Create a 3D line from geometry data

I need to create lines from geometry data that I retreived from another program. I have x,y,z coordinates for the center of gravity, the length, and orientation angles for small steel fibers. I need to use this data to draw lines (ideally I would like cylinders) representing the fibers. I have the data in an Excel sheet, and I would like to be able to write a script to pull the data from a file and use it to draw the lines (or cylinders if possible). Because there are 2000+ fibers, doing them individually is not feasible. Is there a way to do this?

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