Running command: "" <> buildModelFMU(Modelica.Mechanics.MultiBody.Examples.Elementary.DoublePendulumInitTip,fileNamePrefix="Modelica_3_2_2_cs_Modelica_Mechanics_MultiBody_Examples_Elementary_DoublePendulumInitTip",fmuType="cs",version="2.0",platforms={"dynamic"})
Notification: Performance of loadModel(Modelica): time 2.61/2.61, allocations: 195 MB / 202.9 MB, free: 6.719 MB / 170.7 MB
Notification: Performance of FrontEnd - loaded program: time 3.419e-05/3.437e-05, allocations: 2.688 kB / 249.8 MB, free: 5.215 MB / 202.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.1108/0.1109, allocations: 44.51 MB / 294.3 MB, free: 10.65 MB / 250.7 MB
Notification: Performance of FrontEnd - scodeFlatten: time 0.5741/0.6851, allocations: 91.29 MB / 385.6 MB, free: 4.48 MB / 298.7 MB
Notification: Performance of FrontEnd - mkProgramGraph: time 0.0003757/0.6855, allocations: 87.11 kB / 385.6 MB, free: 4.469 MB / 298.7 MB
Notification: Performance of FrontEnd - DAE generated: time 0.5587/1.244, allocations: 92.8 MB / 478.4 MB, free: 9.035 MB / 378.7 MB
Notification: Performance of FrontEnd: time 3.096e-06/1.244, allocations: 0 / 478.4 MB, free: 9.035 MB / 378.7 MB
Notification: Performance of Transformations before backend: time 0.0004562/1.245, allocations: 88 kB / 478.5 MB, free: 8.949 MB / 378.7 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 1553
 * Number of variables: 1553
Notification: Performance of Generate backend data structure: time 0.02427/1.269, allocations: 4.488 MB / 483 MB, free: 4.391 MB / 378.7 MB
Notification: Performance of prepare preOptimizeDAE: time 7.128e-05/1.269, allocations: 12.03 kB / 483 MB, free: 4.379 MB / 378.7 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.004269/1.273, allocations: 0.619 MB / 483.6 MB, free: 3.75 MB / 378.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.07013/1.344, allocations: 6.721 MB / 490.4 MB, free: 13.01 MB / 394.7 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.03152/1.375, allocations: 6.153 MB / 496.5 MB, free: 6.797 MB / 394.7 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0004493/1.376, allocations: 192.6 kB / 496.7 MB, free: 6.605 MB / 394.7 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.002724/1.378, allocations: 263.8 kB / 497 MB, free: 6.348 MB / 394.7 MB
Notification: Performance of preOpt removeEqualFunctionCalls (simulation): time 0.02224/1.401, allocations: 6.198 MB / 0.4914 GB, free: 144 kB / 394.7 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.3878/1.789, allocations: 9.429 MB / 0.5006 GB, free: 75.02 MB / 394.7 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.000443/1.789, allocations: 61.8 kB / 0.5006 GB, free: 75.02 MB / 394.7 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.002199/1.791, allocations: 27.34 kB / 0.5007 GB, free: 75.02 MB / 394.7 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.003693/1.795, allocations: 1.012 MB / 0.5017 GB, free: 75.01 MB / 394.7 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.09295/1.888, allocations: 44.09 MB / 0.5447 GB, free: 49.65 MB / 394.7 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.01028/1.898, allocations: 3.187 MB / 0.5478 GB, free: 48.98 MB / 394.7 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.004966/1.903, allocations: 1.975 MB / 0.5498 GB, free: 48.25 MB / 394.7 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.001219/1.905, allocations: 0.6561 MB / 0.5504 GB, free: 47.66 MB / 394.7 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 5.409e-05/1.905, allocations: 47.84 kB / 0.5504 GB, free: 47.61 MB / 394.7 MB
Notification: Performance of pre-optimization done (n=175): time 7.615e-06/1.905, allocations: 0 / 0.5504 GB, free: 47.61 MB / 394.7 MB
Notification: Performance of matching and sorting (n=210): time 0.09443/1.999, allocations: 18.36 MB / 0.5684 GB, free: 40.66 MB / 394.7 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.0001113/1.999, allocations: 255.8 kB / 0.5686 GB, free: 40.37 MB / 394.7 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.01011/2.01, allocations: 3.248 MB / 0.5718 GB, free: 39.21 MB / 394.7 MB
Notification: Performance of collectPreVariables (initialization): time 0.0006605/2.01, allocations: 28.52 kB / 0.5718 GB, free: 39.18 MB / 394.7 MB
Notification: Performance of collectInitialEqns (initialization): time 0.003773/2.014, allocations: 3.3 MB / 0.575 GB, free: 36.76 MB / 394.7 MB
Notification: Performance of collectInitialBindings (initialization): time 0.001561/2.016, allocations: 0.7704 MB / 0.5758 GB, free: 36.19 MB / 394.7 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0009578/2.017, allocations: 0 / 0.5758 GB, free: 36.19 MB / 394.7 MB
Notification: Performance of setup shared object (initialization): time 0.0005917/2.017, allocations: 0.5688 MB / 0.5763 GB, free: 35.77 MB / 394.7 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.007022/2.024, allocations: 2.136 MB / 0.5784 GB, free: 35 MB / 394.7 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.009809/2.034, allocations: 5.789 MB / 0.5841 GB, free: 29.29 MB / 394.7 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01035/2.045, allocations: 3.485 MB / 0.5875 GB, free: 28.12 MB / 394.7 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001764/2.045, allocations: 39.66 kB / 0.5875 GB, free: 28.12 MB / 394.7 MB
Notification: Performance of matching and sorting (n=809) (initialization): time 0.03718/2.082, allocations: 8.768 MB / 0.5961 GB, free: 24.66 MB / 394.7 MB
Notification: Performance of prepare postOptimizeDAE: time 0.0001577/2.082, allocations: 60 kB / 0.5961 GB, free: 24.61 MB / 394.7 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.000246/2.083, allocations: 132 kB / 0.5963 GB, free: 24.48 MB / 394.7 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.01433/2.097, allocations: 1.955 MB / 0.5982 GB, free: 23.03 MB / 394.7 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.0112/2.108, allocations: 1.344 MB / 0.5995 GB, free: 21.85 MB / 394.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.04017/2.148, allocations: 14.14 MB / 0.6133 GB, free: 9.184 MB / 394.7 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.008886/2.157, allocations: 229.3 kB / 0.6135 GB, free: 9 MB / 394.7 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001883/2.159, allocations: 374.2 kB / 0.6139 GB, free: 8.645 MB / 394.7 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 593
 * Number of states: 0 ()
 * Number of discrete variables: 30 (freeMotionScalarInit.arrowColor[3],freeMotionScalarInit.arrowColor[2],freeMotionScalarInit.arrowColor[1],boxBody2.color[3],boxBody2.color[2],boxBody2.color[1],boxBody2.body.sphereColor[3],boxBody2.body.sphereColor[2],boxBody2.body.sphereColor[1],revolute2.cylinderColor[3],revolute2.cylinderColor[2],revolute2.cylinderColor[1],boxBody1.color[3],boxBody1.color[2],boxBody1.color[1],boxBody1.body.sphereColor[3],boxBody1.body.sphereColor[2],boxBody1.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 (721):
 * Single equations (assignments): 715
 * 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: 3
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 2 {(5,80.0%) 33,(3,100.0%) 11}
 * Non-linear torn systems: 1 {2 13}
Notification: Performance of prepare postOptimizeDAE: time 0.002534/2.162, allocations: 435.3 kB / 0.6143 GB, free: 8.215 MB / 394.7 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001317/2.163, allocations: 355.4 kB / 0.6146 GB, free: 7.863 MB / 394.7 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.01707/2.18, allocations: 3.994 MB / 0.6185 GB, free: 4.691 MB / 394.7 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 8.178e-05/2.18, allocations: 21.56 kB / 0.6185 GB, free: 4.672 MB / 394.7 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 2.342e-05/2.18, allocations: 8 kB / 0.6185 GB, free: 4.664 MB / 394.7 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 6.924e-05/2.181, allocations: 14.55 kB / 0.6186 GB, free: 4.66 MB / 394.7 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.04165/2.222, allocations: 9.242 MB / 0.6276 GB, free: 14.05 MB / 410.7 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 4.47e-05/2.222, allocations: 4 kB / 0.6276 GB, free: 14.05 MB / 410.7 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.003843/2.226, allocations: 306.6 kB / 0.6279 GB, free: 13.8 MB / 410.7 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.008418/2.235, allocations: 1.201 MB / 0.6291 GB, free: 12.96 MB / 410.7 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0005771/2.235, allocations: 8 kB / 0.6291 GB, free: 12.95 MB / 410.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.02203/2.257, allocations: 7.037 MB / 0.6359 GB, free: 6.812 MB / 410.7 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 8.326e-06/2.257, allocations: 0 / 0.6359 GB, free: 6.812 MB / 410.7 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.02527/2.283, allocations: 6.982 MB / 0.6428 GB, free: 0.5703 MB / 410.7 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.4041/2.687, allocations: 0.6906 MB / 0.6434 GB, free: 84.24 MB / 410.7 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.001428/2.688, allocations: 3.719 kB / 0.6434 GB, free: 84.24 MB / 410.7 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.004378/2.693, allocations: 93.92 kB / 0.6435 GB, free: 84.24 MB / 410.7 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.001046/2.694, allocations: 119.1 kB / 0.6436 GB, free: 84.24 MB / 410.7 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0005287/2.694, allocations: 52.09 kB / 0.6437 GB, free: 84.24 MB / 410.7 MB
Notification: Performance of sorting global known variables: time 0.008017/2.702, allocations: 2.195 MB / 0.6458 GB, free: 84.1 MB / 410.7 MB
Notification: Performance of sort global known variables: time 1.363e-06/2.703, allocations: 0 / 0.6458 GB, free: 84.1 MB / 410.7 MB
Notification: Performance of remove unused functions: time 0.01025/2.713, allocations: 0.9868 MB / 0.6468 GB, free: 84.1 MB / 410.7 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 6
 * Number of states: 4 (revolute1.phi,revolute1.w,revolute2.phi,revolute2.w)
 * Number of discrete variables: 0 ()
 * Number of discrete states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (157):
 * Single equations (assignments): 153
 * 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 {(4,87.5%) 31}
 * Non-linear torn systems: 0
Notification: Performance of Backend phase and start with SimCode phase: time 0.02738/2.74, allocations: 7.888 MB / 0.6545 GB, free: 82.72 MB / 410.7 MB
Notification: Performance of simCode: created initialization part: time 0.0187/2.759, allocations: 5.759 MB / 0.6601 GB, free: 82.35 MB / 410.7 MB
Notification: Performance of simCode: created event and clocks part: time 1.021e-05/2.759, allocations: 0 / 0.6601 GB, free: 82.35 MB / 410.7 MB
Notification: Performance of simCode: created simulation system equations: time 0.007474/2.767, allocations: 2.02 MB / 0.6621 GB, free: 82.21 MB / 410.7 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.005842/2.772, allocations: 459.5 kB / 0.6625 GB, free: 82.19 MB / 410.7 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.04273/2.815, allocations: 9.801 MB / 0.6721 GB, free: 80.48 MB / 410.7 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.01011/2.825, allocations: 3.617 MB / 0.6756 GB, free: 79.68 MB / 410.7 MB
Notification: Performance of simCode: alias equations: time 0.01171/2.837, allocations: 1.967 MB / 0.6776 GB, free: 79.64 MB / 410.7 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.006173/2.843, allocations: 2.067 MB / 0.6796 GB, free: 79.63 MB / 410.7 MB
Notification: Performance of SimCode: time 2.224e-06/2.843, allocations: 0 / 0.6796 GB, free: 79.63 MB / 410.7 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.3004/3.144, allocations: 86.79 MB / 0.7643 GB, free: 24.16 MB / 410.7 MB
Notification: Performance of buildModelFMU: configured platform dynamic using cached values: time 0.0002723/3.144, allocations: 170.7 kB / 0.7645 GB, free: 23.96 MB / 410.7 MB
Notification: Performance of buildModelFMU: Generate platform dynamic: time 7.897/11.04, allocations: 4 kB / 0.7645 GB, free: 23.96 MB / 410.7 MB
""

Variables in the reference:time,revolute1.phi,revolute1.w,revolute2.phi,revolute2.w

Variables in the result:_D_cse5,_D_cse6,_D_cse7,_D_cse8,_D_cse9,boxBody1.I[1,1],boxBody1.I[1,2],boxBody1.I[1,3],boxBody1.I[2,1],boxBody1.I[2,2],boxBody1.I[2,3],boxBody1.I[3,1],boxBody1.I[3,2],boxBody1.I[3,3],boxBody1.R.T[1,1],boxBody1.R.T[1,2],boxBody1.R.T[1,3],boxBody1.R.T[2,1],boxBody1.R.T[2,2],boxBody1.R.T[2,3],boxBody1.R.T[3,1],boxBody1.R.T[3,2],boxBody1.R.T[3,3],boxBody1.R.w[1],boxBody1.R.w[2],boxBody1.R.w[3],boxBody1.a_0[1],boxBody1.a_0[2],boxBody1.a_0[3],boxBody1.angles_fixed,boxBody1.angles_start[1],boxBody1.angles_start[2],boxBody1.angles_start[3],boxBody1.animation,boxBody1.body.I[1,1],boxBody1.body.I[1,2],boxBody1.body.I[1,3],boxBody1.body.I[2,1],boxBody1.body.I[2,2],boxBody1.body.I[2,3],boxBody1.body.I[3,1],boxBody1.body.I[3,2],boxBody1.body.I[3,3],boxBody1.body.I_11,boxBody1.body.I_21,boxBody1.body.I_22,boxBody1.body.I_31,boxBody1.body.I_32,boxBody1.body.I_33,boxBody1.body.Q[1],boxBody1.body.Q[2],boxBody1.body.Q[3],boxBody1.body.Q[4],boxBody1.body.Q_start[1],boxBody1.body.Q_start[2],boxBody1.body.Q_start[3],boxBody1.body.Q_start[4],boxBody1.body.R_start.T[1,1],boxBody1.body.R_start.T[1,2],boxBody1.body.R_start.T[1,3],boxBody1.body.R_start.T[2,1],boxBody1.body.R_start.T[2,2],boxBody1.body.R_start.T[2,3],boxBody1.body.R_start.T[3,1],boxBody1.body.R_start.T[3,2],boxBody1.body.R_start.T[3,3],boxBody1.body.R_start.w[1],boxBody1.body.R_start.w[2],boxBody1.body.R_start.w[3],boxBody1.body.a_0[1],boxBody1.body.a_0[2],boxBody1.body.a_0[3],boxBody1.body.angles_fixed,boxBody1.body.angles_start[1],boxBody1.body.angles_start[2],boxBody1.body.angles_start[3],boxBody1.body.animation,boxBody1.body.cylinderColor[1],boxBody1.body.cylinderColor[2],boxBody1.body.cylinderColor[3],boxBody1.body.cylinderDiameter,boxBody1.body.enforceStates,boxBody1.body.frame_a.R.T[1,1],boxBody1.body.frame_a.R.T[1,2],boxBody1.body.frame_a.R.T[1,3],boxBody1.body.frame_a.R.T[2,1],boxBody1.body.frame_a.R.T[2,2],boxBody1.body.frame_a.R.T[2,3],boxBody1.body.frame_a.R.T[3,1],boxBody1.body.frame_a.R.T[3,2],boxBody1.body.frame_a.R.T[3,3],boxBody1.body.frame_a.R.w[1],boxBody1.body.frame_a.R.w[2],boxBody1.body.frame_a.R.w[3],boxBody1.body.frame_a.f[1],boxBody1.body.frame_a.f[2],boxBody1.body.frame_a.f[3],boxBody1.body.frame_a.r_0[1],boxBody1.body.frame_a.r_0[2],boxBody1.body.frame_a.r_0[3],boxBody1.body.frame_a.t[1],boxBody1.body.frame_a.t[2],boxBody1.body.frame_a.t[3],boxBody1.body.g_0[1],boxBody1.body.g_0[2],boxBody1.body.g_0[3],boxBody1.body.m,boxBody1.body.phi[1],boxBody1.body.phi[2],boxBody1.body.phi[3],boxBody1.body.phi_d[1],boxBody1.body.phi_d[2],boxBody1.body.phi_d[3],boxBody1.body.phi_dd[1],boxBody1.body.phi_dd[2],boxBody1.body.phi_dd[3],boxBody1.body.phi_start[1],boxBody1.body.phi_start[2],boxBody1.body.phi_start[3],boxBody1.body.r_0[1],boxBody1.body.r_0[2],boxBody1.body.r_0[3],boxBody1.body.r_CM[1],boxBody1.body.r_CM[2],boxBody1.body.r_CM[3],boxBody1.body.sequence_angleStates[1],boxBody1.body.sequence_angleStates[2],boxBody1.body.sequence_angleStates[3],boxBody1.body.sequence_start[1],boxBody1.body.sequence_start[2],boxBody1.body.sequence_start[3],boxBody1.body.specularCoefficient,boxBody1.body.sphereColor[1],boxBody1.body.sphereColor[2],boxBody1.body.sphereColor[3],boxBody1.body.sphereDiameter,boxBody1.body.useQuaternions,boxBody1.body.v_0[1],boxBody1.body.v_0[2],boxBody1.body.v_0[3],boxBody1.body.w_0_fixed,boxBody1.body.w_0_start[1],boxBody1.body.w_0_start[2],boxBody1.body.w_0_start[3],boxBody1.body.w_a[1],boxBody1.body.w_a[2],boxBody1.body.w_a[3],boxBody1.body.z_0_fixed,boxBody1.body.z_0_start[1],boxBody1.body.z_0_start[2],boxBody1.body.z_0_start[3],boxBody1.body.z_a[1],boxBody1.body.z_a[2],boxBody1.body.z_a[3],boxBody1.body.z_a_start[1],boxBody1.body.z_a_start[2],boxBody1.body.z_a_start[3],boxBody1.color[1],boxBody1.color[2],boxBody1.color[3],boxBody1.density,boxBody1.enforceStates,boxBody1.frameTranslation.animation,boxBody1.frameTranslation.color[1],boxBody1.frameTranslation.color[2],boxBody1.frameTranslation.color[3],boxBody1.frameTranslation.extra,boxBody1.frameTranslation.frame_a.R.T[1,1],boxBody1.frameTranslation.frame_a.R.T[1,2],boxBody1.frameTranslation.frame_a.R.T[1,3],boxBody1.frameTranslation.frame_a.R.T[2,1],boxBody1.frameTranslation.frame_a.R.T[2,2],boxBody1.frameTranslation.frame_a.R.T[2,3],boxBody1.frameTranslation.frame_a.R.T[3,1],boxBody1.frameTranslation.frame_a.R.T[3,2],boxBody1.frameTranslation.frame_a.R.T[3,3],boxBody1.frameTranslation.frame_a.R.w[1],boxBody1.frameTranslation.frame_a.R.w[2],boxBody1.frameTranslation.frame_a.R.w[3],boxBody1.frameTranslation.frame_a.f[1],boxBody1.frameTranslation.frame_a.f[2],boxBody1.frameTranslation.frame_a.f[3],boxBody1.frameTranslation.frame_a.r_0[1],boxBody1.frameTranslation.frame_a.r_0[2],boxBody1.frameTranslation.frame_a.r_0[3],boxBody1.frameTranslation.frame_a.t[1],boxBody1.frameTranslation.frame_a.t[2],boxBody1.frameTranslation.frame_a.t[3],boxBody1.frameTranslation.frame_b.R.T[1,1],boxBody1.frameTranslation.frame_b.R.T[1,2],boxBody1.frameTranslation.frame_b.R.T[1,3],boxBody1.frameTran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