Running command: "" <> buildModelFMU(ModelicaTest.MultiBody.Sensors.Distance2,fileNamePrefix="ModelicaTest_3_2_2_cs_ModelicaTest_MultiBody_Sensors_Distance2",fmuType="cs",version="2.0",platforms={"dynamic"})
Notification: Performance of loadModel(ModelicaTest): time 3.22/3.22, allocations: 235.2 MB / 242.3 MB, free: 9.566 MB / 202.7 MB
Notification: Performance of FrontEnd - loaded program: time 2.722e-05/2.732e-05, allocations: 4 kB / 299.6 MB, free: 192 kB / 250.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.4824/0.4825, allocations: 54.85 MB / 354.4 MB, free: 15.19 MB / 298.7 MB
Notification: Performance of FrontEnd - scodeFlatten: time 0.2714/0.754, allocations: 97.68 MB / 452.1 MB, free: 13.36 MB / 394.7 MB
Notification: Performance of FrontEnd - mkProgramGraph: time 0.0003495/0.7544, allocations: 75.95 kB / 452.2 MB, free: 13.29 MB / 394.7 MB
Notification: Performance of FrontEnd - DAE generated: time 0.8475/1.602, allocations: 77.66 MB / 0.5174 GB, free: 47.63 MB / 394.7 MB
Notification: Performance of FrontEnd: time 3.757e-06/1.602, allocations: 4 kB / 0.5174 GB, free: 47.62 MB / 394.7 MB
Notification: Performance of Transformations before backend: time 0.0003503/1.602, allocations: 71.98 kB / 0.5175 GB, free: 47.55 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: 1364
 * Number of variables: 1364
Notification: Performance of Generate backend data structure: time 0.02347/1.626, allocations: 3.527 MB / 0.5209 GB, free: 43.97 MB / 394.7 MB
Notification: Performance of prepare preOptimizeDAE: time 8.232e-05/1.626, allocations: 8.031 kB / 0.5209 GB, free: 43.96 MB / 394.7 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.004655/1.631, allocations: 0.5401 MB / 0.5215 GB, free: 43.41 MB / 394.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.06607/1.697, allocations: 4.316 MB / 0.5257 GB, free: 39.08 MB / 394.7 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.03526/1.732, allocations: 4.369 MB / 0.5299 GB, free: 34.65 MB / 394.7 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.000248/1.732, allocations: 155.4 kB / 0.5301 GB, free: 34.5 MB / 394.7 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.001551/1.734, allocations: 216 kB / 0.5303 GB, free: 34.29 MB / 394.7 MB
Notification: Performance of preOpt removeEqualFunctionCalls (simulation): time 0.01693/1.751, allocations: 5.215 MB / 0.5354 GB, free: 29.07 MB / 394.7 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.03262/1.784, allocations: 8.333 MB / 0.5435 GB, free: 19.75 MB / 394.7 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.000354/1.784, allocations: 59.47 kB / 0.5436 GB, free: 19.69 MB / 394.7 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.00168/1.786, allocations: 28 kB / 0.5436 GB, free: 19.66 MB / 394.7 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.003651/1.789, allocations: 0.8923 MB / 0.5445 GB, free: 18.77 MB / 394.7 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.08928/1.879, allocations: 40.81 MB / 0.5843 GB, free: 8.699 MB / 426.7 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.006357/1.885, allocations: 2.412 MB / 0.5867 GB, free: 6.082 MB / 426.7 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.003141/1.888, allocations: 1.055 MB / 0.5877 GB, free: 5.016 MB / 426.7 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.0007398/1.889, allocations: 335.7 kB / 0.588 GB, free: 4.633 MB / 426.7 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 6.72e-05/1.889, allocations: 47.12 kB / 0.5881 GB, free: 4.578 MB / 426.7 MB
Notification: Performance of pre-optimization done (n=122): time 6.032e-06/1.889, allocations: 0 / 0.5881 GB, free: 4.578 MB / 426.7 MB
Notification: Performance of matching and sorting (n=140): time 0.0417/1.931, allocations: 9.598 MB / 0.5975 GB, free: 10.89 MB / 442.7 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.0001631/1.931, allocations: 192.7 kB / 0.5976 GB, free: 10.66 MB / 442.7 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.009308/1.941, allocations: 3.006 MB / 0.6006 GB, free: 7.652 MB / 442.7 MB
Notification: Performance of collectPreVariables (initialization): time 0.0003647/1.941, allocations: 29.7 kB / 0.6006 GB, free: 7.617 MB / 442.7 MB
Notification: Performance of collectInitialEqns (initialization): time 0.004381/1.945, allocations: 3.038 MB / 0.6036 GB, free: 4.535 MB / 442.7 MB
Notification: Performance of collectInitialBindings (initialization): time 0.001184/1.947, allocations: 0.5594 MB / 0.6041 GB, free: 3.969 MB / 442.7 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.000714/1.947, allocations: 0 / 0.6041 GB, free: 3.969 MB / 442.7 MB
Notification: Performance of setup shared object (initialization): time 0.0007424/1.948, allocations: 0.5622 MB / 0.6047 GB, free: 3.398 MB / 442.7 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.005406/1.954, allocations: 1.558 MB / 0.6062 GB, free: 1.836 MB / 442.7 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.01032/1.964, allocations: 5.509 MB / 0.6116 GB, free: 10.31 MB / 458.7 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.009089/1.973, allocations: 2.935 MB / 0.6144 GB, free: 7.375 MB / 458.7 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.000156/1.973, allocations: 40 kB / 0.6145 GB, free: 7.336 MB / 458.7 MB
Notification: Performance of matching and sorting (n=790) (initialization): time 0.02389/1.997, allocations: 6.276 MB / 0.6206 GB, free: 1.051 MB / 458.7 MB
Notification: Performance of prepare postOptimizeDAE: time 0.0001536/1.997, allocations: 68 kB / 0.6207 GB, free: 0.9844 MB / 458.7 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.0002829/1.998, allocations: 140 kB / 0.6208 GB, free: 0.8477 MB / 458.7 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.001627/1.999, allocations: 377.1 kB / 0.6212 GB, free: 488 kB / 458.7 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.4639/2.463, allocations: 1.394 MB / 0.6225 GB, free: 108.9 MB / 458.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.008051/2.471, allocations: 2.631 MB / 0.6251 GB, free: 107.6 MB / 458.7 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.01177/2.483, allocations: 194.6 kB / 0.6253 GB, free: 107.6 MB / 458.7 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.002286/2.485, allocations: 384.4 kB / 0.6256 GB, free: 107.6 MB / 458.7 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 651
 * Number of states: 0 ()
 * Number of discrete variables: 28 (LessEqualThreshold1.y,distance2.arrowColor[3],distance2.arrowColor[2],distance2.arrowColor[1],distance1.arrowColor[3],distance1.arrowColor[2],distance1.arrowColor[1],fixed.color[3],fixed.color[2],fixed.color[1],BodyBox1.color[3],BodyBox1.color[2],BodyBox1.color[1],BodyBox1.body.sphereColor[3],BodyBox1.body.sphereColor[2],BodyBox1.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 (755):
 * Single equations (assignments): 751
 * 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 {(1,100.0%) 11}
 * Non-linear torn systems: 0
Notification: Performance of prepare postOptimizeDAE: time 0.002327/2.488, allocations: 453.1 kB / 0.6261 GB, free: 107.5 MB / 458.7 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001278/2.489, allocations: 301.9 kB / 0.6264 GB, free: 107.5 MB / 458.7 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.007997/2.497, allocations: 1.546 MB / 0.6279 GB, free: 107.4 MB / 458.7 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 7.606e-05/2.497, allocations: 17.33 kB / 0.6279 GB, free: 107.4 MB / 458.7 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 1.743e-05/2.497, allocations: 6.562 kB / 0.6279 GB, free: 107.4 MB / 458.7 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 3.808e-05/2.497, allocations: 4.875 kB / 0.6279 GB, free: 107.4 MB / 458.7 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.0242/2.522, allocations: 4.722 MB / 0.6325 GB, free: 106.9 MB / 458.7 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 2.189e-05/2.522, allocations: 2.875 kB / 0.6325 GB, free: 106.9 MB / 458.7 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.002936/2.525, allocations: 205.6 kB / 0.6327 GB, free: 106.9 MB / 458.7 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.001169/2.526, allocations: 159.6 kB / 0.6329 GB, free: 106.8 MB / 458.7 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0002545/2.526, allocations: 7.344 kB / 0.6329 GB, free: 106.8 MB / 458.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.004383/2.53, allocations: 2.054 MB / 0.6349 GB, free: 105.7 MB / 458.7 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 1.002e-05/2.531, allocations: 3.656 kB / 0.6349 GB, free: 105.7 MB / 458.7 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.009685/2.54, allocations: 3.503 MB / 0.6383 GB, free: 105 MB / 458.7 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.002105/2.542, allocations: 0.4966 MB / 0.6388 GB, free: 104.8 MB / 458.7 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0006982/2.543, allocations: 9.938 kB / 0.6388 GB, free: 104.8 MB / 458.7 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.00265/2.546, allocations: 40.53 kB / 0.6388 GB, free: 104.8 MB / 458.7 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0003367/2.546, allocations: 73.02 kB / 0.6389 GB, free: 104.8 MB / 458.7 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002203/2.546, allocations: 39.73 kB / 0.6389 GB, free: 104.8 MB / 458.7 MB
Notification: Performance of sorting global known variables: time 0.005729/2.552, allocations: 1.991 MB / 0.6409 GB, free: 104.7 MB / 458.7 MB
Notification: Performance of sort global known variables: time 1.633e-06/2.552, allocations: 2.906 kB / 0.6409 GB, free: 104.7 MB / 458.7 MB
Notification: Performance of remove unused functions: time 0.008893/2.561, allocations: 0.722 MB / 0.6416 GB, free: 104.7 MB / 458.7 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 9
 * Number of states: 2 (Revolute1.phi,Revolute1.w)
 * Number of discrete variables: 1 (LessEqualThreshold1.y)
 * Number of discrete states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (109):
 * Single equations (assignments): 105
 * 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 {(1,100.0%) 8}
 * Non-linear torn systems: 0
Notification: Performance of Backend phase and start with SimCode phase: time 0.0102/2.571, allocations: 4.586 MB / 0.6461 GB, free: 102.9 MB / 458.7 MB
Notification: Performance of simCode: created initialization part: time 0.01119/2.583, allocations: 3.771 MB / 0.6498 GB, free: 102.7 MB / 458.7 MB
Notification: Performance of simCode: created event and clocks part: time 8.406e-06/2.583, allocations: 3.812 kB / 0.6498 GB, free: 102.7 MB / 458.7 MB
Notification: Performance of simCode: created simulation system equations: time 0.002827/2.586, allocations: 0.9516 MB / 0.6507 GB, free: 102.6 MB / 458.7 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.003302/2.589, allocations: 284.9 kB / 0.651 GB, free: 102.6 MB / 458.7 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.04367/2.633, allocations: 7.288 MB / 0.6581 GB, free: 100.3 MB / 458.7 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.01049/2.643, allocations: 3.036 MB / 0.661 GB, free: 99.12 MB / 458.7 MB
Notification: Performance of simCode: alias equations: time 0.04574/2.689, allocations: 1.844 MB / 0.6628 GB, free: 99.09 MB / 458.7 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.01279/2.702, allocations: 1.634 MB / 0.6644 GB, free: 97.77 MB / 458.7 MB
Notification: Performance of SimCode: time 2.064e-06/2.702, allocations: 3.938 kB / 0.6644 GB, free: 97.77 MB / 458.7 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.2898/2.992, allocations: 62.23 MB / 0.7252 GB, free: 50.63 MB / 458.7 MB
Notification: Performance of buildModelFMU: configured platform dynamic using cached values: time 0.0002219/2.992, allocations: 134.5 kB / 0.7253 GB, free: 50.44 MB / 458.7 MB
Notification: Performance of buildModelFMU: Generate platform dynamic: time 6.364/9.356, allocations: 4 kB / 0.7253 GB, free: 50.44 MB / 458.7 MB
""

Variables in the reference:time,distance1.distance,distance2.distance

Variables in the result:BodyBox1.I[1,1],BodyBox1.I[1,2],BodyBox1.I[1,3],BodyBox1.I[2,1],BodyBox1.I[2,2],BodyBox1.I[2,3],BodyBox1.I[3,1],BodyBox1.I[3,2],BodyBox1.I[3,3],BodyBox1.R.T[1,1],BodyBox1.R.T[1,2],BodyBox1.R.T[1,3],BodyBox1.R.T[2,1],BodyBox1.R.T[2,2],BodyBox1.R.T[2,3],BodyBox1.R.T[3,1],BodyBox1.R.T[3,2],BodyBox1.R.T[3,3],BodyBox1.R.w[1],BodyBox1.R.w[2],BodyBox1.R.w[3],BodyBox1.a_0[1],BodyBox1.a_0[2],BodyBox1.a_0[3],BodyBox1.angles_fixed,BodyBox1.angles_start[1],BodyBox1.angles_start[2],BodyBox1.angles_start[3],BodyBox1.animation,BodyBox1.body.I[1,1],BodyBox1.body.I[1,2],BodyBox1.body.I[1,3],BodyBox1.body.I[2,1],BodyBox1.body.I[2,2],BodyBox1.body.I[2,3],BodyBox1.body.I[3,1],BodyBox1.body.I[3,2],BodyBox1.body.I[3,3],BodyBox1.body.I_11,BodyBox1.body.I_21,BodyBox1.body.I_22,BodyBox1.body.I_31,BodyBox1.body.I_32,BodyBox1.body.I_33,BodyBox1.body.Q[1],BodyBox1.body.Q[2],BodyBox1.body.Q[3],BodyBox1.body.Q[4],BodyBox1.body.Q_start[1],BodyBox1.body.Q_start[2],BodyBox1.body.Q_start[3],BodyBox1.body.Q_start[4],BodyBox1.body.R_start.T[1,1],BodyBox1.body.R_start.T[1,2],BodyBox1.body.R_start.T[1,3],BodyBox1.body.R_start.T[2,1],BodyBox1.body.R_start.T[2,2],BodyBox1.body.R_start.T[2,3],BodyBox1.body.R_start.T[3,1],BodyBox1.body.R_start.T[3,2],BodyBox1.body.R_start.T[3,3],BodyBox1.body.R_start.w[1],BodyBox1.body.R_start.w[2],BodyBox1.body.R_start.w[3],BodyBox1.body.a_0[1],BodyBox1.body.a_0[2],BodyBox1.body.a_0[3],BodyBox1.body.angles_fixed,BodyBox1.body.angles_start[1],BodyBox1.body.angles_start[2],BodyBox1.body.angles_start[3],BodyBox1.body.animation,BodyBox1.body.cylinderColor[1],BodyBox1.body.cylinderColor[2],BodyBox1.body.cylinderColor[3],BodyBox1.body.cylinderDiameter,BodyBox1.body.enforceStates,BodyBox1.body.frame_a.R.T[1,1],BodyBox1.body.frame_a.R.T[1,2],BodyBox1.body.frame_a.R.T[1,3],BodyBox1.body.frame_a.R.T[2,1],BodyBox1.body.frame_a.R.T[2,2],BodyBox1.body.frame_a.R.T[2,3],BodyBox1.body.frame_a.R.T[3,1],BodyBox1.body.frame_a.R.T[3,2],BodyBox1.body.frame_a.R.T[3,3],BodyBox1.body.frame_a.R.w[1],BodyBox1.body.frame_a.R.w[2],BodyBox1.body.frame_a.R.w[3],BodyBox1.body.frame_a.f[1],BodyBox1.body.frame_a.f[2],BodyBox1.body.frame_a.f[3],BodyBox1.body.frame_a.r_0[1],BodyBox1.body.frame_a.r_0[2],BodyBox1.body.frame_a.r_0[3],BodyBox1.body.frame_a.t[1],BodyBox1.body.frame_a.t[2],BodyBox1.body.frame_a.t[3],BodyBox1.body.g_0[1],BodyBox1.body.g_0[2],BodyBox1.body.g_0[3],BodyBox1.body.m,BodyBox1.body.phi[1],BodyBox1.body.phi[2],BodyBox1.body.phi[3],BodyBox1.body.phi_d[1],BodyBox1.body.phi_d[2],BodyBox1.body.phi_d[3],BodyBox1.body.phi_dd[1],BodyBox1.body.phi_dd[2],BodyBox1.body.phi_dd[3],BodyBox1.body.phi_start[1],BodyBox1.body.phi_start[2],BodyBox1.body.phi_start[3],BodyBox1.body.r_0[1],BodyBox1.body.r_0[2],BodyBox1.body.r_0[3],BodyBox1.body.r_CM[1],BodyBox1.body.r_CM[2],BodyBox1.body.r_CM[3],BodyBox1.body.sequence_angleStates[1],BodyBox1.body.sequence_angleStates[2],BodyBox1.body.sequence_angleStates[3],BodyBox1.body.sequence_start[1],BodyBox1.body.sequence_start[2],BodyBox1.body.sequence_start[3],BodyBox1.body.specularCoefficient,BodyBox1.body.sphereColor[1],BodyBox1.body.sphereColor[2],BodyBox1.body.sphereColor[3],BodyBox1.body.sphereDiameter,BodyBox1.body.useQuaternions,BodyBox1.body.v_0[1],BodyBox1.body.v_0[2],BodyBox1.body.v_0[3],BodyBox1.body.w_0_fixed,BodyBox1.body.w_0_start[1],BodyBox1.body.w_0_start[2],BodyBox1.body.w_0_start[3],BodyBox1.body.w_a[1],BodyBox1.body.w_a[2],BodyBox1.body.w_a[3],BodyBox1.body.z_0_fixed,BodyBox1.body.z_0_start[1],BodyBox1.body.z_0_start[2],BodyBox1.body.z_0_start[3],BodyBox1.body.z_a[1],BodyBox1.body.z_a[2],BodyBox1.body.z_a[3],BodyBox1.body.z_a_start[1],BodyBox1.body.z_a_start[2],BodyBox1.body.z_a_start[3],BodyBox1.color[1],BodyBox1.color[2],BodyBox1.color[3],BodyBox1.density,BodyBox1.enforceStates,BodyBox1.frameTranslation.animation,BodyBox1.frameTranslation.color[1],BodyBox1.frameTranslation.color[2],BodyBox1.frameTranslation.color[3],BodyBox1.frameTranslation.extra,BodyBox1.frameTranslation.frame_a.R.T[1,1],BodyBox1.frameTranslation.frame_a.R.T[1,2],BodyBox1.frameTranslation.frame_a.R.T[1,3],BodyBox1.frameTranslation.frame_a.R.T[2,1],BodyBox1.frameTranslation.frame_a.R.T[2,2],BodyBox1.frameTranslation.frame_a.R.T[2,3],BodyBox1.frameTranslation.frame_a.R.T[3,1],BodyBox1.frameTranslation.frame_a.R.T[3,2],BodyBox1.frameTranslation.frame_a.R.T[3,3],BodyBox1.frameTranslation.frame_a.R.w[1],BodyBox1.frameTranslation.frame_a.R.w[2],BodyBox1.frameTranslation.frame_a.R.w[3],BodyBox1.frameTranslation.frame_a.f[1],BodyBox1.frameTranslation.frame_a.f[2],BodyBox1.frameTranslation.frame_a.f[3],BodyBox1.frameTranslation.frame_a.r_0[1],BodyBox1.frameTranslation.frame_a.r_0[2],BodyBox1.frameTranslation.frame_a.r_0[3],BodyBox1.frameTranslation.frame_a.t[1],BodyBox1.frameTranslation.frame_a.t[2],BodyBox1.frameTranslation.frame_a.t[3],BodyBox1.frameTranslation.frame_b.R.T[1,1],BodyBox1.frameTranslation.frame_b.R.T[1,2],BodyBox1.frameTranslation.frame_b.R.T[1,3],BodyBox1.frameTranslation.frame_b.R.T[2,1],BodyBox1.frameT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