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pvm, pv, r, s
[SOFA] Returns the modulus of pv-vector pv, which must
have 2 elements in its first dimension and 3 in its second dimension.
In r is returned the modulus of the position component,
and in s the modulus of the velocity component. The
output parameters get the same dimensions as pv, except
that the first two dimensions (equal to 2 and 3) are omitted.