java.lang.RuntimeException: Duplicate reference frame names detected: utorsoCopyFrame
	at us.ihmc.euclid.referenceFrame.ReferenceFrame.checkUniqueFrameNames(ReferenceFrame.java:488)
	at us.ihmc.euclid.referenceFrame.ReferenceFrame.checkUniqueFrameNameInSubtree(ReferenceFrame.java:468)
	at us.ihmc.euclid.referenceFrame.ReferenceFrame.checkUniqueFrameNameInSubtree(ReferenceFrame.java:474)
	at us.ihmc.euclid.referenceFrame.ReferenceFrame.checkUniqueFrameNameInSubtree(ReferenceFrame.java:474)
	at us.ihmc.euclid.referenceFrame.ReferenceFrame.checkUniqueFrameNameInSubtree(ReferenceFrame.java:474)
	at us.ihmc.euclid.referenceFrame.ReferenceFrame.checkUniqueFrameNameInSubtree(ReferenceFrame.java:474)
	at us.ihmc.euclid.referenceFrame.ReferenceFrame.checkUniqueFrameNameInSubtree(ReferenceFrame.java:474)
	at us.ihmc.euclid.referenceFrame.ReferenceFrame.checkUniqueFrameNameInSubtree(ReferenceFrame.java:474)
	at us.ihmc.euclid.referenceFrame.ReferenceFrame.checkUniqueFrameNameInSubtree(ReferenceFrame.java:474)
	at us.ihmc.euclid.referenceFrame.ReferenceFrame.checkUniqueFrameNameInSubtree(ReferenceFrame.java:474)
	at us.ihmc.euclid.referenceFrame.ReferenceFrame.checkUniqueFrameNameInSubtree(ReferenceFrame.java:474)
	at us.ihmc.euclid.referenceFrame.ReferenceFrame.checkAndProcessNewFrameName(ReferenceFrame.java:458)
	at us.ihmc.euclid.referenceFrame.ReferenceFrame.<init>(ReferenceFrame.java:420)
	at us.ihmc.mecano.frames.MovingReferenceFrame.<init>(MovingReferenceFrame.java:196)
	at us.ihmc.mecano.frames.FixedMovingReferenceFrame.<init>(FixedMovingReferenceFrame.java:48)
	at us.ihmc.mecano.frames.MovingReferenceFrame.constructFrameFixedInParent(MovingReferenceFrame.java:73)
	at us.ihmc.mecano.multiBodySystem.RigidBody.<init>(RigidBody.java:105)
	at us.ihmc.mecano.multiBodySystem.RigidBody.<init>(RigidBody.java:81)
	at us.ihmc.mecano.tools.MultiBodySystemFactories.cloneKinematicChain(MultiBodySystemFactories.java:267)
	at us.ihmc.mecano.tools.MultiBodySystemFactories.cloneKinematicChain(MultiBodySystemFactories.java:218)
	at us.ihmc.mecano.tools.MultiBodySystemFactories.cloneKinematicChain(MultiBodySystemFactories.java:190)
	at us.ihmc.mecano.tools.MultiBodySystemFactories.cloneKinematicChain(MultiBodySystemFactories.java:166)
	at us.ihmc.mecano.tools.MultiBodySystemFactories.cloneKinematicChainAndFilter(MultiBodySystemFactories.java:116)
	at us.ihmc.mecano.tools.MultiBodySystemFactories.cloneOneDoFJointKinematicChain(MultiBodySystemFactories.java:66)
	at us.ihmc.avatar.controllerAPI.EndToEndHandTrajectoryMessageTest.testForceExecutionWithSingleTrajectoryPoint(EndToEndHandTrajectoryMessageTest.java:265)
	at us.ihmc.atlas.controllerAPI.AtlasEndToEndHandTrajectoryMessageTest.testForceExecutionWithSingleTrajectoryPoint(AtlasEndToEndHandTrajectoryMessageTest.java:99)
	at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
	at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:77)
	at java.base/jdk.internal.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
	at java.base/java.lang.reflect.Method.invoke(Method.java:569)
	at org.junit.platform.commons.util.ReflectionUtils.invokeMethod(ReflectionUtils.java:727)
	at org.junit.jupiter.engine.execution.MethodInvocation.proceed(MethodInvocation.java:60)
	at org.junit.jupiter.engine.execution.InvocationInterceptorChain$ValidatingInvocation.proceed(InvocationInterceptorChain.java:131)
	at org.junit.jupiter.engine.extension.SameThreadTimeoutInvocation.proceed(SameThreadTimeoutInvocation.java:45)
	at org.junit.jupiter.engine.extension.TimeoutExtension.intercept(TimeoutExtension.java:156)
	at org.junit.jupiter.engine.extension.TimeoutExtension.interceptTestableMethod(TimeoutExtension.java:147)
	at org.junit.jupiter.engine.extension.TimeoutExtension.interceptTestMethod(TimeoutExtension.java:86)
	at org.junit.jupiter.engine.execution.InterceptingExecutableInvoker$ReflectiveInterceptorCall.lambda$ofVoidMethod$0(InterceptingExecutableInvoker.java:103)
	at org.junit.jupiter.engine.execution.InterceptingExecutableInvoker.lambda$invoke$0(InterceptingExecutableInvoker.java:93)
	at org.junit.jupiter.engine.execution.InvocationInterceptorChain$InterceptedInvocation.proceed(InvocationInterceptorChain.java:106)
	at org.junit.jupiter.engine.execution.InvocationInterceptorChain.proceed(InvocationInterceptorChain.java:64)
	at org.junit.jupiter.engine.execution.InvocationInterceptorChain.chainAndInvoke(InvocationInterceptorChain.java:45)
	at org.junit.jupiter.engine.execution.InvocationInterceptorChain.invoke(InvocationInterceptorChain.java:37)
	at org.junit.jupiter.engine.execution.InterceptingExecutableInvoker.invoke(InterceptingExecutableInvoker.java:92)
	at org.junit.jupiter.engine.execution.InterceptingExecutableInvoker.invoke(InterceptingExecutableInvoker.java:86)
	at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.lambda$invokeTestMethod$7(TestMethodTestDescriptor.java:217)
	at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
	at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.invokeTestMethod(TestMethodTestDescriptor.java:213)
	at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.execute(TestMethodTestDescriptor.java:138)
	at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.execute(TestMethodTestDescriptor.java:68)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$6(NodeTestTask.java:151)
	at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$8(NodeTestTask.java:141)
	at org.junit.platform.engine.support.hierarchical.Node.around(Node.java:137)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$9(NodeTestTask.java:139)
	at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.executeRecursively(NodeTestTask.java:138)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.execute(NodeTestTask.java:95)
	at java.base/java.util.ArrayList.forEach(ArrayList.java:1511)
	at org.junit.platform.engine.support.hierarchical.SameThreadHierarchicalTestExecutorService.invokeAll(SameThreadHierarchicalTestExecutorService.java:41)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$6(NodeTestTask.java:155)
	at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$8(NodeTestTask.java:141)
	at org.junit.platform.engine.support.hierarchical.Node.around(Node.java:137)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$9(NodeTestTask.java:139)
	at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.executeRecursively(NodeTestTask.java:138)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.execute(NodeTestTask.java:95)
	at java.base/java.util.ArrayList.forEach(ArrayList.java:1511)
	at org.junit.platform.engine.support.hierarchical.SameThreadHierarchicalTestExecutorService.invokeAll(SameThreadHierarchicalTestExecutorService.java:41)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$6(NodeTestTask.java:155)
	at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$8(NodeTestTask.java:141)
	at org.junit.platform.engine.support.hierarchical.Node.around(Node.java:137)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$9(NodeTestTask.java:139)
	at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.executeRecursively(NodeTestTask.java:138)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.execute(NodeTestTask.java:95)
	at org.junit.platform.engine.support.hierarchical.SameThreadHierarchicalTestExecutorService.submit(SameThreadHierarchicalTestExecutorService.java:35)
	at org.junit.platform.engine.support.hierarchical.HierarchicalTestExecutor.execute(HierarchicalTestExecutor.java:57)
	at org.junit.platform.engine.support.hierarchical.HierarchicalTestEngine.execute(HierarchicalTestEngine.java:54)
	at org.junit.platform.launcher.core.EngineExecutionOrchestrator.execute(EngineExecutionOrchestrator.java:147)
	at org.junit.platform.launcher.core.EngineExecutionOrchestrator.execute(EngineExecutionOrchestrator.java:127)
	at org.junit.platform.launcher.core.EngineExecutionOrchestrator.execute(EngineExecutionOrchestrator.java:90)
	at org.junit.platform.launcher.core.EngineExecutionOrchestrator.lambda$execute$0(EngineExecutionOrchestrator.java:55)
	at org.junit.platform.launcher.core.EngineExecutionOrchestrator.withInterceptedStreams(EngineExecutionOrchestrator.java:102)
	at org.junit.platform.launcher.core.EngineExecutionOrchestrator.execute(EngineExecutionOrchestrator.java:54)
	at org.junit.platform.launcher.core.DefaultLauncher.execute(DefaultLauncher.java:114)
	at org.junit.platform.launcher.core.DefaultLauncher.execute(DefaultLauncher.java:86)
	at org.junit.platform.launcher.core.DefaultLauncherSession$DelegatingLauncher.execute(DefaultLauncherSession.java:86)
	at org.gradle.api.internal.tasks.testing.junitplatform.JUnitPlatformTestClassProcessor$CollectAllTestClassesExecutor.processAllTestClasses(JUnitPlatformTestClassProcessor.java:124)
	at org.gradle.api.internal.tasks.testing.junitplatform.JUnitPlatformTestClassProcessor$CollectAllTestClassesExecutor.access$000(JUnitPlatformTestClassProcessor.java:99)
	at org.gradle.api.internal.tasks.testing.junitplatform.JUnitPlatformTestClassProcessor.stop(JUnitPlatformTestClassProcessor.java:94)
	at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.stop(SuiteTestClassProcessor.java:63)
	at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
	at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:77)
	at java.base/jdk.internal.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
	at java.base/java.lang.reflect.Method.invoke(Method.java:569)
	at org.gradle.internal.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:36)
	at org.gradle.internal.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
	at org.gradle.internal.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:33)
	at org.gradle.internal.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:92)
	at jdk.proxy1/jdk.proxy1.$Proxy4.stop(Unknown Source)
	at org.gradle.api.internal.tasks.testing.worker.TestWorker$3.run(TestWorker.java:200)
	at org.gradle.api.internal.tasks.testing.worker.TestWorker.executeAndMaintainThreadName(TestWorker.java:132)
	at org.gradle.api.internal.tasks.testing.worker.TestWorker.execute(TestWorker.java:103)
	at org.gradle.api.internal.tasks.testing.worker.TestWorker.execute(TestWorker.java:63)
	at org.gradle.process.internal.worker.child.ActionExecutionWorker.execute(ActionExecutionWorker.java:56)
	at org.gradle.process.internal.worker.child.SystemApplicationClassLoaderWorker.call(SystemApplicationClassLoaderWorker.java:121)
	at org.gradle.process.internal.worker.child.SystemApplicationClassLoaderWorker.call(SystemApplicationClassLoaderWorker.java:71)
	at worker.org.gradle.process.internal.worker.GradleWorkerMain.run(GradleWorkerMain.java:69)
	at worker.org.gradle.process.internal.worker.GradleWorkerMain.main(GradleWorkerMain.java:74)