Running command: "" <> buildModelFMU(ModelicaTest.MultiBody.Joints.CheckConstaintTorqueUniversalJoint,fileNamePrefix="ModelicaTest_3_2_2_cs_ModelicaTest_MultiBody_Joints_CheckConstaintTorqueUniversalJoint",fmuType="cs",version="2.0",platforms={"dynamic"})
Notification: Performance of loadModel(ModelicaTest): time 3.306/3.306, allocations: 235.2 MB / 242.3 MB, free: 9.578 MB / 202.7 MB
Notification: Performance of FrontEnd - loaded program: time 3.291e-05/3.297e-05, allocations: 4 kB / 299.6 MB, free: 212 kB / 250.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.4827/0.4828, allocations: 54.85 MB / 354.4 MB, free: 15.28 MB / 298.7 MB
Notification: Performance of FrontEnd - scodeFlatten: time 0.2721/0.7549, allocations: 98.78 MB / 453.2 MB, free: 12.35 MB / 394.7 MB
Notification: Performance of FrontEnd - mkProgramGraph: time 0.0004906/0.7555, allocations: 83.89 kB / 453.3 MB, free: 12.27 MB / 394.7 MB
Notification: Performance of FrontEnd - DAE generated: time 0.8371/1.593, allocations: 79.11 MB / 0.5199 GB, free: 45.34 MB / 394.7 MB
Notification: Performance of FrontEnd: time 2.996e-06/1.593, allocations: 0 / 0.5199 GB, free: 45.34 MB / 394.7 MB
Notification: Performance of Transformations before backend: time 0.0002729/1.593, allocations: 71.94 kB / 0.52 GB, free: 45.27 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: 1388
 * Number of variables: 1388
Notification: Performance of Generate backend data structure: time 0.01885/1.612, allocations: 3.782 MB / 0.5237 GB, free: 41.43 MB / 394.7 MB
Notification: Performance of prepare preOptimizeDAE: time 6.002e-05/1.612, allocations: 8.031 kB / 0.5237 GB, free: 41.43 MB / 394.7 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.002935/1.615, allocations: 0.5485 MB / 0.5242 GB, free: 40.87 MB / 394.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.04142/1.656, allocations: 4.285 MB / 0.5284 GB, free: 36.57 MB / 394.7 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.02104/1.677, allocations: 4.499 MB / 0.5328 GB, free: 32.01 MB / 394.7 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0003499/1.678, allocations: 163.5 kB / 0.5329 GB, free: 31.85 MB / 394.7 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.002418/1.68, allocations: 220.2 kB / 0.5332 GB, free: 31.63 MB / 394.7 MB
Notification: Performance of preOpt removeEqualFunctionCalls (simulation): time 0.01685/1.697, allocations: 5.633 MB / 0.5387 GB, free: 26 MB / 394.7 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.02611/1.723, allocations: 8.686 MB / 0.5471 GB, free: 16.39 MB / 394.7 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0002708/1.724, allocations: 51.47 kB / 0.5472 GB, free: 16.34 MB / 394.7 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.001596/1.725, allocations: 28 kB / 0.5472 GB, free: 16.31 MB / 394.7 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.002364/1.728, allocations: 0.9435 MB / 0.5481 GB, free: 15.36 MB / 394.7 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.09543/1.823, allocations: 41.88 MB / 0.589 GB, free: 4.277 MB / 426.7 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.01313/1.836, allocations: 3.218 MB / 0.5922 GB, free: 0.9102 MB / 426.7 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.008078/1.844, allocations: 1.908 MB / 0.594 GB, free: 14.99 MB / 442.7 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.001132/1.846, allocations: 343.8 kB / 0.5944 GB, free: 14.59 MB / 442.7 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 9.422e-05/1.846, allocations: 51.34 kB / 0.5944 GB, free: 14.54 MB / 442.7 MB
Notification: Performance of pre-optimization done (n=156): time 1.054e-05/1.846, allocations: 0 / 0.5944 GB, free: 14.54 MB / 442.7 MB
Notification: Performance of matching and sorting (n=177): time 0.07132/1.917, allocations: 13.09 MB / 0.6072 GB, free: 1.344 MB / 442.7 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.0001455/1.917, allocations: 175.5 kB / 0.6074 GB, free: 1.133 MB / 442.7 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.009437/1.927, allocations: 2.753 MB / 0.61 GB, free: 14.38 MB / 458.7 MB
Notification: Performance of collectPreVariables (initialization): time 0.0005904/1.928, allocations: 25.7 kB / 0.6101 GB, free: 14.34 MB / 458.7 MB
Notification: Performance of collectInitialEqns (initialization): time 0.004756/1.932, allocations: 2.881 MB / 0.6129 GB, free: 11.42 MB / 458.7 MB
Notification: Performance of collectInitialBindings (initialization): time 0.0019/1.934, allocations: 0.667 MB / 0.6135 GB, free: 10.74 MB / 458.7 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0009476/1.935, allocations: 192 / 0.6135 GB, free: 10.74 MB / 458.7 MB
Notification: Performance of setup shared object (initialization): time 0.0007393/1.936, allocations: 0.5497 MB / 0.6141 GB, free: 10.18 MB / 458.7 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.007655/1.944, allocations: 2.022 MB / 0.616 GB, free: 8.156 MB / 458.7 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.01211/1.956, allocations: 5.482 MB / 0.6214 GB, free: 0.9219 MB / 458.7 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.4335/2.389, allocations: 3.312 MB / 0.6246 GB, free: 107.9 MB / 458.7 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001576/2.39, allocations: 36.66 kB / 0.6247 GB, free: 107.9 MB / 458.7 MB
Notification: Performance of matching and sorting (n=748) (initialization): time 0.02691/2.417, allocations: 7.466 MB / 0.632 GB, free: 107.7 MB / 458.7 MB
Notification: Performance of prepare postOptimizeDAE: time 0.0001219/2.417, allocations: 59.72 kB / 0.632 GB, free: 107.7 MB / 458.7 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0002484/2.417, allocations: 125.9 kB / 0.6321 GB, free: 107.7 MB / 458.7 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.00509/2.422, allocations: 0.9388 MB / 0.6331 GB, free: 107.6 MB / 458.7 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.01161/2.434, allocations: 1.33 MB / 0.6344 GB, free: 107.5 MB / 458.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.01569/2.449, allocations: 5.747 MB / 0.64 GB, free: 106.2 MB / 458.7 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.008133/2.458, allocations: 219 kB / 0.6402 GB, free: 106.2 MB / 458.7 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.00166/2.459, allocations: 354.2 kB / 0.6405 GB, free: 106.2 MB / 458.7 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 565
 * Number of states: 0 ()
 * Number of discrete variables: 21 (universal.cylinderColor[3],universal.cylinderColor[2],universal.cylinderColor[1],torque.color[3],torque.color[2],torque.color[1],bodyCylinder.color[3],bodyCylinder.color[2],bodyCylinder.color[1],bodyCylinder.body.sphereColor[3],bodyCylinder.body.sphereColor[2],bodyCylinder.body.sphereColor[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 (700):
 * Single equations (assignments): 696
 * 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: 1
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 1 {(4,75.0%) 21}
 * Non-linear torn systems: 0
Notification: Performance of prepare postOptimizeDAE: time 0.001566/2.461, allocations: 411.8 kB / 0.6409 GB, free: 106 MB / 458.7 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.00102/2.462, allocations: 287.7 kB / 0.6412 GB, free: 106 MB / 458.7 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01242/2.474, allocations: 3.297 MB / 0.6444 GB, free: 105.8 MB / 458.7 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 7.187e-05/2.475, allocations: 18.66 kB / 0.6444 GB, free: 105.8 MB / 458.7 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 1.653e-05/2.475, allocations: 7.531 kB / 0.6444 GB, free: 105.8 MB / 458.7 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 5.908e-05/2.475, allocations: 16.5 kB / 0.6444 GB, free: 105.8 MB / 458.7 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.02902/2.504, allocations: 7.648 MB / 0.6519 GB, free: 104.8 MB / 458.7 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 2.777e-05/2.504, allocations: 3.969 kB / 0.6519 GB, free: 104.8 MB / 458.7 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.004084/2.508, allocations: 289.9 kB / 0.6522 GB, free: 104.8 MB / 458.7 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.004659/2.513, allocations: 0.7357 MB / 0.6529 GB, free: 104.6 MB / 458.7 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0005065/2.513, allocations: 9.797 kB / 0.6529 GB, free: 104.6 MB / 458.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.01441/2.528, allocations: 5.257 MB / 0.6581 GB, free: 101.7 MB / 458.7 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 8.816e-06/2.528, allocations: 2.297 kB / 0.6581 GB, free: 101.7 MB / 458.7 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.01839/2.546, allocations: 6.078 MB / 0.664 GB, free: 99.14 MB / 458.7 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.002642/2.549, allocations: 0.6194 MB / 0.6646 GB, free: 98.76 MB / 458.7 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.000996/2.55, allocations: 5.234 kB / 0.6646 GB, free: 98.76 MB / 458.7 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.003583/2.553, allocations: 76.89 kB / 0.6647 GB, free: 98.76 MB / 458.7 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0006191/2.554, allocations: 98.62 kB / 0.6648 GB, free: 98.75 MB / 458.7 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0003027/2.554, allocations: 50.56 kB / 0.6648 GB, free: 98.74 MB / 458.7 MB
Notification: Performance of sorting global known variables: time 0.005537/2.56, allocations: 1.833 MB / 0.6666 GB, free: 98.05 MB / 458.7 MB
Notification: Performance of sort global known variables: time 1.313e-06/2.56, allocations: 0 / 0.6666 GB, free: 98.05 MB / 458.7 MB
Notification: Performance of remove unused functions: time 0.008676/2.569, allocations: 0.799 MB / 0.6674 GB, free: 98.05 MB / 458.7 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 4
 * Number of states: 4 (universal.phi_a,universal.phi_b,universal.w_a,universal.w_b)
 * Number of discrete variables: 0 ()
 * Number of discrete states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (137):
 * Single equations (assignments): 133
 * 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: 1
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 1 {(4,75.0%) 18}
 * Non-linear torn systems: 0
Notification: Performance of Backend phase and start with SimCode phase: time 0.01934/2.588, allocations: 6.882 MB / 0.6741 GB, free: 94.73 MB / 458.7 MB
Notification: Performance of simCode: created initialization part: time 0.01567/2.604, allocations: 5.018 MB / 0.679 GB, free: 90.48 MB / 458.7 MB
Notification: Performance of simCode: created event and clocks part: time 8.175e-06/2.604, allocations: 3.172 kB / 0.679 GB, free: 90.48 MB / 458.7 MB
Notification: Performance of simCode: created simulation system equations: time 0.006772/2.611, allocations: 1.829 MB / 0.6808 GB, free: 88.84 MB / 458.7 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.003787/2.615, allocations: 291.4 kB / 0.6811 GB, free: 88.59 MB / 458.7 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.0337/2.648, allocations: 8.334 MB / 0.6892 GB, free: 81.45 MB / 458.7 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.007651/2.656, allocations: 3.137 MB / 0.6923 GB, free: 79.04 MB / 458.7 MB
Notification: Performance of simCode: alias equations: time 0.01206/2.668, allocations: 1.872 MB / 0.6941 GB, free: 77.87 MB / 458.7 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.005617/2.674, allocations: 1.69 MB / 0.6958 GB, free: 76.31 MB / 458.7 MB
Notification: Performance of SimCode: time 1.914e-06/2.674, allocations: 0 / 0.6958 GB, free: 76.31 MB / 458.7 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.2469/2.921, allocations: 68.82 MB / 0.763 GB, free: 13.18 MB / 458.7 MB
Notification: Performance of buildModelFMU: configured platform dynamic using cached values: time 0.0003154/2.921, allocations: 179.6 kB / 0.7631 GB, free: 12.97 MB / 458.7 MB
Notification: Performance of buildModelFMU: Generate platform dynamic: time 6.531/9.452, allocations: 0 / 0.7631 GB, free: 12.97 MB / 458.7 MB
""

Variables in the reference:time,universal.phi_a,universal.phi_b,universal.w_a,universal.w_b

Variables in the result:_D_cse1,_D_cse2,_D_cse3,_D_cse4,_D_cse5,bodyCylinder.I22,bodyCylinder.I[1,1],bodyCylinder.I[1,2],bodyCylinder.I[1,3],bodyCylinder.I[2,1],bodyCylinder.I[2,2],bodyCylinder.I[2,3],bodyCylinder.I[3,1],bodyCylinder.I[3,2],bodyCylinder.I[3,3],bodyCylinder.R.T[1,1],bodyCylinder.R.T[1,2],bodyCylinder.R.T[1,3],bodyCylinder.R.T[2,1],bodyCylinder.R.T[2,2],bodyCylinder.R.T[2,3],bodyCylinder.R.T[3,1],bodyCylinder.R.T[3,2],bodyCylinder.R.T[3,3],bodyCylinder.R.w[1],bodyCylinder.R.w[2],bodyCylinder.R.w[3],bodyCylinder.a_0[1],bodyCylinder.a_0[2],bodyCylinder.a_0[3],bodyCylinder.angles_fixed,bodyCylinder.angles_start[1],bodyCylinder.angles_start[2],bodyCylinder.angles_start[3],bodyCylinder.animation,bodyCylinder.body.I[1,1],bodyCylinder.body.I[1,2],bodyCylinder.body.I[1,3],bodyCylinder.body.I[2,1],bodyCylinder.body.I[2,2],bodyCylinder.body.I[2,3],bodyCylinder.body.I[3,1],bodyCylinder.body.I[3,2],bodyCylinder.body.I[3,3],bodyCylinder.body.I_11,bodyCylinder.body.I_21,bodyCylinder.body.I_22,bodyCylinder.body.I_31,bodyCylinder.body.I_32,bodyCylinder.body.I_33,bodyCylinder.body.Q[1],bodyCylinder.body.Q[2],bodyCylinder.body.Q[3],bodyCylinder.body.Q[4],bodyCylinder.body.Q_start[1],bodyCylinder.body.Q_start[2],bodyCylinder.body.Q_start[3],bodyCylinder.body.Q_start[4],bodyCylinder.body.R_start.T[1,1],bodyCylinder.body.R_start.T[1,2],bodyCylinder.body.R_start.T[1,3],bodyCylinder.body.R_start.T[2,1],bodyCylinder.body.R_start.T[2,2],bodyCylinder.body.R_start.T[2,3],bodyCylinder.body.R_start.T[3,1],bodyCylinder.body.R_start.T[3,2],bodyCylinder.body.R_start.T[3,3],bodyCylinder.body.R_start.w[1],bodyCylinder.body.R_start.w[2],bodyCylinder.body.R_start.w[3],bodyCylinder.body.a_0[1],bodyCylinder.body.a_0[2],bodyCylinder.body.a_0[3],bodyCylinder.body.angles_fixed,bodyCylinder.body.angles_start[1],bodyCylinder.body.angles_start[2],bodyCylinder.body.angles_start[3],bodyCylinder.body.animation,bodyCylinder.body.cylinderColor[1],bodyCylinder.body.cylinderColor[2],bodyCylinder.body.cylinderColor[3],bodyCylinder.body.cylinderDiameter,bodyCylinder.body.enforceStates,bodyCylinder.body.frame_a.R.T[1,1],bodyCylinder.body.frame_a.R.T[1,2],bodyCylinder.body.frame_a.R.T[1,3],bodyCylinder.body.frame_a.R.T[2,1],bodyCylinder.body.frame_a.R.T[2,2],bodyCylinder.body.frame_a.R.T[2,3],bodyCylinder.body.frame_a.R.T[3,1],bodyCylinder.body.frame_a.R.T[3,2],bodyCylinder.body.frame_a.R.T[3,3],bodyCylinder.body.frame_a.R.w[1],bodyCylinder.body.frame_a.R.w[2],bodyCylinder.body.frame_a.R.w[3],bodyCylinder.body.frame_a.f[1],bodyCylinder.body.frame_a.f[2],bodyCylinder.body.frame_a.f[3],bodyCylinder.body.frame_a.r_0[1],bodyCylinder.body.frame_a.r_0[2],bodyCylinder.body.frame_a.r_0[3],bodyCylinder.body.frame_a.t[1],bodyCylinder.body.frame_a.t[2],bodyCylinder.body.frame_a.t[3],bodyCylinder.body.g_0[1],bodyCylinder.body.g_0[2],bodyCylinder.body.g_0[3],bodyCylinder.body.m,bodyCylinder.body.phi[1],bodyCylinder.body.phi[2],bodyCylinder.body.phi[3],bodyCylinder.body.phi_d[1],bodyCylinder.body.phi_d[2],bodyCylinder.body.phi_d[3],bodyCylinder.body.phi_dd[1],bodyCylinder.body.phi_dd[2],bodyCylinder.body.phi_dd[3],bodyCylinder.body.phi_start[1],bodyCylinder.body.phi_start[2],bodyCylinder.body.phi_start[3],bodyCylinder.body.r_0[1],bodyCylinder.body.r_0[2],bodyCylinder.body.r_0[3],bodyCylinder.body.r_CM[1],bodyCylinder.body.r_CM[2],bodyCylinder.body.r_CM[3],bodyCylinder.body.sequence_angleStates[1],bodyCylinder.body.sequence_angleStates[2],bodyCylinder.body.sequence_angleStates[3],bodyCylinder.body.sequence_start[1],bodyCylinder.body.sequence_start[2],bodyCylinder.body.sequence_start[3],bodyCylinder.body.specularCoefficient,bodyCylinder.body.sphereColor[1],bodyCylinder.body.sphereColor[2],bodyCylinder.body.sphereColor[3],bodyCylinder.body.sphereDiameter,bodyCylinder.body.useQuaternions,bodyCylinder.body.v_0[1],bodyCylinder.body.v_0[2],bodyCylinder.body.v_0[3],bodyCylinder.body.w_0_fixed,bodyCylinder.body.w_0_start[1],bodyCylinder.body.w_0_start[2],bodyCylinder.body.w_0_start[3],bodyCylinder.body.w_a[1],bodyCylinder.body.w_a[2],bodyCylinder.body.w_a[3],bodyCylinder.body.z_0_fixed,bodyCylinder.body.z_0_start[1],bodyCylinder.body.z_0_start[2],bodyCylinder.body.z_0_start[3],bodyCylinder.body.z_a[1],bodyCylinder.body.z_a[2],bodyCylinder.body.z_a[3],bodyCylinder.body.z_a_start[1],bodyCylinder.body.z_a_start[2],bodyCylinder.body.z_a_start[3],bodyCylinder.color[1],bodyCylinder.color[2],bodyCylinder.color[3],bodyCylinder.density,bodyCylinder.diameter,bodyCylinder.enforceStates,bodyCylinder.frameTranslation.animation,bodyCylinder.frameTranslation.color[1],bodyCylinder.frameTranslation.color[2],bodyCylinder.frameTranslation.color[3],bodyCylinder.frameTranslation.extra,bodyCylinder.frameTranslation.frame_a.R.T[1,1],bodyCylinder.frameTranslation.frame_a.R.T[1,2],bodyCylinder.frameTranslation.frame_a.R.T[1,3],bodyCylinder.frameTranslation.frame_a.R.T[2,1],bodyCylinder.frameTranslation.frame_a.R.T[2,2],bodyCylinder.frameTranslation.frame_a.R.T[2,3],bodyCylinder.frameTranslation.frame_a.R.T[3,1],bodyCylinder.frameTranslation.frame_a.R.T[3,2],bodyCylinder.frameTranslation.frame_a.R.T[3,3],bodyCylinder.frameTranslation.frame_a.R.w[1],bodyCylinder.frameTranslation.frame_a.R.w[2],bodyCylinder.frameTranslation.frame_a.R.w[3],bodyCylinder.frameTranslation.frame_a.f[1],bodyCylinder.frameTranslation.frame_a.f[2],bodyCylinder.frameTranslation.frame_a.f[3],bodyCylinder.frameTranslation.frame_a.r_0[1],bodyCylinder.frameTranslation.frame_a.r_0[2],bodyCylinder.frameTranslation.frame_a.r_0[3],bodyCylinder.frameTranslation.frame_a.t[1],bodyCylinder.frameTranslation.frame_a.t[2],bodyCylinder.frameTranslation.frame_a.t[3],bodyCylinder.frameTranslation.frame_b.R.T[1,1],bodyCylinder.frameTranslation.frame_b.R.T[1,2],bodyCylinder.frameTranslation.frame_b.R.T[1,3],bodyCylinder.frameTranslation.frame_b.R.T[2,1],bodyCylinder.frameTranslation.frame_b.R.T[2,2],bodyCylinder.frameTranslation.frame_b.R.T[2,3],bodyCylinder.frameTranslation.frame_b.R.T[3,1],bodyCylinder.frameTranslation.frame_b.R.T[3,2],bodyCylinder.frameTranslation.frame_b.R.T[3,3],bodyCylinder.frameTranslation.frame_b.R.w[1],bodyCylinder.frameTranslation.frame_b.R.w[2],bodyCylinder.frameTranslation.frame_b.R.w[3],bodyCylinder.frameTranslation.frame_b.f[1],bodyCylinder.frameTranslation.frame_b.f[2],bodyCylinder.frameTranslation.frame_b.f[3],bodyCylinder.frameTranslation.frame_b.r_0[1],bodyCylinder.frameTranslation.frame_b.r_0[2],bodyCylinder.frameTranslation.frame_b.r_0[3],bodyCylinder.frameTranslation.frame_b.t[1],bodyCylinder.frameTranslation.frame_b.t[2],bodyCylinder.frameTranslation.frame_b.t[3],bodyCylinder.frameTranslation.height,bodyCylinder.frameTranslation.length,bodyCylinder.frameTranslation.lengthDirection[1],bodyCylinder.frameTranslation.lengthDirection[2],bodyCylinder.frameTranslation.lengthDirection[3],bodyCylinder.frameTranslation.r[1],bodyCylinder.frameTranslation.r[2],bodyCylinder.frameTranslation.r[3],bodyCylinder.frameTranslation.r_shape[1],bodyCylinder.frameTranslation.r_shape[2],bodyCylinder.frameTranslation.r_shape[3],bodyCylinder.frameTranslation.shape.R.T[1,1],bodyCylinder.frameTranslation.shape.R.T[1,2],bodyCylinder.frameTranslation.shape.R.T[1,3],bodyCylinder.frameTranslation.shape.R.T[2,1],bodyCylinder.frameTranslation.shape.R.T[2,2],bodyCylinder.frameTranslation.shape.R.T[2,3],bodyCylinder.frameTranslation.shape.R.T[3,1],bodyCylinder.frameTranslation.shape.R.T[3,2],bodyCylinder.frameTranslation.shape.R.T[3,3],bodyCylinder.frameTranslation.shape.R.w[1],bodyCylinder.frameTranslation.shape.R.w[2],bodyCylinder.frameTranslation.shape.R.w[3],bodyCylinder.frameTranslation.shape.color[1],bodyCylinder.frameTranslation.shape.color[2],bodyCylinder.frameTranslation.shape.color[3],bodyCylinder.frameTranslation.shape.extra,bodyCylinder.frameTranslation.shape.height,bodyCylinder.frameTranslation.shape.length,bodyCylinder.frameTranslation.shape.lengthDirection[1],bodyCylinder.frameTranslation.shape.lengthDirection[2],bodyCylinder.frameTranslation.shape.lengthDirection[3],bodyCylinder.frameTranslation.shape.r[1],bodyCylinder.frameTranslation.shape.r[2],bodyCylinder.frameTranslation.shape.r[3],bodyCylinder.frameTranslation.shape.r_shape[1],bodyCylinder.frameTranslation.shape.r_shape[2],bodyCylinder.frameTranslation.shape.r_shape[3],bodyCylinder.frameTranslation.shape.specularCoefficient,bodyCylinder.frameTranslation.shape.width,bodyCylinder.frameTranslation.shape.widthDirection[1],bodyCylinder.frameTranslation.shape.widthDirection[2],bodyCylinder.frameTranslation.shape.widthDirection[3],bodyCylinder.frameTranslation.specularCoefficient,bodyCylinder.frameTranslation.width,bodyCylinder.frameTranslation.widthDirection[1],bodyCylinder.frameTranslation.widthDirection[2],bodyCylinder.frameTranslation.widthDirection[3],bodyCylinder.frame_a.R.T[1,1],bodyCylinder.frame_a.R.T[1,2],bodyCylinder.frame_a.R.T[1,3],bodyCylinder.frame_a.R.T[2,1],bodyCylinder.frame_a.R.T[2,2],bodyCylinder.frame_a.R.T[2,3],bodyCylinder.frame_a.R.T[3,1],bodyCylinder.frame_a.R.T[3,2],bodyCylinder.frame_a.R.T[3,3],bodyCylinder.frame_a.R.w[1],bodyCylinder.frame_a.R.w[2],bodyCylinder.frame_a.R.w[3],bodyCylinder.frame_a.f[1],bodyCylinder.frame_a.f[2],bodyCylinder.frame_a.f[3],bodyCylinder.frame_a.r_0[1],bodyCylinder.frame_a.r_0[2],bodyCylinder.frame_a.r_0[3],bodyCylinder.frame_a.t[1],bodyCylinder.frame_a.t[2],bodyCylinder.frame_a.t[3],bodyCylinder.frame_b.R.T[1,1],bodyCylinder.frame_b.R.T[1,2],bodyCylinder.frame_b.R.T[1,3],bodyCylinder.frame_b.R.T[2,1],bodyCylinder.frame_b.R.T[2,2],bodyCylinder.frame_b.R.T[2,3],bodyCylinder.frame_b.R.T[3,1],bodyCylinder.frame_b.R.T[3,2],bodyCylinder.frame_b.R.T[3,3],bodyCylinder.frame_b.R.w[1],bodyCylinder.frame_b.R.w[2],bodyCylinder.frame_b.R.w[3],bodyCylinder.frame_b.f[1],bodyCylinder.frame_b.f[2],bodyCylinder.frame_b.f[3],bodyCylinder.frame_b.r_0[1],bodyCylinder.frame_b.r_0[2],bodyCylinder.frame_b.r_0[3],bodyCylinder.frame_b.t[1],bodyCylinder.frame_b.t[2],bodyCylinder.frame_b.t[3],bodyCylinder.innerDiameter,bodyCylinder.innerRadius,bodyCylinder.length,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