Running command: "" <> buildModelFMU(Modelica.Mechanics.MultiBody.Examples.Elementary.PointGravity,fileNamePrefix="Modelica_3_2_2_cs_Modelica_Mechanics_MultiBody_Examples_Elementary_PointGravity",fmuType="cs",version="2.0",platforms={"dynamic"})
Notification: Performance of loadModel(Modelica): time 3.211/3.211, allocations: 195 MB / 202.9 MB, free: 6.727 MB / 170.7 MB
Notification: Performance of FrontEnd - loaded program: time 3.197e-05/3.208e-05, allocations: 4.312 kB / 249.8 MB, free: 5.234 MB / 202.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.121/0.1211, allocations: 44.52 MB / 294.3 MB, free: 10.65 MB / 250.7 MB
Notification: Performance of FrontEnd - scodeFlatten: time 0.6891/0.8103, allocations: 80.65 MB / 374.9 MB, free: 7 MB / 298.7 MB
Notification: Performance of FrontEnd - mkProgramGraph: time 0.0003713/0.8107, allocations: 82.78 kB / 375 MB, free: 7 MB / 298.7 MB
Notification: Performance of FrontEnd - DAE generated: time 0.3528/1.163, allocations: 58.59 MB / 433.6 MB, free: 3.852 MB / 330.7 MB
Notification: Performance of FrontEnd: time 3.667e-06/1.164, allocations: 3.938 kB / 433.6 MB, free: 3.848 MB / 330.7 MB
Notification: Performance of Transformations before backend: time 0.0002169/1.164, allocations: 47.52 kB / 433.6 MB, free: 3.805 MB / 330.7 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 908
 * Number of variables: 908
Notification: Performance of Generate backend data structure: time 0.03849/1.202, allocations: 3.44 MB / 437.1 MB, free: 340 kB / 330.7 MB
Notification: Performance of prepare preOptimizeDAE: time 6.805e-05/1.202, allocations: 8.031 kB / 437.1 MB, free: 332 kB / 330.7 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.002907/1.205, allocations: 397.2 kB / 437.5 MB, free: 15.93 MB / 346.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.03033/1.236, allocations: 2.352 MB / 439.8 MB, free: 13.57 MB / 346.7 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.02826/1.264, allocations: 4.838 MB / 444.7 MB, free: 8.719 MB / 346.7 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0003176/1.264, allocations: 92.47 kB / 444.8 MB, free: 8.625 MB / 346.7 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.002115/1.267, allocations: 139.9 kB / 444.9 MB, free: 8.488 MB / 346.7 MB
Notification: Performance of preOpt removeEqualFunctionCalls (simulation): time 0.01906/1.286, allocations: 5.532 MB / 450.4 MB, free: 2.957 MB / 346.7 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.02522/1.311, allocations: 7.809 MB / 458.2 MB, free: 10.32 MB / 362.7 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0002347/1.311, allocations: 47.56 kB / 458.3 MB, free: 10.27 MB / 362.7 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.001325/1.313, allocations: 31.95 kB / 458.3 MB, free: 10.24 MB / 362.7 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 0.002666/1.315, allocations: 0.726 MB / 459 MB, free: 9.516 MB / 362.7 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.08027/1.396, allocations: 36.56 MB / 495.6 MB, free: 3.969 MB / 394.7 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.009648/1.405, allocations: 3.159 MB / 498.8 MB, free: 0.6523 MB / 394.7 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.006935/1.412, allocations: 2.167 MB / 0.4892 GB, free: 14.47 MB / 410.7 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.0002116/1.413, allocations: 19.44 kB / 0.4892 GB, free: 14.45 MB / 410.7 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 6.185e-05/1.413, allocations: 43.62 kB / 0.4892 GB, free: 14.4 MB / 410.7 MB
Notification: Performance of pre-optimization done (n=122): time 7.454e-06/1.413, allocations: 0 / 0.4892 GB, free: 14.4 MB / 410.7 MB
Notification: Performance of matching and sorting (n=136): time 0.08399/1.497, allocations: 13.55 MB / 0.5025 GB, free: 0.6719 MB / 410.7 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.0001824/1.497, allocations: 170.7 kB / 0.5026 GB, free: 480 kB / 410.7 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.3566/1.854, allocations: 2.288 MB / 0.5049 GB, free: 118.8 MB / 410.7 MB
Notification: Performance of collectPreVariables (initialization): time 0.0006897/1.854, allocations: 25.7 kB / 0.5049 GB, free: 118.8 MB / 410.7 MB
Notification: Performance of collectInitialEqns (initialization): time 0.00262/1.857, allocations: 2.119 MB / 0.507 GB, free: 118 MB / 410.7 MB
Notification: Performance of collectInitialBindings (initialization): time 0.00149/1.858, allocations: 0.5502 MB / 0.5075 GB, free: 117.8 MB / 410.7 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0008216/1.859, allocations: 1.031 kB / 0.5075 GB, free: 117.8 MB / 410.7 MB
Notification: Performance of setup shared object (initialization): time 0.0005289/1.86, allocations: 0.5138 MB / 0.508 GB, free: 117.4 MB / 410.7 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.007628/1.867, allocations: 2.237 MB / 0.5102 GB, free: 117.4 MB / 410.7 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.01028/1.878, allocations: 5.215 MB / 0.5153 GB, free: 113.6 MB / 410.7 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.01037/1.888, allocations: 3.322 MB / 0.5185 GB, free: 113.6 MB / 410.7 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 0.0001887/1.889, allocations: 29.5 kB / 0.5186 GB, free: 113.6 MB / 410.7 MB
Notification: Performance of matching and sorting (n=648) (initialization): time 0.0428/1.931, allocations: 8.72 MB / 0.5271 GB, free: 113 MB / 410.7 MB
Notification: Performance of prepare postOptimizeDAE: time 0.0001324/1.932, allocations: 56.88 kB / 0.5271 GB, free: 113 MB / 410.7 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 0.02684/1.958, allocations: 4.601 MB / 0.5316 GB, free: 112.9 MB / 410.7 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.02248/1.981, allocations: 2.32 MB / 0.5339 GB, free: 112.9 MB / 410.7 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.01052/1.992, allocations: 1.204 MB / 0.5351 GB, free: 112.8 MB / 410.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.01495/2.007, allocations: 7.826 MB / 0.5427 GB, free: 107.3 MB / 410.7 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.0114/2.018, allocations: 486 kB / 0.5432 GB, free: 107.3 MB / 410.7 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.001773/2.02, allocations: 320.6 kB / 0.5435 GB, free: 107.3 MB / 410.7 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 487
 * Number of states: 0 ()
 * Number of discrete variables: 15 (body2.sphereColor[3],body2.sphereColor[2],body2.sphereColor[1],body1.sphereColor[3],body1.sphereColor[2],body1.sphereColor[1],world.gravitySphereColor[3],world.gravitySphereColor[2],world.gravitySphereColor[1],world.axisColor_x[3],world.axisColor_x[2],world.axisColor_x[1],world.gravityArrowColor[3],world.gravityArrowColor[2],world.gravityArrowColor[1])
 * Number of discrete states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (596):
 * Single equations (assignments): 581
 * Array equations: 7
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 6
 * Torn equation systems: 2
 * Mixed (continuous/discrete) equation systems: 0
Notification: Equation system details:
 * Constant Jacobian: 0
 * Linear Jacobian (size,density): 4 {(3,100.0%),(4,100.0%),(3,100.0%),(4,100.0%)}
 * Non-linear Jacobian: 2 {4,4}
 * Without analytic Jacobian: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 2 {(2,100.0%) 1,(2,100.0%) 1}
 * Non-linear torn systems: 0
Notification: Performance of prepare postOptimizeDAE: time 0.00161/2.021, allocations: 373.1 kB / 0.5438 GB, free: 107 MB / 410.7 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.001088/2.023, allocations: 237.4 kB / 0.5441 GB, free: 106.9 MB / 410.7 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.00156/2.024, allocations: 379.6 kB / 0.5444 GB, free: 106.7 MB / 410.7 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 0.02833/2.052, allocations: 4.516 MB / 0.5488 GB, free: 105.6 MB / 410.7 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 4.215e-05/2.053, allocations: 6.875 kB / 0.5488 GB, free: 105.6 MB / 410.7 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 5.761e-05/2.053, allocations: 6.75 kB / 0.5488 GB, free: 105.6 MB / 410.7 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.01996/2.073, allocations: 5.01 MB / 0.5537 GB, free: 103.7 MB / 410.7 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 2.397e-05/2.073, allocations: 3.938 kB / 0.5537 GB, free: 103.7 MB / 410.7 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.004697/2.077, allocations: 282.4 kB / 0.554 GB, free: 103.7 MB / 410.7 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.02372/2.101, allocations: 2.336 MB / 0.5563 GB, free: 103.4 MB / 410.7 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0008322/2.102, allocations: 42.05 kB / 0.5563 GB, free: 103.4 MB / 410.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.01938/2.121, allocations: 8.605 MB / 0.5647 GB, free: 97.6 MB / 410.7 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 0.002896/2.124, allocations: 2.779 MB / 0.5674 GB, free: 94.87 MB / 410.7 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.03807/2.163, allocations: 7.977 MB / 0.5752 GB, free: 88.52 MB / 410.7 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.001142/2.164, allocations: 315.5 kB / 0.5755 GB, free: 88.2 MB / 410.7 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.00141/2.165, allocations: 15.84 kB / 0.5756 GB, free: 88.19 MB / 410.7 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.006075/2.171, allocations: 251.4 kB / 0.5758 GB, free: 88.06 MB / 410.7 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.001067/2.172, allocations: 102.6 kB / 0.5759 GB, free: 88 MB / 410.7 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0003957/2.173, allocations: 47.53 kB / 0.5759 GB, free: 87.97 MB / 410.7 MB
Notification: Performance of sorting global known variables: time 0.004402/2.177, allocations: 1.519 MB / 0.5774 GB, free: 86.64 MB / 410.7 MB
Notification: Performance of sort global known variables: time 1.462e-06/2.177, allocations: 0 / 0.5774 GB, free: 86.64 MB / 410.7 MB
Notification: Performance of remove unused functions: time 0.008751/2.186, allocations: 0.8668 MB / 0.5783 GB, free: 85.77 MB / 410.7 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 5
 * Number of states: 24 ($STATESET9505079689.x[3],$STATESET9505079689.x[2],$STATESET9505079689.x[1],body2.frame_a.r_0[1],body2.frame_a.r_0[2],body2.frame_a.r_0[3],body2.v_0[1],body2.v_0[2],body2.v_0[3],body2.w_a[1],body2.w_a[2],body2.w_a[3],$STATESET9505079688.x[3],$STATESET9505079688.x[2],$STATESET9505079688.x[1],body1.frame_a.r_0[1],body1.frame_a.r_0[2],body1.frame_a.r_0[3],body1.v_0[1],body1.v_0[2],body1.v_0[3],body1.w_a[1],body1.w_a[2],body1.w_a[3])
 * Number of discrete variables: 0 ()
 * Number of discrete states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (92):
 * Single equations (assignments): 81
 * Array equations: 3
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 6
 * Torn equation systems: 2
 * Mixed (continuous/discrete) equation systems: 0
Notification: Equation system details:
 * Constant Jacobian: 0
 * Linear Jacobian (size,density): 4 {(3,100.0%),(4,100.0%),(3,100.0%),(4,100.0%)}
 * Non-linear Jacobian: 2 {4,4}
 * Without analytic Jacobian: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 2 {(2,100.0%) 1,(2,100.0%) 1}
 * Non-linear torn systems: 0
Notification: Performance of Backend phase and start with SimCode phase: time 0.03808/2.224, allocations: 8.871 MB / 0.5869 GB, free: 78.41 MB / 410.7 MB
Notification: Performance of simCode: created initialization part: time 0.02263/2.247, allocations: 6.47 MB / 0.5932 GB, free: 71.92 MB / 410.7 MB
Notification: Performance of simCode: created event and clocks part: time 1.013e-05/2.247, allocations: 0 / 0.5932 GB, free: 71.92 MB / 410.7 MB
Notification: Performance of simCode: created simulation system equations: time 0.01425/2.261, allocations: 3.339 MB / 0.5965 GB, free: 68.46 MB / 410.7 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.003593/2.265, allocations: 228.3 kB / 0.5967 GB, free: 68.23 MB / 410.7 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.03976/2.305, allocations: 8.148 MB / 0.6047 GB, free: 60.12 MB / 410.7 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.004561/2.309, allocations: 2.348 MB / 0.607 GB, free: 57.76 MB / 410.7 MB
Notification: Performance of simCode: alias equations: time 0.01052/2.32, allocations: 1.658 MB / 0.6086 GB, free: 56.1 MB / 410.7 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.004494/2.324, allocations: 1.151 MB / 0.6097 GB, free: 54.95 MB / 410.7 MB
Notification: Performance of SimCode: time 2.304e-06/2.325, allocations: 0 / 0.6097 GB, free: 54.95 MB / 410.7 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.7492/3.074, allocations: 63.41 MB / 0.6716 GB, free: 105.2 MB / 410.7 MB
Notification: Performance of buildModelFMU: configured platform dynamic using cached values: time 0.0003606/3.074, allocations: 152.5 kB / 0.6718 GB, free: 105 MB / 410.7 MB
Notification: Performance of buildModelFMU: Generate platform dynamic: time 6.06/9.134, allocations: 0 / 0.6718 GB, free: 105 MB / 410.7 MB
""

Variables in the reference:time,body1.frame_a.r_0[1],body1.frame_a.r_0[2],body1.frame_a.r_0[3],body1.v_0[1],body1.v_0[2],body1.v_0[3],body1.w_a[1],body1.w_a[2],body1.w_a[3],body2.frame_a.r_0[1],body2.frame_a.r_0[2],body2.frame_a.r_0[3],body2.v_0[1],body2.v_0[2],body2.v_0[3],body2.w_a[1],body2.w_a[2],body2.w_a[3]

Variables in the result:_D_STATESET9505079688.A[1,1],_D_STATESET9505079688.A[1,2],_D_STATESET9505079688.A[1,3],_D_STATESET9505079688.A[1,4],_D_STATESET9505079688.A[2,1],_D_STATESET9505079688.A[2,2],_D_STATESET9505079688.A[2,3],_D_STATESET9505079688.A[2,4],_D_STATESET9505079688.A[3,1],_D_STATESET9505079688.A[3,2],_D_STATESET9505079688.A[3,3],_D_STATESET9505079688.A[3,4],_D_STATESET9505079688.x[1],_D_STATESET9505079688.x[2],_D_STATESET9505079688.x[3],_D_STATESET9505079689.A[1,1],_D_STATESET9505079689.A[1,2],_D_STATESET9505079689.A[1,3],_D_STATESET9505079689.A[1,4],_D_STATESET9505079689.A[2,1],_D_STATESET9505079689.A[2,2],_D_STATESET9505079689.A[2,3],_D_STATESET9505079689.A[2,4],_D_STATESET9505079689.A[3,1],_D_STATESET9505079689.A[3,2],_D_STATESET9505079689.A[3,3],_D_STATESET9505079689.A[3,4],_D_STATESET9505079689.x[1],_D_STATESET9505079689.x[2],_D_STATESET9505079689.x[3],body1.I[1,1],body1.I[1,2],body1.I[1,3],body1.I[2,1],body1.I[2,2],body1.I[2,3],body1.I[3,1],body1.I[3,2],body1.I[3,3],body1.I_11,body1.I_21,body1.I_22,body1.I_31,body1.I_32,body1.I_33,body1.Q[1],body1.Q[2],body1.Q[3],body1.Q[4],body1.Q_start[1],body1.Q_start[2],body1.Q_start[3],body1.Q_start[4],body1.R_start.T[1,1],body1.R_start.T[1,2],body1.R_start.T[1,3],body1.R_start.T[2,1],body1.R_start.T[2,2],body1.R_start.T[2,3],body1.R_start.T[3,1],body1.R_start.T[3,2],body1.R_start.T[3,3],body1.R_start.w[1],body1.R_start.w[2],body1.R_start.w[3],body1.a_0[1],body1.a_0[2],body1.a_0[3],body1.angles_fixed,body1.angles_start[1],body1.angles_start[2],body1.angles_start[3],body1.animation,body1.cylinder.R.T[1,1],body1.cylinder.R.T[1,2],body1.cylinder.R.T[1,3],body1.cylinder.R.T[2,1],body1.cylinder.R.T[2,2],body1.cylinder.R.T[2,3],body1.cylinder.R.T[3,1],body1.cylinder.R.T[3,2],body1.cylinder.R.T[3,3],body1.cylinder.R.w[1],body1.cylinder.R.w[2],body1.cylinder.R.w[3],body1.cylinder.color[1],body1.cylinder.color[2],body1.cylinder.color[3],body1.cylinder.extra,body1.cylinder.height,body1.cylinder.length,body1.cylinder.lengthDirection[1],body1.cylinder.lengthDirection[2],body1.cylinder.lengthDirection[3],body1.cylinder.r[1],body1.cylinder.r[2],body1.cylinder.r[3],body1.cylinder.r_shape[1],body1.cylinder.r_shape[2],body1.cylinder.r_shape[3],body1.cylinder.specularCoefficient,body1.cylinder.width,body1.cylinder.widthDirection[1],body1.cylinder.widthDirection[2],body1.cylinder.widthDirection[3],body1.cylinderColor[1],body1.cylinderColor[2],body1.cylinderColor[3],body1.cylinderDiameter,body1.enforceStates,body1.frame_a.R.T[1,1],body1.frame_a.R.T[1,2],body1.frame_a.R.T[1,3],body1.frame_a.R.T[2,1],body1.frame_a.R.T[2,2],body1.frame_a.R.T[2,3],body1.frame_a.R.T[3,1],body1.frame_a.R.T[3,2],body1.frame_a.R.T[3,3],body1.frame_a.R.w[1],body1.frame_a.R.w[2],body1.frame_a.R.w[3],body1.frame_a.f[1],body1.frame_a.f[2],body1.frame_a.f[3],body1.frame_a.r_0[1],body1.frame_a.r_0[2],body1.frame_a.r_0[3],body1.frame_a.t[1],body1.frame_a.t[2],body1.frame_a.t[3],body1.g_0[1],body1.g_0[2],body1.g_0[3],body1.m,body1.phi[1],body1.phi[2],body1.phi[3],body1.phi_d[1],body1.phi_d[2],body1.phi_d[3],body1.phi_dd[1],body1.phi_dd[2],body1.phi_dd[3],body1.phi_start[1],body1.phi_start[2],body1.phi_start[3],body1.r_0[1],body1.r_0[2],body1.r_0[3],body1.r_CM[1],body1.r_CM[2],body1.r_CM[3],body1.sequence_angleStates[1],body1.sequence_angleStates[2],body1.sequence_angleStates[3],body1.sequence_start[1],body1.sequence_start[2],body1.sequence_start[3],body1.specularCoefficient,body1.sphere.R.T[1,1],body1.sphere.R.T[1,2],body1.sphere.R.T[1,3],body1.sphere.R.T[2,1],body1.sphere.R.T[2,2],body1.sphere.R.T[2,3],body1.sphere.R.T[3,1],body1.sphere.R.T[3,2],body1.sphere.R.T[3,3],body1.sphere.R.w[1],body1.sphere.R.w[2],body1.sphere.R.w[3],body1.sphere.color[1],body1.sphere.color[2],body1.sphere.color[3],body1.sphere.extra,body1.sphere.height,body1.sphere.length,body1.sphere.lengthDirection[1],body1.sphere.lengthDirection[2],body1.sphere.lengthDirection[3],body1.sphere.r[1],body1.sphere.r[2],body1.sphere.r[3],body1.sphere.r_shape[1],body1.sphere.r_shape[2],body1.sphere.r_shape[3],body1.sphere.specularCoefficient,body1.sphere.width,body1.sphere.widthDirection[1],body1.sphere.widthDirection[2],body1.sphere.widthDirection[3],body1.sphereColor[1],body1.sphereColor[2],body1.sphereColor[3],body1.sphereDiameter,body1.useQuaternions,body1.v_0[1],body1.v_0[2],body1.v_0[3],body1.w_0_fixed,body1.w_0_start[1],body1.w_0_start[2],body1.w_0_start[3],body1.w_a[1],body1.w_a[2],body1.w_a[3],body1.z_0_fixed,body1.z_0_start[1],body1.z_0_start[2],body1.z_0_start[3],body1.z_a[1],body1.z_a[2],body1.z_a[3],body1.z_a_start[1],body1.z_a_start[2],body1.z_a_start[3],body2.I[1,1],body2.I[1,2],body2.I[1,3],body2.I[2,1],body2.I[2,2],body2.I[2,3],body2.I[3,1],body2.I[3,2],body2.I[3,3],body2.I_11,body2.I_21,body2.I_22,body2.I_31,body2.I_32,body2.I_33,body2.Q[1],body2.Q[2],body2.Q[3],body2.Q[4],body2.Q_start[1],body2.Q_start[2],body2.Q_start[3],body2.Q_start[4],body2.R_start.T[1,1],body2.R_start.T[1,2],body2.R_start.T[1,3],body2.R_start.T[2,1],body2.R_start.T[2,2],b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