b.R_rel.T[1,2]),der(universal1.revolute_b.R_rel.T[1,3]),der(universal1.revolute_b.R_rel.T[2,1]),der(universal1.revolute_b.R_rel.T[2,2]),der(universal1.revolute_b.R_rel.T[2,3]),der(universal1.revolute_b.R_rel.T[3,1]),der(universal1.revolute_b.R_rel.T[3,2]),der(universal1.revolute_b.R_rel.T[3,3]),der(universal1.revolute_b.R_rel.w[1]),der(universal1.revolute_b.R_rel.w[2]),der(universal1.revolute_b.R_rel.w[3]),der(universal1.w_a),der(universal1.w_b),pointMass.a_0[1],pointMass.a_0[2],pointMass.a_0[3],pointMass.animation,pointMass.frame_a.R.T[1,1],pointMass.frame_a.R.T[1,2],pointMass.frame_a.R.T[1,3],pointMass.frame_a.R.T[2,1],pointMass.frame_a.R.T[2,2],pointMass.frame_a.R.T[2,3],pointMass.frame_a.R.T[3,1],pointMass.frame_a.R.T[3,2],pointMass.frame_a.R.T[3,3],pointMass.frame_a.R.w[1],pointMass.frame_a.R.w[2],pointMass.frame_a.R.w[3],pointMass.frame_a.f[1],pointMass.frame_a.f[2],pointMass.frame_a.f[3],pointMass.frame_a.r_0[1],pointMass.frame_a.r_0[2],pointMass.frame_a.r_0[3],pointMass.frame_a.t[1],pointMass.frame_a.t[2],pointMass.frame_a.t[3],pointMass.m,pointMass.r_0[1],pointMass.r_0[2],pointMass.r_0[3],pointMass.specularCoefficient,pointMass.sphere.R.T[1,1],pointMass.sphere.R.T[1,2],pointMass.sphere.R.T[1,3],pointMass.sphere.R.T[2,1],pointMass.sphere.R.T[2,2],pointMass.sphere.R.T[2,3],pointMass.sphere.R.T[3,1],pointMass.sphere.R.T[3,2],pointMass.sphere.R.T[3,3],pointMass.sphere.R.w[1],pointMass.sphere.R.w[2],pointMass.sphere.R.w[3],pointMass.sphere.color[1],pointMass.sphere.color[2],pointMass.sphere.color[3],pointMass.sphere.extra,pointMass.sphere.height,pointMass.sphere.length,pointMass.sphere.lengthDirection[1],pointMass.sphere.lengthDirection[2],pointMass.sphere.lengthDirection[3],pointMass.sphere.r[1],pointMass.sphere.r[2],pointMass.sphere.r[3],pointMass.sphere.r_shape[1],pointMass.sphere.r_shape[2],pointMass.sphere.r_shape[3],pointMass.sphere.specularCoefficient,pointMass.sphere.width,pointMass.sphere.widthDirection[1],pointMass.sphere.widthDirection[2],pointMass.sphere.widthDirection[3],pointMass.sphereColor[1],pointMass.sphereColor[2],pointMass.sphereColor[3],pointMass.sphereDiameter,pointMass.stateSelect,pointMass.v_0[1],pointMass.v_0[2],pointMass.v_0[3],prismatic1.a,prismatic1.animation,prismatic1.box.R.T[1,1],prismatic1.box.R.T[1,2],prismatic1.box.R.T[1,3],prismatic1.box.R.T[2,1],prismatic1.box.R.T[2,2],prismatic1.box.R.T[2,3],prismatic1.box.R.T[3,1],prismatic1.box.R.T[3,2],prismatic1.box.R.T[3,3],prismatic1.box.R.w[1],prismatic1.box.R.w[2],prismatic1.box.R.w[3],prismatic1.box.color[1],prismatic1.box.color[2],prismatic1.box.color[3],prismatic1.box.extra,prismatic1.box.height,prismatic1.box.length,prismatic1.box.lengthDirection[1],prismatic1.box.lengthDirection[2],prismatic1.box.lengthDirection[3],prismatic1.box.r[1],prismatic1.box.r[2],prismatic1.box.r[3],prismatic1.box.r_shape[1],prismatic1.box.r_shape[2],prismatic1.box.r_shape[3],prismatic1.box.specularCoefficient,prismatic1.box.width,prismatic1.box.widthDirection[1],prismatic1.box.widthDirection[2],prismatic1.box.widthDirection[3],prismatic1.boxColor[1],prismatic1.boxColor[2],prismatic1.boxColor[3],prismatic1.boxHeight,prismatic1.boxWidth,prismatic1.boxWidthDirection[1],prismatic1.boxWidthDirection[2],prismatic1.boxWidthDirection[3],prismatic1.constantForce.f,prismatic1.constantForce.f_constant,prismatic1.constantForce.flange.f,prismatic1.constantForce.flange.s,prismatic1.constantForce.s,prismatic1.constantForce.s_support,prismatic1.constantForce.useSupport,prismatic1.e[1],prismatic1.e[2],prismatic1.e[3],prismatic1.f,prismatic1.fixed.flange.f,prismatic1.fixed.flange.s,prismatic1.fixed.s0,prismatic1.frame_a.R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