diff --git a/CMakeLists.txt b/CMakeLists.txt
index 03c73d9..98432ca 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -73,8 +73,8 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/device/motor_lz.c
     User/device/motor_rm.c
     User/device/dr16.c
+    User/device/buzzer.c
     # User/module sources (C++)
-    User/module/arm.cpp
     User/module/config.c
     User/module/chassis.c
     User/module/cmd/cmd.c
diff --git a/Core/Inc/tim.h b/Core/Inc/tim.h
index d044cea..853cd6e 100644
--- a/Core/Inc/tim.h
+++ b/Core/Inc/tim.h
@@ -32,12 +32,15 @@ extern "C" {
 
 /* USER CODE END Includes */
 
+extern TIM_HandleTypeDef htim4;
+
 extern TIM_HandleTypeDef htim5;
 
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
 
+void MX_TIM4_Init(void);
 void MX_TIM5_Init(void);
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
diff --git a/Core/Src/main.c b/Core/Src/main.c
index c298f08..34eb255 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -98,6 +98,7 @@ int main(void)
   MX_CAN2_Init();
   MX_TIM5_Init();
   MX_USART3_UART_Init();
+  MX_TIM4_Init();
   /* USER CODE BEGIN 2 */
   /* USER CODE END 2 */
 
diff --git a/Core/Src/tim.c b/Core/Src/tim.c
index 9a68eb8..09b3445 100644
--- a/Core/Src/tim.c
+++ b/Core/Src/tim.c
@@ -24,8 +24,63 @@
 
 /* USER CODE END 0 */
 
+TIM_HandleTypeDef htim4;
 TIM_HandleTypeDef htim5;
 
+/* TIM4 init function */
+void MX_TIM4_Init(void)
+{
+
+  /* USER CODE BEGIN TIM4_Init 0 */
+
+  /* USER CODE END TIM4_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM4_Init 1 */
+
+  /* USER CODE END TIM4_Init 1 */
+  htim4.Instance = TIM4;
+  htim4.Init.Prescaler = 17-1;
+  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim4.Init.Period = 2000;
+  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM4_Init 2 */
+
+  /* USER CODE END TIM4_Init 2 */
+  HAL_TIM_MspPostInit(&htim4);
+
+}
 /* TIM5 init function */
 void MX_TIM5_Init(void)
 {
@@ -92,7 +147,18 @@ void MX_TIM5_Init(void)
 void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
 {
 
-  if(tim_baseHandle->Instance==TIM5)
+  if(tim_baseHandle->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspInit 0 */
+
+  /* USER CODE END TIM4_MspInit 0 */
+    /* TIM4 clock enable */
+    __HAL_RCC_TIM4_CLK_ENABLE();
+  /* USER CODE BEGIN TIM4_MspInit 1 */
+
+  /* USER CODE END TIM4_MspInit 1 */
+  }
+  else if(tim_baseHandle->Instance==TIM5)
   {
   /* USER CODE BEGIN TIM5_MspInit 0 */
 
@@ -112,7 +178,27 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 {
 
   GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(timHandle->Instance==TIM5)
+  if(timHandle->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspPostInit 0 */
+
+  /* USER CODE END TIM4_MspPostInit 0 */
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+    /**TIM4 GPIO Configuration
+    PD14     ------> TIM4_CH3
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_14;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM4_MspPostInit 1 */
+
+  /* USER CODE END TIM4_MspPostInit 1 */
+  }
+  else if(timHandle->Instance==TIM5)
   {
   /* USER CODE BEGIN TIM5_MspPostInit 0 */
 
@@ -141,7 +227,18 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
 {
 
-  if(tim_baseHandle->Instance==TIM5)
+  if(tim_baseHandle->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspDeInit 0 */
+
+  /* USER CODE END TIM4_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM4_CLK_DISABLE();
+  /* USER CODE BEGIN TIM4_MspDeInit 1 */
+
+  /* USER CODE END TIM4_MspDeInit 1 */
+  }
+  else if(tim_baseHandle->Instance==TIM5)
   {
   /* USER CODE BEGIN TIM5_MspDeInit 0 */
 
diff --git a/User/bsp/pwm.c b/User/bsp/pwm.c
index 97df3c8..f43278c 100644
--- a/User/bsp/pwm.c
+++ b/User/bsp/pwm.c
@@ -28,6 +28,7 @@ static const BSP_PWM_Config_t PWM_Map[BSP_PWM_NUM] = {
   {&htim5, TIM_CHANNEL_1},
   {&htim5, TIM_CHANNEL_2},
   {&htim5, TIM_CHANNEL_3},
+  {&htim4, TIM_CHANNEL_3}, 
 };
 
 /* Private function  -------------------------------------------------------- */
diff --git a/User/bsp/pwm.h b/User/bsp/pwm.h
index abc1f24..1f5f3e1 100644
--- a/User/bsp/pwm.h
+++ b/User/bsp/pwm.h
@@ -26,6 +26,7 @@ typedef enum {
   BSP_PWM_TIM5_CH1,
   BSP_PWM_TIM5_CH2,
   BSP_PWM_TIM5_CH3,
+  BSP_PWM_BUZZER,
   BSP_PWM_NUM,
   BSP_PWM_ERR,
 } BSP_PWM_Channel_t;
diff --git a/User/component/arm_kinematics/arm6dof.cpp b/User/component/arm_kinematics/arm6dof.cpp
index 4f016e3..0d08467 100644
--- a/User/component/arm_kinematics/arm6dof.cpp
+++ b/User/component/arm_kinematics/arm6dof.cpp
@@ -200,21 +200,21 @@ int Arm6dof_InverseKinematics(const Arm6dof_Pose_t* pose, const Arm6dof_JointAng
         return -1;
     }
     
-    // // 姿态误差：计算两旋转矩阵的测地距离 theta = arccos((trace(R_v * R_t^T) - 1) / 2)
-    // // 使用旋转矩阵方法避免 RPY 奇异点和角度折叠问题
-    // Matrixf<3, 3> R_verify = robotics::t2r(T_verify);
-    // Matrixf<3, 3> R_diff   = R_verify * R_target.trans();
-    // float trace_val = R_diff[0][0] + R_diff[1][1] + R_diff[2][2];
-    // float cos_theta = (trace_val - 1.0f) * 0.5f;
-    // // 数值钳位防止 acosf 域溢出
-    // if (cos_theta >  1.0f) cos_theta =  1.0f;
-    // if (cos_theta < -1.0f) cos_theta = -1.0f;
-    // float ang_error = acosf(cos_theta);  // [0, π]
+    // 姿态误差：计算两旋转矩阵的测地距离 theta = arccos((trace(R_v * R_t^T) - 1) / 2)
+    // 使用旋转矩阵方法避免 RPY 奇异点和角度折叠问题
+    Matrixf<3, 3> R_verify = robotics::t2r(T_verify);
+    Matrixf<3, 3> R_diff   = R_verify * R_target.trans();
+    float trace_val = R_diff[0][0] + R_diff[1][1] + R_diff[2][2];
+    float cos_theta = (trace_val - 1.0f) * 0.5f;
+    // 数值钳位防止 acosf 域溢出
+    if (cos_theta >  1.0f) cos_theta =  1.0f;
+    if (cos_theta < -1.0f) cos_theta = -1.0f;
+    float ang_error = acosf(cos_theta);  // [0, π]
     
-    // const float ang_tol = 0.1f;  // 姿态收敛阈值 (rad ≈ 5.7°)
-    // if (ang_error > ang_tol) {   // 姿态未收敛（收敛到错误分支）
-    //     return -1;
-    // }
+    const float ang_tol = 0.1f;  // 姿态收敛阈值 (rad ≈ 5.7°)
+    if (ang_error > ang_tol) {   // 姿态未收敛（收敛到错误分支或近奇异点）
+        return -1;
+    }
     
     return 0;
 }
diff --git a/User/component/arm_kinematics/arm6dof.h b/User/component/arm_kinematics/arm6dof.h
index 75e2702..d81f469 100644
--- a/User/component/arm_kinematics/arm6dof.h
+++ b/User/component/arm_kinematics/arm6dof.h
@@ -27,13 +27,15 @@ typedef struct {
     float m;        // 连杆质量 (kg)
     float rc[3];    // 质心在 DH 连杆坐标系下的坐标 (m): {x, y, z}
                     // 由 URDF inertial/origin 经 Rz(-theta_offset) 旋转得到
-    
+} Arm6dof_DHParams_t;
+typedef struct {
     // MIT控制参数（可选，如不设置则使用默认值）
     float kp;       // 位置刚度 (N·m/rad)，默认值见Joint类
     float kd;       // 阻尼系数 (N·m·s/rad)，默认值见Joint类
-} Arm6dof_DHParams_t;
+} Arm6dof_MotorMTICtrlParams_t;
 typedef struct {
     Arm6dof_DHParams_t DH_params[6];
+    Arm6dof_MotorMTICtrlParams_t motor_ctrl_params[6];  // 每个关节的MIT控制参数（可选）
     struct {
         float x, y, z;           // 工具中心偏移 (m)
         float roll, pitch, yaw;  // 工具姿态偏移 (rad)
@@ -65,7 +67,7 @@ typedef struct {
     bool                  enable;               /* 使能开关 */
     bool                  set_target_as_current; /* true: 将目标位姿同步为当前实际位姿 */
     Arm_CtrlType_t        ctrl_type;             /* 控制类型 */
-    Arm6dof_Pose_t        target_pose;           /* 目标末端位姿（遥控器模式，笛卡尔空间） */
+    Arm6dof_Pose_t        target_pose;           /* 目标末端位姿（世界坐标系，供调试观察） */
     Arm6dof_JointAngles_t target_joints;         /* 目标六个关节角度（自定义控制器模式） */
 } Arm_CMD_t;
 /**
diff --git a/User/component/toolbox/robotics.cpp b/User/component/toolbox/robotics.cpp
index 03ca320..fa5bf7e 100644
--- a/User/component/toolbox/robotics.cpp
+++ b/User/component/toolbox/robotics.cpp
@@ -325,17 +325,14 @@ robotics::Link& robotics::Link::operator=(Link link) {
 }
 
 Matrixf<4, 4> robotics::Link::T(float q) {
-  // 先对关节变量q进行限幅
-  float q_limited = q;
-  if (qmin_ < qmax_) {  // 有效的限幅范围
-    q_limited = math::limit(q, qmin_, qmax_);
-  }
-  
-  // 再计算实际的DH参数
+  // 纯 DH 运动学，不做关节限位截断。
+  // 限位检查在上层（StepTrajectory / PositionControl）执行；
+  // 若在此截断会导致迭代中 FK 出现平台区（超界后输出不变），
+  // 使 Jacobian 为零，LM 算法完全失去收敛方向。
   if (type_ == R) {
-    dh_.theta = q_limited + offset_;
+    dh_.theta = q + offset_;
   } else {
-    dh_.d = q_limited + offset_;
+    dh_.d = q + offset_;
   }
   
   return dh_.fkine();
diff --git a/User/component/toolbox/robotics.h b/User/component/toolbox/robotics.h
index 17dac17..6357fe4 100644
--- a/User/component/toolbox/robotics.h
+++ b/User/component/toolbox/robotics.h
@@ -258,10 +258,18 @@ class Serial_Link {
 
       // 评估新误差
       Matrixf<_n, 1> q_new = q + dq;
-      // 关节角折叠到有效区间
+      // 仅对真实循环关节（qmin≈0, qmax≈2π）做 loopLimit 折叠，消除周期歧义。
+      // 其余非循环关节（J2/J3/J5等小范围）不折叠：一旦超界 loopLimit 会产生大跳变
+      // （例如 J3 在 3.0 边界被折到 -1.0），破坏 LM 迭代连续性导致无法收敛。
+      // 注：Link::T() 不再做任何截断，迭代过程允许 q 暂时超界以保持连续的 Jacobian；
+      // 最终关节超限的检查在 StepTrajectory() 的限位验证中完成。
       for (int i = 0; i < _n; i++) {
-        if (links_[i].type() == R)
-          q_new[i][0] = math::loopLimit(q_new[i][0], links_[i].qmin_, links_[i].qmax_);
+        if (links_[i].type() == R) {
+          constexpr float TWO_PI = 2.0f * (float)M_PI;
+          bool is_cyclic = (links_[i].qmin_ < 0.1f) && (links_[i].qmax_ > TWO_PI - 0.1f);
+          if (is_cyclic)
+            q_new[i][0] = math::loopLimit(q_new[i][0], links_[i].qmin_, links_[i].qmax_);
+        }
       }
       T = fkine(q_new);
       pe = t2p(Td) - t2p(T);
diff --git a/User/device/buzzer.c b/User/device/buzzer.c
new file mode 100644
index 0000000..925ab63
--- /dev/null
+++ b/User/device/buzzer.c
@@ -0,0 +1,187 @@
+#include "device/buzzer.h"
+#include "bsp/time.h"
+#include <math.h>
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+#define MUSIC_DEFAULT_VOLUME 0.5f
+#define MUSIC_A4_FREQ 440.0f  // A4音符频率
+
+/* USER MUSIC MENU BEGIN */
+// RM音乐
+const Tone_t RM[] = {
+    {NOTE_B, 5, 200},
+    {NOTE_G, 4, 200},
+    {NOTE_B, 5, 400},
+    {NOTE_G, 4, 200},
+    {NOTE_B, 5, 400},
+    {NOTE_G, 4, 200},
+    {NOTE_D, 5, 400},
+    {NOTE_G, 4, 200},
+    {NOTE_C, 5, 200},
+    {NOTE_C, 5, 200},
+    {NOTE_G, 4, 200},
+    {NOTE_B, 5, 200},
+    {NOTE_C, 5, 200}
+};
+
+// Nokia 经典铃声音符
+const Tone_t NOKIA[] = {
+    {NOTE_E, 5, 125}, {NOTE_D, 5, 125}, {NOTE_FS, 4, 250}, {NOTE_GS, 4, 250},
+    {NOTE_CS, 5, 125}, {NOTE_B, 4, 125}, {NOTE_D, 4, 250}, {NOTE_E, 4, 250},
+    {NOTE_B, 4, 125}, {NOTE_A, 4, 125}, {NOTE_CS, 4, 250}, {NOTE_E, 4, 250},
+    {NOTE_A, 4, 500}
+};
+
+// 蔡徐坤 - 只因你太美(副歌高潮段落)
+const Tone_t JNTM[] = {
+    {NOTE_E, 5, 150}, {NOTE_D, 5, 150}, {NOTE_E, 5, 150}, {NOTE_C, 5, 150}, {NOTE_D, 5, 300}, // 只 因 你 太 美
+    {NOTE_C, 5, 150}, {NOTE_A, 4, 300}, {NOTE_REST, 0, 150},                                  // ba by ~
+    {NOTE_E, 5, 150}, {NOTE_D, 5, 150}, {NOTE_E, 5, 150}, {NOTE_C, 5, 150}, {NOTE_D, 5, 300}, // 只 因 你 太 美
+    {NOTE_C, 5, 150}, {NOTE_A, 4, 300}, {NOTE_REST, 0, 150},                                  // ba by ~
+    {NOTE_E, 5, 150}, {NOTE_D, 5, 150}, {NOTE_E, 5, 150}, {NOTE_C, 5, 150},                   // 只 因 你 实
+    {NOTE_D, 5, 150}, {NOTE_E, 5, 150}, {NOTE_D, 5, 150}, {NOTE_C, 5, 150}, {NOTE_D, 5, 300}, // 在 是 太 美
+    {NOTE_C, 5, 150}, {NOTE_A, 4, 300}, {NOTE_REST, 0, 150},                                  // ba by ~
+    {NOTE_E, 5, 150}, {NOTE_D, 5, 150}, {NOTE_E, 5, 150}, {NOTE_C, 5, 150}, {NOTE_D, 5, 500}  // 只 因 你 太 美 ~
+};
+/* USER MUSIC MENU END */
+
+static void BUZZER_Update(BUZZER_t *buzzer){
+    buzzer->header.online = true;
+    buzzer->header.last_online_time = BSP_TIME_Get_ms();
+}
+
+// 根据音符和八度计算频率的辅助函数
+static float BUZZER_CalcFreq(NOTE_t note, uint8_t octave) {
+    if (note == NOTE_REST) {
+        return 0.0f; // 休止符返回0频率
+    }
+    
+    // 将音符和八度转换为MIDI音符编号
+    int midi_num = (int)note + (int)((octave + 1) * 12);
+    
+    // 使用A4 (440Hz) 作为参考，计算频率
+    // 公式: freq = 440 * 2^((midi_num - 69)/12)
+    float freq = 440.0f * powf(2.0f, ((float)midi_num - 69.0f) / 12.0f);
+    
+    return freq;
+}
+
+// 播放单个音符
+static int8_t BUZZER_PlayTone(BUZZER_t *buzzer, NOTE_t note, uint8_t octave, uint16_t duration_ms) {
+    if (buzzer == NULL || !buzzer->header.online) 
+        return DEVICE_ERR;
+    
+    float freq = BUZZER_CalcFreq(note, octave);
+    
+    if (freq > 0.0f) {
+        // 播放音符
+        if (BUZZER_Set(buzzer, freq, MUSIC_DEFAULT_VOLUME) != DEVICE_OK) 
+            return DEVICE_ERR;
+        
+        if (BUZZER_Start(buzzer) != DEVICE_OK) 
+            return DEVICE_ERR;
+    } else {
+        // 休止符，停止播放
+        BUZZER_Stop(buzzer);
+    }
+    
+    // 等待指定时间
+    BSP_TIME_Delay_ms(duration_ms);
+    
+    // 停止当前音符，为下一个音符做准备
+    BUZZER_Stop(buzzer);
+    BSP_TIME_Delay_ms(20); // 短暂间隔
+    
+    return DEVICE_OK;
+}
+
+int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel) {
+    if (buzzer == NULL) return DEVICE_ERR;
+    
+    buzzer->channel = channel;
+    buzzer->header.online = true;
+    
+    BUZZER_Stop(buzzer);
+    
+    return DEVICE_OK ;
+}
+
+int8_t BUZZER_Start(BUZZER_t *buzzer) {
+    if (buzzer == NULL || !buzzer->header.online) 
+        return DEVICE_ERR;
+    BUZZER_Update(buzzer);
+    return (BSP_PWM_Start(buzzer->channel) == BSP_OK) ? 
+           DEVICE_OK  : DEVICE_ERR;
+}
+
+int8_t BUZZER_Stop(BUZZER_t *buzzer) {
+    if (buzzer == NULL || !buzzer->header.online) 
+        return DEVICE_ERR;
+    BUZZER_Update(buzzer);
+    return (BSP_PWM_Stop(buzzer->channel) == BSP_OK) ? 
+           DEVICE_OK  : DEVICE_ERR;
+}
+
+int8_t BUZZER_Set(BUZZER_t *buzzer, float freq, float duty_cycle) {
+    if (buzzer == NULL || !buzzer->header.online) 
+        return DEVICE_ERR;
+    
+    int result = DEVICE_OK ;
+    BUZZER_Update(buzzer);
+    if (BSP_PWM_SetFreq(buzzer->channel, freq) != BSP_OK) 
+        result = DEVICE_ERR;
+    
+    if (BSP_PWM_SetComp(buzzer->channel, duty_cycle) != BSP_OK) 
+        result = DEVICE_ERR;
+    
+    return result;
+}
+
+int8_t BUZZER_PlayMusic(BUZZER_t *buzzer, MUSIC_t music) {
+    if (buzzer == NULL || !buzzer->header.online) 
+        return DEVICE_ERR;
+    
+    const Tone_t *melody = NULL;
+    size_t melody_length = 0;
+    
+    // 根据音乐类型选择对应的音符数组
+    switch (music) {
+        case MUSIC_RM:
+            melody = RM;
+            melody_length = sizeof(RM) / sizeof(Tone_t);
+            break;
+        case MUSIC_NOKIA:
+            melody = NOKIA;
+            melody_length = sizeof(NOKIA) / sizeof(Tone_t);
+            break;
+        case MUSIC_JNTM:
+            melody = JNTM;
+            melody_length = sizeof(JNTM) / sizeof(Tone_t);
+            break;
+        default:
+            return DEVICE_ERR;
+    }
+    
+    // 播放整首音乐
+    for (size_t i = 0; i < melody_length; i++) {
+        if (BUZZER_PlayTone(buzzer, melody[i].note, melody[i].octave, melody[i].duration_ms) != DEVICE_OK) {
+            BUZZER_Stop(buzzer); // 出错时停止播放
+            return DEVICE_ERR;
+        }
+    }
+    
+    // 音乐播放完成后停止
+    BUZZER_Stop(buzzer);
+    return DEVICE_OK;
+}
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
diff --git a/User/device/buzzer.h b/User/device/buzzer.h
new file mode 100644
index 0000000..60a4579
--- /dev/null
+++ b/User/device/buzzer.h
@@ -0,0 +1,139 @@
+/**
+ * @file buzzer.h
+ * @brief 蜂鸣器设备驱动头文件
+ * @details 提供蜂鸣器音频播放功能，支持单音符播放和预设音乐播放
+ * @author Generated by STM32CubeMX
+ * @date 2025年10月23日
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "bsp/pwm.h"    // PWM底层硬件抽象层
+#include "device.h"     // 设备通用头文件
+#include <stddef.h>     // 标准定义
+#include <stdint.h>     // 标准整型定义
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* Exported constants ------------------------------------------------------- */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+/* Exported types ----------------------------------------------------------- */
+
+/**
+ * @brief 音符枚举类型
+ * @details 定义标准十二平均律音符，用于音乐播放
+ */
+typedef enum {
+  NOTE_C = 0,       ///< Do音符
+  NOTE_CS = 1,      ///< Do#音符 (升Do)
+  NOTE_D = 2,       ///< Re音符
+  NOTE_DS = 3,      ///< Re#音符 (升Re)
+  NOTE_E = 4,       ///< Mi音符
+  NOTE_F = 5,       ///< Fa音符
+  NOTE_FS = 6,      ///< Fa#音符 (升Fa)
+  NOTE_G = 7,       ///< Sol音符
+  NOTE_GS = 8,      ///< Sol#音符 (升Sol)
+  NOTE_A = 9,       ///< La音符
+  NOTE_AS = 10,     ///< La#音符 (升La)
+  NOTE_B = 11,      ///< Si音符
+  NOTE_REST = 255   ///< 休止符 (无声音)
+} NOTE_t;
+
+/**
+ * @brief 音调结构体
+ * @details 定义一个完整的音调信息，包括音符、八度和持续时间
+ */
+typedef struct {
+  NOTE_t note;          ///< 音符名称 (使用NOTE_t枚举)
+  uint8_t octave;       ///< 八度 (0-8，通常使用3-7)
+  uint16_t duration_ms; ///< 持续时间，单位毫秒
+} Tone_t;
+
+/**
+ * @brief 预设音乐枚举类型
+ * @details 定义可播放的预设音乐类型
+ */
+typedef enum {
+  /* USER MUSIC MENU BEGIN */
+  MUSIC_RM,     ///< RM战队音乐
+  MUSIC_NOKIA,  ///< 诺基亚经典铃声
+  MUSIC_JNTM,   ///< 只因你太美
+  /* USER MUSIC MENU END */
+} MUSIC_t;
+
+/**
+ * @brief 蜂鸣器设备结构体
+ * @details 蜂鸣器设备的完整描述，包含设备头信息和PWM通道
+ */
+typedef struct {
+  DEVICE_Header_t header;     ///< 设备通用头信息 (在线状态、时间戳等)
+  BSP_PWM_Channel_t channel;  ///< PWM输出通道
+} BUZZER_t;
+
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * @brief 初始化蜂鸣器设备
+ * @param buzzer 蜂鸣器设备结构体指针
+ * @param channel PWM输出通道
+ * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败
+ * @note 初始化后蜂鸣器处于停止状态
+ */
+int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel);
+
+/**
+ * @brief 启动蜂鸣器播放
+ * @param buzzer 蜂鸣器设备结构体指针
+ * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败
+ * @note 需要先调用BUZZER_Set设置频率和占空比
+ */
+int8_t BUZZER_Start(BUZZER_t *buzzer);
+
+/**
+ * @brief 停止蜂鸣器播放
+ * @param buzzer 蜂鸣器设备结构体指针
+ * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败
+ */
+int8_t BUZZER_Stop(BUZZER_t *buzzer);
+
+/**
+ * @brief 设置蜂鸣器频率和占空比
+ * @param buzzer 蜂鸣器设备结构体指针
+ * @param freq 频率 (Hz)，通常范围20Hz-20kHz
+ * @param duty_cycle 占空比 (0.0-1.0)，影响音量大小
+ * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败
+ * @note 设置后需要调用BUZZER_Start才能听到声音
+ */
+int8_t BUZZER_Set(BUZZER_t *buzzer, float freq, float duty_cycle);
+
+/**
+ * @brief 播放预设音乐
+ * @param buzzer 蜂鸣器设备结构体指针
+ * @param music 音乐类型 (使用MUSIC_t枚举)
+ * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败
+ * @note 这是一个阻塞函数，会播放完整首音乐后返回
+ */
+int8_t BUZZER_PlayMusic(BUZZER_t *buzzer, MUSIC_t music);
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/User/module/arm.cpp b/User/module/arm.cpp
deleted file mode 100644
index 5dc229c..0000000
--- a/User/module/arm.cpp
+++ /dev/null
@@ -1,507 +0,0 @@
-
-
-// /* Includes ----------------------------------------------------------------- */
-// #include <math.h>
-// #include <stdint.h>
-// #include <string.h>
-// #include "arm.h"
-// #include "bsp/mm.h"
-// #include "bsp/time.h"
-// #include "component/user_math.h"
-// #include "device/motor_dm.h"
-// #include "device/motor_lz.h"
-// /* Private typedef ---------------------------------------------------------- */
-// /* Private define ----------------------------------------------------------- */
-
-// /* Private macro ------------------------------------------------------------ */
-// /* Private variables -------------------------------------------------------- */
-
-// /* Private function  -------------------------------------------------------- */
-
-// // ============================================================================
-// // Joint（关节）级别操作 - 面向对象接口
-// // ============================================================================
-
-// /**
-//  * @brief 初始化单个关节
-//  */
-// int8_t Joint_Init(Joint_t *joint, uint8_t id, Joint_MotorType_t motor_type,
-//                   const Arm6dof_DHParams_t *dh_params, const KPID_Params_t *pid_params, float freq) {
-//   if (joint == NULL || dh_params == NULL || pid_params == NULL) {
-//     return -1;
-//   }
-  
-//   joint->id = id;
-//   joint->motor_type = motor_type;
-//   memcpy(&joint->dh_params, dh_params, sizeof(Arm6dof_DHParams_t));
-//   joint->q_offset = 0.0f;
-  
-//   PID_Init(&joint->pid, KPID_MODE_CALC_D, freq, pid_params);
-  
-//   joint->state.current_angle = 0.0f;
-//   joint->state.current_velocity = 0.0f;
-//   joint->state.current_torque = 0.0f;
-//   joint->state.target_angle = 0.0f;
-//   joint->state.target_velocity = 0.0f;
-//   joint->state.online = false;
-  
-//   return 0;
-// }
-
-// /**
-//  * @brief 更新关节状态
-//  */
-// int8_t Joint_Update(Joint_t *joint) {
-//   if (joint == NULL) return -1;
-  
-//   if (joint->motor_type == JOINT_MOTOR_TYPE_LZ) {
-//     joint->state.current_angle = joint->motor.lz_motor.motor.feedback.rotor_abs_angle - joint->q_offset;
-//     joint->state.current_velocity = joint->motor.lz_motor.motor.feedback.rotor_speed;
-//     joint->state.current_torque = joint->motor.lz_motor.motor.feedback.torque_current;
-//     joint->state.online = joint->motor.lz_motor.motor.header.online;
-//   } else {
-//     joint->state.current_angle = joint->motor.dm_motor.motor.feedback.rotor_abs_angle - joint->q_offset;
-//     joint->state.current_velocity = joint->motor.dm_motor.motor.feedback.rotor_speed;
-//     joint->state.current_torque = joint->motor.dm_motor.motor.feedback.torque_current;
-//     joint->state.online = joint->motor.dm_motor.motor.header.online;
-//   }
-  
-//   return 0;
-// }
-
-// /**
-//  * @brief 关节位置控制
-//  */
-// int8_t Joint_PositionControl(Joint_t *joint, float target_angle, float dt) {
-//   if (joint == NULL) return -1;
-  
-//   if (target_angle < joint->dh_params.qmin || target_angle > joint->dh_params.qmax) {
-//     return -1;
-//   }
-  
-//   joint->state.target_angle = target_angle;
-//   float pid_output = PID_Calc(&joint->pid, target_angle, joint->state.current_angle, 0, dt);
-  
-//   if (joint->motor_type == JOINT_MOTOR_TYPE_LZ) {
-//     joint->output.lz_output.target_angle = target_angle + joint->q_offset;
-//     joint->output.lz_output.target_velocity = 0.0f;
-//     joint->output.lz_output.kp = 10.0f;
-//     joint->output.lz_output.kd = 0.5f;
-//     joint->output.lz_output.torque = pid_output;
-//     MOTOR_LZ_MotionControl(&joint->motor_params.lz_params, &joint->output.lz_output);
-//   } else {
-//     joint->output.dm_output.angle = target_angle + joint->q_offset;
-//     joint->output.dm_output.velocity = 0.0f;
-//     joint->output.dm_output.kp = 50.0f;
-//     joint->output.dm_output.kd = 3.0f;
-//     joint->output.dm_output.torque = pid_output;
-//     MOTOR_DM_MITCtrl(&joint->motor_params.dm_params, &joint->output.dm_output);
-//   }
-  
-//   return 0;
-// }
-
-// /**
-//  * @brief 关节松弛
-//  */
-// int8_t Joint_Relax(Joint_t *joint) {
-//   if (joint == NULL) return -1;
-  
-//   if (joint->motor_type == JOINT_MOTOR_TYPE_LZ) {
-//     MOTOR_LZ_Relax(&joint->motor_params.lz_params);
-//   } else {
-//     MOTOR_DM_Relax(&joint->motor_params.dm_params);
-//   }
-//   return 0;
-// }
-
-// /**
-//  * @brief 检查关节是否到达目标
-//  */
-// bool Joint_IsReached(const Joint_t *joint, float tolerance) {
-//   if (joint == NULL) return false;
-//   return fabsf(joint->state.target_angle - joint->state.current_angle) < tolerance;
-// }
-
-// // ============================================================================
-// // Arm（机械臂）级别操作
-// // ============================================================================
-
-// /* Exported functions ------------------------------------------------------- */
-// int8_t Arm_Init(Arm_t *arm, Arm_Params_t *arm_param, float freq) {
-//   if (arm == NULL||arm_param == NULL) {
-//     return -1;
-//   }
-//   arm->param = arm_param;
-
-//   BSP_CAN_Init();
-
-//   MOTOR_LZ_Init();
-
-
-//   // 初始化控制参数
-//   arm->control.mode = ARM_MODE_IDLE;
-//   arm->control.state = ARM_STATE_STOPPED;
-//   arm->control.position_tolerance = 0.02f;  // 关节角容差：0.02rad ≈ 1.15度
-//   arm->control.velocity_tolerance = 0.01f;  // 速度容差：0.01rad/s
-//   arm->control.enable = false;
-
-//   return 0;
-// }
-
-// int8_t Arm_Updata(Arm_t *arm) {
-//   if (arm == NULL) {
-//     return -1;
-//   }
-
-
-//   MOTOR_LZ_Update(&arm->param->jointMotor1_params);
-//   MOTOR_LZ_Update(&arm->param->jointMotor2_params);
-//   MOTOR_LZ_Update(&arm->param->jointMotor3_params);
-//   MOTOR_DM_Update(&arm->param->jointMotor4_params);
-//   MOTOR_DM_Update(&arm->param->jointMotor5_params);
-//   MOTOR_DM_Update(&arm->param->jointMotor6_params);
-
-//   // 同步电机实例数据到actuator
-//   MOTOR_LZ_t *motor1 = MOTOR_LZ_GetMotor(&arm->param->jointMotor1_params);
-//   if (motor1 != NULL) {
-//     memcpy(&arm->actuator.jointMotor1, motor1, sizeof(MOTOR_LZ_t));
-//   }
-  
-//   MOTOR_LZ_t *motor2 = MOTOR_LZ_GetMotor(&arm->param->jointMotor2_params);
-//   if (motor2 != NULL) {
-//     memcpy(&arm->actuator.jointMotor2, motor2, sizeof(MOTOR_LZ_t));
-//   }
-  
-//   MOTOR_LZ_t *motor3 = MOTOR_LZ_GetMotor(&arm->param->jointMotor3_params);
-//   if (motor3 != NULL) {
-//     memcpy(&arm->actuator.jointMotor3, motor3, sizeof(MOTOR_LZ_t));
-//   }
-  
-//   MOTOR_DM_t *motor4 = MOTOR_DM_GetMotor(&arm->param->jointMotor4_params);
-//   if (motor4 != NULL) {
-//     memcpy(&arm->actuator.jointMotor4, motor4, sizeof(MOTOR_DM_t));
-//   }
-  
-//   MOTOR_DM_t *motor5 = MOTOR_DM_GetMotor(&arm->param->jointMotor5_params);
-//   if (motor5 != NULL) {
-//     memcpy(&arm->actuator.jointMotor5, motor5, sizeof(MOTOR_DM_t));
-//   }
-  
-//   MOTOR_DM_t *motor6 = MOTOR_DM_GetMotor(&arm->param->jointMotor6_params);
-//   if (motor6 != NULL) {
-//     memcpy(&arm->actuator.jointMotor6, motor6, sizeof(MOTOR_DM_t));
-//   }
-
-//   // 从电机反馈更新当前关节角度
-//   arm->stateVariable.currentJointAngles.q[0] = 
-//     arm->actuator.jointMotor1.motor.feedback.rotor_abs_angle - arm->param->q_offset[0];
-//   arm->stateVariable.currentJointAngles.q[1] = 
-//     arm->actuator.jointMotor2.motor.feedback.rotor_abs_angle - arm->param->q_offset[1];
-//   arm->stateVariable.currentJointAngles.q[2] = 
-//     arm->actuator.jointMotor3.motor.feedback.rotor_abs_angle - arm->param->q_offset[2];
-//   arm->stateVariable.currentJointAngles.q[3] = 
-//     arm->actuator.jointMotor4.motor.feedback.rotor_abs_angle - arm->param->q_offset[3];
-//   arm->stateVariable.currentJointAngles.q[4] = 
-//     arm->actuator.jointMotor5.motor.feedback.rotor_abs_angle - arm->param->q_offset[4];
-//   arm->stateVariable.currentJointAngles.q[5] = 
-//     arm->actuator.jointMotor6.motor.feedback.rotor_abs_angle - arm->param->q_offset[5];
-
-//   // 正运动学：计算当前末端位姿
-//   Arm6dof_ForwardKinematics(&arm->stateVariable.currentJointAngles,
-//                             &arm->stateVariable.currentEndPose);
-
-//   return 0;
-// }
-// int8_t Arm_Ctrl(Arm_t *arm) {
-//   if (arm == NULL) {
-//     return -1;
-//   }
-  
-//   arm->timer.now = BSP_TIME_Get_us() / 1000000.0f;
-//   arm->timer.dt = (BSP_TIME_Get_us() - arm->timer.last_wakeup) / 1000000.0f;
-//   arm->timer.last_wakeup = BSP_TIME_Get_us();
-
-//   // 如果未使能，松弛所有电机
-//   if (!arm->control.enable) {
-//     MOTOR_LZ_Relax(&arm->param->jointMotor1_params);
-//     MOTOR_LZ_Relax(&arm->param->jointMotor2_params);
-//     MOTOR_LZ_Relax(&arm->param->jointMotor3_params);
-//     MOTOR_DM_Relax(&arm->param->jointMotor4_params);
-//     MOTOR_DM_Relax(&arm->param->jointMotor5_params);
-//     MOTOR_DM_Relax(&arm->param->jointMotor6_params);
-//     arm->control.state = ARM_STATE_STOPPED;
-//     return 0;
-//   }
-  
-//   // 根据控制模式执行不同的控制策略
-//   switch (arm->control.mode) {
-//     case ARM_MODE_IDLE:
-//       // 空闲模式：电机松弛
-//       MOTOR_LZ_Relax(&arm->param->jointMotor1_params);
-//       MOTOR_LZ_Relax(&arm->param->jointMotor2_params);
-//       MOTOR_LZ_Relax(&arm->param->jointMotor3_params);
-//       MOTOR_DM_Relax(&arm->param->jointMotor4_params);
-//       MOTOR_DM_Relax(&arm->param->jointMotor5_params);
-//       MOTOR_DM_Relax(&arm->param->jointMotor6_params);
-//       arm->control.state = ARM_STATE_STOPPED;
-//       break;
-      
-//     case ARM_MODE_JOINT_POSITION:
-//     case ARM_MODE_CARTESIAN_POSITION:
-//       // 关节位置控制（关节空间和笛卡尔空间最终都转为关节角控制）
-//       {
-//         // 检查是否到达目标
-//         bool reached = true;
-//         float max_error = 0.0f;
-        
-//         for (int i = 0; i < 6; i++) {
-//           float error = arm->stateVariable.targetJointAngles.q[i] - 
-//                        arm->stateVariable.currentJointAngles.q[i];
-//           if (fabsf(error) > arm->control.position_tolerance) {
-//             reached = false;
-//           }
-//           if (fabsf(error) > max_error) {
-//             max_error = fabsf(error);
-//           }
-//         }
-        
-//         if (reached) {
-//           arm->control.state = ARM_STATE_REACHED;
-//         } else {
-//           arm->control.state = ARM_STATE_MOVING;
-//         }
-        
-//         // PID位置控制（关节1-3使用LZ电机）
-//         for (int i = 0; i < 3; i++) {
-//           float pid_output = PID_Calc(&arm->controller.joint_pid[i], 
-//                                           arm->stateVariable.targetJointAngles.q[i],
-//                                           arm->stateVariable.currentJointAngles.q[i],
-//                                           0,
-//                                           arm->timer.dt
-//                                           );
-          
-//           MOTOR_LZ_MotionParam_t* output = NULL;
-//           if (i == 0) output = &arm->output.jointMotor1_output;
-//           else if (i == 1) output = &arm->output.jointMotor2_output;
-//           else output = &arm->output.jointMotor3_output;
-          
-//           output->target_angle = arm->stateVariable.targetJointAngles.q[i] + arm->param->q_offset[i];
-//           output->target_velocity = 0.0f;  // 位置模式速度由PID控制
-//           output->kp = 10.0f;  // 可调参数
-//           output->kd = 0.5f;
-//           output->torque = pid_output;
-//         }
-        
-//         // MIT模式控制（关节4-6使用DM电机）
-//         for (int i = 3; i < 6; i++) {
-//           float pid_output = PID_Calc(&arm->controller.joint_pid[i],
-//                                           arm->stateVariable.targetJointAngles.q[i],
-//                                           arm->stateVariable.currentJointAngles.q[i],
-//                                           0,
-//                                           arm->timer.dt
-//                                           );
-          
-//           MOTOR_MIT_Output_t* output = NULL;
-//           if (i == 3) output = &arm->output.jointMotor4_output;
-//           else if (i == 4) output = &arm->output.jointMotor5_output;
-//           else output = &arm->output.jointMotor6_output;
-          
-//           output->angle = arm->stateVariable.targetJointAngles.q[i] + arm->param->q_offset[i];
-//           output->velocity = 0.0f;
-//           output->kp = 50.0f;   // 位置刚度（提供阻抗和稳定性）
-//           output->kd = 3.0f;    // 速度阻尼（抑制振荡）
-//           output->torque = pid_output;  // PID输出作为前馈力矩（主要驱动力）
-//         }
-        
-//         // 发送控制命令
-//         MOTOR_LZ_MotionControl(&arm->param->jointMotor1_params, &arm->output.jointMotor1_output);
-//         MOTOR_LZ_MotionControl(&arm->param->jointMotor2_params, &arm->output.jointMotor2_output);
-//         MOTOR_LZ_MotionControl(&arm->param->jointMotor3_params, &arm->output.jointMotor3_output);
-//         MOTOR_DM_MITCtrl(&arm->param->jointMotor4_params, &arm->output.jointMotor4_output);
-//         MOTOR_DM_MITCtrl(&arm->param->jointMotor5_params, &arm->output.jointMotor5_output);
-//         MOTOR_DM_MITCtrl(&arm->param->jointMotor6_params, &arm->output.jointMotor6_output);
-//       }
-//       break;
-      
-//     case ARM_MODE_TRAJECTORY:
-//       // 轨迹跟踪模式（待实现）
-//       arm->control.state = ARM_STATE_ERROR;
-//       break;
-      
-//     case ARM_MODE_TEACH:
-//       // 示教模式（待实现）
-//       arm->control.state = ARM_STATE_ERROR;
-//       break;
-      
-//     default:
-//       arm->control.state = ARM_STATE_ERROR;
-//       break;
-//   }
-  
-//   return 0;
-// }
-
-// /**
-//  * @brief 逆运动学求解：根据目标末端位姿计算关节角度
-//  * @note 此函数计算量大，不要在控制循环中频繁调用
-//  */
-// int8_t Arm_SolveIK(Arm_t *arm, const Arm6dof_Pose_t* target_pose, Arm6dof_JointAngles_t* result_angles) {
-//   if (arm == NULL || target_pose == NULL || result_angles == NULL) {
-//     return -1;
-//   }
-  
-//   // 验证目标位姿的有效性
-//   if (isnan(target_pose->x) || isnan(target_pose->y) || isnan(target_pose->z) ||
-//       isnan(target_pose->roll) || isnan(target_pose->pitch) || isnan(target_pose->yaw) ||
-//       isinf(target_pose->x) || isinf(target_pose->y) || isinf(target_pose->z) ||
-//       isinf(target_pose->roll) || isinf(target_pose->pitch) || isinf(target_pose->yaw)) {
-//     return -1;  // 无效的目标位姿
-//   }
-  
-//   // 使用当前关节角度作为初始猜测值（如果已初始化）
-//   Arm6dof_JointAngles_t initial_guess;
-  
-//   // 检查currentJointAngles是否已初始化（不全为0）
-//   bool has_init = false;
-//   for (int i = 0; i < 6; i++) {
-//     if (arm->stateVariable.currentJointAngles.q[i] != 0.0f) {
-//       has_init = true;
-//       break;
-//     }
-//   }
-  
-//   if (has_init) {
-//     // 使用当前角度作为初始猜测
-//     memcpy(&initial_guess, &arm->stateVariable.currentJointAngles, sizeof(Arm6dof_JointAngles_t));
-//   } else {
-//     // 使用零位作为初始猜测（机械臂竖直向上）
-//     memset(&initial_guess, 0, sizeof(Arm6dof_JointAngles_t));
-//   }
-  
-//   // 调用逆运动学求解，容限1mm，最大迭代10次（减少计算量）
-//   int ret = Arm6dof_InverseKinematics(target_pose, &initial_guess, result_angles, 1.0f, 10);
-  
-//   if (ret == 0) {
-//     // 求解成功，更新到inverseKineJointAngles
-//     memcpy(&arm->stateVariable.inverseKineJointAngles, result_angles, sizeof(Arm6dof_JointAngles_t));
-//   }
-  
-//   return ret;
-// }
-
-// // ============================================================================
-// // 控制API函数实现
-// // ============================================================================
-
-// /**
-//  * @brief 设置控制模式
-//  */
-// int8_t Arm_SetMode(Arm_t *arm, Arm_ControlMode_t mode) {
-//   if (arm == NULL) {
-//     return -1;
-//   }
-//   arm->control.mode = mode;
-//   arm->control.state = ARM_STATE_STOPPED;
-//   return 0;
-// }
-
-// /**
-//  * @brief 使能/失能机械臂
-//  */
-// int8_t Arm_Enable(Arm_t *arm, bool enable) {
-//   if (arm == NULL) {
-//     return -1;
-//   }
-//   arm->control.enable = enable;
-  
-//   if (!enable) {
-//     // 失能时切换到空闲模式
-//     arm->control.mode = ARM_MODE_IDLE;
-//     arm->control.state = ARM_STATE_STOPPED;
-//   }
-  
-//   return 0;
-// }
-
-// /**
-//  * @brief 关节空间位置控制
-//  */
-// int8_t Arm_MoveJoint(Arm_t *arm, const Arm6dof_JointAngles_t* target_angles) {
-//   if (arm == NULL || target_angles == NULL) {
-//     return -1;
-//   }
-  
-//   // 检查关节角度是否在限制范围内
-//   for (int i = 0; i < 6; i++) {
-//     float qmin = arm->param->arm6dof_params.DH_params[i].qmin;
-//     float qmax = arm->param->arm6dof_params.DH_params[i].qmax;
-    
-//     if (target_angles->q[i] < qmin || target_angles->q[i] > qmax) {
-//       return -1;  // 超出关节限位
-//     }
-//   }
-  
-//   // 更新目标角度
-//   memcpy(&arm->stateVariable.targetJointAngles, target_angles, sizeof(Arm6dof_JointAngles_t));
-  
-//   // 切换到关节位置控制模式
-//   arm->control.mode = ARM_MODE_JOINT_POSITION;
-//   arm->control.state = ARM_STATE_MOVING;
-  
-//   return 0;
-// }
-
-// /**
-//  * @brief 笛卡尔空间位置控制
-//  */
-// int8_t Arm_MoveCartesian(Arm_t *arm, const Arm6dof_Pose_t* target_pose) {
-//   if (arm == NULL || target_pose == NULL) {
-//     return -1;
-//   }
-  
-//   // 求解逆运动学
-//   Arm6dof_JointAngles_t ik_solution;
-//   if (Arm_SolveIK(arm, target_pose, &ik_solution) != 0) {
-//     return -1;  // 逆运动学求解失败
-//   }
-  
-//   // 更新目标
-//   memcpy(&arm->stateVariable.targetEndPose, target_pose, sizeof(Arm6dof_Pose_t));
-//   memcpy(&arm->stateVariable.targetJointAngles, &ik_solution, sizeof(Arm6dof_JointAngles_t));
-  
-//   // 切换到笛卡尔位置控制模式
-//   arm->control.mode = ARM_MODE_CARTESIAN_POSITION;
-//   arm->control.state = ARM_STATE_MOVING;
-  
-//   return 0;
-// }
-
-// /**
-//  * @brief 急停
-//  */
-// int8_t Arm_Stop(Arm_t *arm) {
-//   if (arm == NULL) {
-//     return -1;
-//   }
-  
-//   // 将目标设置为当前位置
-//   memcpy(&arm->stateVariable.targetJointAngles, 
-//          &arm->stateVariable.currentJointAngles, 
-//          sizeof(Arm6dof_JointAngles_t));
-  
-//   arm->control.state = ARM_STATE_STOPPED;
-  
-//   return 0;
-// }
-
-// /**
-//  * @brief 获取当前运动状态
-//  */
-// Arm_MotionState_t Arm_GetState(Arm_t *arm) {
-//   if (arm == NULL) {
-//     return ARM_STATE_ERROR;
-//   }
-//   return arm->control.state;
-// }
-
diff --git a/User/module/arm.h b/User/module/arm.h
deleted file mode 100644
index 7acdcb3..0000000
--- a/User/module/arm.h
+++ /dev/null
@@ -1,282 +0,0 @@
-// /*
-//  * far♂蛇模块
-//  */
-
-// #pragma once
-
-// #include <stdbool.h>
-// #include <stddef.h>
-// #include <stdint.h>
-// #ifdef __cplusplus
-// extern "C" {
-// #endif
-
-// #include "main.h"
-// #include "component/pid.h"
-// #include "component/arm_kinematics/arm6dof.h"
-// #include "device/motor_dm.h"
-// #include "device/motor_lz.h"
-// /* Exported constants ------------------------------------------------------- */
-// #define ARM_JOINT_NUM 6  // 关节数量
-
-// /* Exported macro ----------------------------------------------------------- */
-// /* Exported types ----------------------------------------------------------- */
-
-// // 电机类型
-// typedef enum {
-//   JOINT_MOTOR_TYPE_LZ = 0,  // 凌控电机
-//   JOINT_MOTOR_TYPE_DM,      // 达妙电机
-// } Joint_MotorType_t;
-
-// // 控制模式
-// typedef enum {
-//   ARM_MODE_IDLE = 0,           // 空闲模式（电机松弛）
-//   ARM_MODE_JOINT_POSITION,     // 关节空间位置控制
-//   ARM_MODE_CARTESIAN_POSITION, // 笛卡尔空间位置控制
-//   ARM_MODE_TRAJECTORY,         // 轨迹跟踪模式
-//   ARM_MODE_TEACH,              // 示教模式（力控）
-// } Arm_ControlMode_t;
-
-// // 运动状态
-// typedef enum {
-//   ARM_STATE_STOPPED = 0,  // 停止
-//   ARM_STATE_MOVING,       // 运动中
-//   ARM_STATE_REACHED,      // 到达目标
-//   ARM_STATE_ERROR,        // 错误
-// } Arm_MotionState_t;
-
-//   struct {
-//     union {
-//       MOTOR_LZ_Param_t lzMotor;
-//       MOTOR_DM_Param_t dmMotor;
-//     };
-//     KPID_Params_t pid;
-//   } *Joint_MotorParams_t;
-// typedef struct {
-//   // 关节标识
-//   uint8_t id;                    // 关节编号（0-5）
-//   Joint_MotorType_t motor_type;  // 电机类型
-  
-//   // 运动学参数（DH参数）
-//   Arm6dof_DHParams_t dh_params;  // DH参数（包含限位）
-//   float q_offset;                // 零位偏移
-  
-//   // 参数
-//  *params;
-  
-//   // 电机实例
-//   union {
-//     MOTOR_LZ_t lz_motor;
-//     MOTOR_DM_t dm_motor;
-//   } motor;
-  
-//   // 控制器
-//   KPID_t pid;                    // PID控制器
-  
-//   // 状态变量
-//   struct {
-//     float current_angle;         // 当前角度（去除零位偏移后）
-//     float current_velocity;      // 当前速度
-//     float current_torque;        // 当前力矩
-//     float target_angle;          // 目标角度
-//     float target_velocity;       // 目标速度
-//     bool online;                 // 在线状态
-//   } state;
-  
-//   // 控制输出（根据motor_type选择使用）
-//   union {
-//     MOTOR_LZ_MotionParam_t lz_output;
-//     MOTOR_MIT_Output_t dm_output;
-//   } output;
-  
-// } Joint_t;
-
-// // ============================================================================
-// // Arm（机械臂）- 由多个关节组成
-// // ============================================================================
-// typedef struct {
-//   // 关节数组（面向对象：机械臂由6个关节对象组成）
-//   Joint_t joints[ARM_JOINT_NUM];
-  
-//   // 全局运动学参数
-//   struct {
-//     float x, y, z;           // 工具中心偏移 (mm)
-//     float roll, pitch, yaw;  // 工具姿态偏移 (rad)
-//   } tool_offset;
-  
-//   // 时间管理
-//   struct {
-//     float now;               // 当前时间（秒）
-//     uint64_t last_wakeup;    // 上次唤醒时间（微秒）
-//     float dt;                // 控制周期（秒）
-//   } timer;
-  
-//   // 末端状态（笛卡尔空间）
-//   struct {
-//     Arm6dof_Pose_t current;  // 当前末端位姿（正运动学结果）
-//     Arm6dof_Pose_t target;   // 目标末端位姿
-//   } end_effector;
-  
-//   // 控制状态
-//   struct {
-//     Arm_ControlMode_t mode;      // 控制模式
-//     Arm_MotionState_t state;     // 运动状态
-//     float position_tolerance;    // 位置到达容差（rad）
-//     float velocity_tolerance;    // 速度到达容差（rad/s）
-//     bool enable;                 // 使能标志
-//   } control;
-  
-// } Arm_t;
-
-// // 兼容旧接口的参数结构体
-// typedef struct {
-//   Arm6dof_Params_t arm6dof_params;
-//   KPID_Params_t joint_pid_params[6];
-//   MOTOR_LZ_Param_t jointMotor1_params;
-//   MOTOR_LZ_Param_t jointMotor2_params;
-//   MOTOR_LZ_Param_t jointMotor3_params;
-//   MOTOR_DM_Param_t jointMotor4_params;
-//   MOTOR_DM_Param_t jointMotor5_params;
-//   MOTOR_DM_Param_t jointMotor6_params;
-//   float q_offset[6];
-// } Arm_Params_t;
-
-// /* Exported functions prototypes -------------------------------------------- */
-
-// /**
-//  * @brief 初始化机械臂（兼容旧接口）
-//  */
-// int8_t Arm_Init(Arm_t *arm, Arm_Params_t *arm_param, float freq);
-
-// /**
-//  * @brief 更新机械臂状态
-//  */
-// int8_t Arm_Updata(Arm_t *arm);
-
-// /**
-//  * @brief 机械臂控制
-//  */
-// int8_t Arm_Ctrl(Arm_t *arm);
-
-// // ============================================================================
-// // 关节级别操作（面向对象接口）
-// // ============================================================================
-
-// /**
-//  * @brief 初始化单个关节
-//  * @param joint 关节指针
-//  * @param id 关节编号（0-5）
-//  * @param motor_type 电机类型
-//  * @param dh_params DH参数
-//  * @param pid_params PID参数
-//  * @param freq 控制频率
-//  * @return 0: 成功, -1: 失败
-//  */
-// int8_t Joint_Init(Joint_t *joint, uint8_t id, Joint_MotorType_t motor_type,
-//                   const Arm6dof_DHParams_t *dh_params, const KPID_Params_t *pid_params, float freq);
-
-// /**
-//  * @brief 更新关节状态（读取电机反馈）
-//  * @param joint 关节指针
-//  * @return 0: 成功, -1: 失败
-//  */
-// int8_t Joint_Update(Joint_t *joint);
-
-// /**
-//  * @brief 关节位置控制
-//  * @param joint 关节指针
-//  * @param target_angle 目标角度（rad）
-//  * @param dt 控制周期（s）
-//  * @return 0: 成功, -1: 失败
-//  */
-// int8_t Joint_PositionControl(Joint_t *joint, float target_angle, float dt);
-
-// /**
-//  * @brief 关节松弛
-//  * @param joint 关节指针
-//  * @return 0: 成功, -1: 失败
-//  */
-// int8_t Joint_Relax(Joint_t *joint);
-
-// /**
-//  * @brief 检查关节是否到达目标
-//  * @param joint 关节指针
-//  * @param tolerance 位置容差（rad）
-//  * @return true: 已到达, false: 未到达
-//  */
-// bool Joint_IsReached(const Joint_t *joint, float tolerance);
-
-// // ============================================================================
-// // 机械臂级别操作（继续保持现有接口）
-// // ============================================================================
-
-// /**
-//  * @brief 设置控制模式
-//  * @param arm 机械臂实例
-//  * @param mode 控制模式
-//  * @return 0: 成功, -1: 失败
-//  */
-// int8_t Arm_SetMode(Arm_t *arm, Arm_ControlMode_t mode);
-
-// /**
-//  * @brief 使能/失能机械臂
-//  * @param arm 机械臂实例
-//  * @param enable true: 使能, false: 失能
-//  * @return 0: 成功, -1: 失败
-//  */
-// int8_t Arm_Enable(Arm_t *arm, bool enable);
-
-// /**
-//  * @brief 关节空间位置控制：设置目标关节角度
-//  * @param arm 机械臂实例
-//  * @param target_angles 目标关节角度（rad）
-//  * @return 0: 成功, -1: 失败
-//  */
-// int8_t Arm_MoveJoint(Arm_t *arm, const Arm6dof_JointAngles_t* target_angles);
-
-// /**
-//  * @brief 笛卡尔空间位置控制：设置目标末端位姿
-//  * @param arm 机械臂实例
-//  * @param target_pose 目标末端位姿
-//  * @return 0: 成功（含逆解成功）, -1: 失败（含逆解失败）
-//  */
-// int8_t Arm_MoveCartesian(Arm_t *arm, const Arm6dof_Pose_t* target_pose);
-
-// /**
-//  * @brief 急停：立即停止所有运动
-//  * @param arm 机械臂实例
-//  * @return 0: 成功, -1: 失败
-//  */
-// int8_t Arm_Stop(Arm_t *arm);
-
-// /**
-//  * @brief 获取当前运动状态
-//  * @param arm 机械臂实例
-//  * @return 运动状态
-//  */
-// Arm_MotionState_t Arm_GetState(Arm_t *arm);
-
-// /**
-//  * @brief ;
-//   }output;
-// */
-// int8_t Arm_Init(Arm_t *arm, Arm_Params_t *arm_param, float freq);
-// int8_t Arm_Updata(Arm_t *arm);
-// int8_t Arm_Ctrl(Arm_t *arm);
-
-// /**
-//  * @brief 逆运动学求解：根据目标末端位姿计算关节角度
-//  * @param arm 机械臂实例
-//  * @param target_pose 目标末端位姿
-//  * @param result_angles 输出的关节角度解
-//  * @return 0: 成功, -1: 失败
-//  * @note 使用当前关节角度作为初始猜测值，迭代50次，误差容限1.0mm
-//  */
-// int8_t Arm_SolveIK(Arm_t *arm, const Arm6dof_Pose_t* target_pose, Arm6dof_JointAngles_t* result_angles);
-
-// #ifdef __cplusplus
-// }
-// #endif
-
-
-
diff --git a/User/module/arm_oop.hpp b/User/module/arm_oop.hpp
index 01821dc..b1e4641 100644
--- a/User/module/arm_oop.hpp
+++ b/User/module/arm_oop.hpp
@@ -13,7 +13,7 @@
 #include "bsp/time.h"
 #include "component/arm_kinematics/arm6dof.h"
 #include "component/toolbox/robotics.h"
-#define qLimitTolerance 0.5// 关节角度误差容限（rad），用于IK解的有效性验证
+#define qLimitTolerance 0.75// 关节角度误差容限（rad），用于IK解的有效性验证
 namespace arm {
 
 // 控制模式
@@ -21,6 +21,7 @@ enum class ControlMode {
     IDLE = 0,
     JOINT_POSITION,
     CARTESIAN_POSITION,
+    CARTESIAN_ANALYTICAL,  
     TRAJECTORY,
     TEACH,           // 示教模式（重力补偿 + 零刚度）
     GRAVITY_COMP,    // 重力补偿模式（带位置保持）
@@ -84,12 +85,61 @@ private:
         bool valid;                    // IK解是否有效
     } traj_;
 
+    // 坐标系目标缓存
+    // 用途：MoveCartesianTool / MoveCartesianHeading 每帧都接收坐标系下的绝对目标，
+    //       若每帧都用当前 end_effector_.current 做变换，机器人运动时位姿变化会导致
+    //       世界系目标每帧漂移，MoveCartesian 检测到 goal 变化就重置 traj_.t=0，
+    //       t 永远无法到达 1。
+    //       解决：仅当输入目标发生变化时才重新用当前位姿换算世界系目标并缓存；
+    //             输入不变时复用缓存，轨迹可以连续推进直到 t=1。
+    struct FrameCache_t {
+        Arm6dof_Pose_t last_input;   // 上次收到的坐标系输入
+        Arm6dof_Pose_t world_goal;   // 对应的世界系目标（换算结果）
+        bool valid;                  // false=尚未初始化，首次调用强制换算
+    };
+    FrameCache_t tool_frame_cache_;
+    FrameCache_t heading_frame_cache_;
+
     // 时间管理
     struct {
         float now;
         uint64_t last_wakeup;
         float dt;
     } timer_;
+
+    static bool IsPoseChanged(const Arm6dof_Pose_t& lhs,
+                              const Arm6dof_Pose_t& rhs,
+                              float pos_eps,
+                              float ang_eps) {
+        return fabsf(lhs.x - rhs.x) > pos_eps ||
+               fabsf(lhs.y - rhs.y) > pos_eps ||
+               fabsf(lhs.z - rhs.z) > pos_eps ||
+               fabsf(lhs.roll - rhs.roll) > ang_eps ||
+               fabsf(lhs.pitch - rhs.pitch) > ang_eps ||
+               fabsf(lhs.yaw - rhs.yaw) > ang_eps;
+    }
+
+    void RelaxAllJoints() {
+        for (Joint* joint : joints_) {
+            if (joint) {
+                joint->Relax();
+            }
+        }
+    }
+
+    void SetJointTargetsToCurrent() {
+        for (size_t i = 0; i < JOINT_NUM; ++i) {
+            if (joints_[i]) {
+                joints_[i]->SetTargetAngle(joints_[i]->GetCurrentAngle());
+            }
+        }
+    }
+
+    void FillCurrentJointAngles(Arm6dof_JointAngles_t& q) const {
+        for (size_t i = 0; i < JOINT_NUM; ++i) {
+            q.q[i] = joints_[i] ? joints_[i]->GetCurrentAngle() : 0.0f;
+        }
+    }
     
 public:
     // 构造函数
@@ -115,6 +165,11 @@ public:
         traj_.max_lin_vel = 0.15f;  // 150 mm/s，可通过 SetLinVelLimit() 调整
         traj_.max_ang_vel = 1.0f;   // ~57°/s，可通过 SetAngVelLimit() 调整
 
+        memset(&tool_frame_cache_,    0, sizeof(tool_frame_cache_));
+        memset(&heading_frame_cache_, 0, sizeof(heading_frame_cache_));
+        tool_frame_cache_.valid    = false;
+        heading_frame_cache_.valid = false;
+
         timer_.now = 0.0f;
         timer_.last_wakeup = 0;
         timer_.dt = 0.001f;
@@ -163,9 +218,7 @@ public:
         
         // 读取当前关节角度（局部变量，正运动学和重力补偿共用一次读取）
         Arm6dof_JointAngles_t q;
-        for (size_t i = 0; i < JOINT_NUM; ++i) {
-            q.q[i] = joints_[i] ? joints_[i]->GetCurrentAngle() : 0.0f;
-        }
+        FillCurrentJointAngles(q);
         
         // 正运动学：计算当前末端位姿
         Arm6dof_ForwardKinematics(&q, &end_effector_.current);
@@ -194,6 +247,83 @@ public:
         }
         return 0;
     }
+
+    /**
+     * @brief 2.5D 解析降维逆运动学（专为该六轴机械臂的L型构型设计）
+     * 特点：无奇异点、O(1)极速求解、绝对稳定。
+     * 直接映射目标并进行安全边界裁剪，无需牛顿迭代。
+     */
+    int8_t InverseKinematicsAnalytical(const Arm6dof_Pose_t* pose, Arm6dof_JointAngles_t* q_out) {
+        if (!pose || !q_out) return -1;
+        
+        float x = pose->x;
+        float y = pose->y;
+        float z = pose->z;
+
+        // 提取的宏观参数
+        const float L1 = 0.3265f;
+        const float dX = 0.0905f;
+        const float dY = 0.05278f + 0.18467f;      // 从 URDF 参数 J4 和 J5 中提取的垂直偏置积累
+        const float L2_eff = sqrtf(dX*dX + dY*dY); // 虚拟小臂斜边
+        const float theta_offset = atan2f(dY, dX); // 结构连杆的天然偏置仰角
+        const float L3 = 0.10487f;                 // 腕部总伸出长度
+        const float Z_J2 = 0.024f + 0.1015f;       // 自基座到底盘的Z高度
+
+        // J1: 偏航直接通过 XY 夹角决定
+        float target_q1 = atan2f(y, x);
+
+        // 面向R-Z平面的投影
+        float R = sqrtf(x*x + y*y);
+        float e_pitch = pose->pitch;
+
+        // 逆推动力学关节5 (虚拟手腕端点) 的位置
+        float R5 = R - L3 * cosf(e_pitch);
+        float Z5 = z - L3 * sinf(e_pitch);
+
+        // 相对于 J2 原点的距离
+        float r_target = R5;
+        float z_target = Z5 - Z_J2;
+
+        float D_sq = r_target*r_target + z_target*z_target;
+        float D = sqrtf(D_sq);
+
+        // 死区保护层(极其重要)：限制最大前伸距离，强制拦下无效追踪，绝不当机
+        float MAX_REACH = L1 + L2_eff - 0.005f; 
+        float MIN_REACH = fabsf(L1 - L2_eff) + 0.005f;
+        if (D > MAX_REACH) { D = MAX_REACH; D_sq = D*D; }
+        if (D < MIN_REACH) { D = MIN_REACH; D_sq = D*D; }
+
+        // 用余弦定理求 肘部内角 gamma
+        float cos_gamma = (L1*L1 + L2_eff*L2_eff - D_sq) / (2.0f * L1 * L2_eff);
+        cos_gamma = (cos_gamma > 1.0f) ? 1.0f : ((cos_gamma < -1.0f) ? -1.0f : cos_gamma);
+        float gamma = acosf(cos_gamma);
+
+        // 用余弦定理求 目标线与大臂的夹角 beta
+        float cos_beta = (L1*L1 + D_sq - L2_eff*L2_eff) / (2.0f * L1 * D);
+        cos_beta = (cos_beta > 1.0f) ? 1.0f : ((cos_beta < -1.0f) ? -1.0f : cos_beta);
+        float beta = acosf(cos_beta);
+
+        // 目标线相对于水平面的仰角 alpha
+        float alpha = atan2f(z_target, r_target);
+
+        // 选择 Elbow Up（肘部向上）姿态：
+        float target_q2 = alpha + beta; 
+        float q3_eff = -( (float)M_PI - gamma); 
+        float target_q3 = q3_eff - theta_offset;
+
+        // 手腕解耦补偿
+        float arm_pitch_eff = target_q2 + q3_eff; 
+        float target_q5 = e_pitch - arm_pitch_eff;
+
+        q_out->q[0] = target_q1;
+        q_out->q[1] = target_q2;
+        q_out->q[2] = target_q3;
+        q_out->q[3] = pose->roll;
+        q_out->q[4] = target_q5;
+        q_out->q[5] = pose->yaw;
+
+        return 0;
+    }
     
     /**
      * @brief 轨迹规划核心：基于固定的 start→goal 路径，由 traj_.t 驱动进度
@@ -255,12 +385,17 @@ public:
         if (traj_.valid) {
             q_init = traj_.angles;
         } else {
-            for (size_t i = 0; i < JOINT_NUM; ++i) {
-                q_init.q[i] = joints_[i] ? joints_[i]->GetCurrentAngle() : 0.0f;
-            }
+            FillCurrentJointAngles(q_init);
         }
 
-        if (Arm6dof_InverseKinematics(&interp, &q_init, &traj_.angles, 0.001f, 50) != 0) {
+        bool ik_success = false;
+        if (control_.mode == ControlMode::CARTESIAN_ANALYTICAL) {
+            ik_success = (InverseKinematicsAnalytical(&interp, &traj_.angles) == 0);
+        } else {
+            ik_success = (Arm6dof_InverseKinematics(&interp, &q_init, &traj_.angles, 0.001f, 50) == 0);
+        }
+
+        if (!ik_success) {
             traj_.valid = false;
             traj_.active = false;
             control_.state = MotionState::ERROR;
@@ -271,7 +406,7 @@ public:
         // IK 可能返回与 q_init 差 2π 整数倍的等效解导致跳变，wrap 到最近分支
         for (size_t i = 0; i < JOINT_NUM; ++i) {
             if (!joints_[i]) continue;
-            const auto& dh = joints_[i]->GetDHParams();
+            const auto& dh = joints_[i]->GetParams();
             if ((dh.qmax - dh.qmin) <= TWO_PI + 0.1f) continue;  // 范围 ≤ 2π，无等效分支
             float diff = traj_.angles.q[i] - q_init.q[i];
             diff -= roundf(diff / TWO_PI) * TWO_PI;
@@ -281,7 +416,7 @@ public:
         // 限位检查
         for (size_t i = 0; i < JOINT_NUM; ++i) {
             if (joints_[i]) {
-                const auto& dh = joints_[i]->GetDHParams();
+                const auto& dh = joints_[i]->GetParams();
                 if (traj_.angles.q[i] < (dh.qmin - qLimitTolerance) ||
                     traj_.angles.q[i] > (dh.qmax + qLimitTolerance)) {
                     traj_.valid = false;
@@ -339,9 +474,7 @@ public:
         
         // 未使能则松弛
         if (!control_.enable) {
-            for (Joint* joint : joints_) {  // 遍历关节数组
-                if (joint) joint->Relax();
-            }
+            RelaxAllJoints();
             control_.state = MotionState::STOPPED;
             return 0;
         }
@@ -349,21 +482,18 @@ public:
         // 根据控制模式执行
         switch (control_.mode) {
             case ControlMode::IDLE:
-                for (Joint* joint : joints_) {  // 遍历关节数组
-                    if (joint) joint->Relax();
-                }
+                RelaxAllJoints();
                 control_.state = MotionState::STOPPED;
                 break;
                 
             case ControlMode::JOINT_POSITION:
             case ControlMode::CARTESIAN_POSITION:
+            case ControlMode::CARTESIAN_ANALYTICAL:
             case ControlMode::GRAVITY_COMP: {
                 // 检查错误状态（不可达或超限）
                 if (control_.state == MotionState::ERROR) {
                     // 进入错误状态，松弛所有关节（安全停止）
-                    for (Joint* joint : joints_) {
-                        if (joint) joint->Relax();
-                    }
+                    RelaxAllJoints();
                     control_.enable = false;  // 自动禁用
                     return -1;
                 }
@@ -379,15 +509,11 @@ public:
                 
                 // GRAVITY_COMP 模式：保持当前位置 + 重力补偿
                 if (control_.mode == ControlMode::GRAVITY_COMP) {
-                    for (size_t i = 0; i < JOINT_NUM; ++i) {
-                        if (joints_[i]) {
-                            joints_[i]->SetTargetAngle(joints_[i]->GetCurrentAngle());
-                        }
-                    }
+                    SetJointTargetsToCurrent();
                 }
 
-                // CARTESIAN_POSITION 模式：每帧推进轨迹一小步，再应用IK解到关节
-                if (control_.mode == ControlMode::CARTESIAN_POSITION) {
+                // CARTESIAN_POSITION 相关的轨迹模式：每帧推进轨迹一小步，再应用IK解到关节
+                if (control_.mode == ControlMode::CARTESIAN_POSITION || control_.mode == ControlMode::CARTESIAN_ANALYTICAL) {
                     // 轨迹规划核心调用：插值 + IK，结果写入 traj_
                     StepTrajectory();
 
@@ -399,9 +525,7 @@ public:
                         }
                     } else {
                         // IK解无效：松弛所有关节并进入错误状态
-                        for (Joint* joint : joints_)    {
-                            if (joint) joint->Relax();
-                        }
+                        RelaxAllJoints();
                         control_.state = MotionState::ERROR;
                         return -1;
                     }
@@ -432,9 +556,7 @@ public:
                     }
                 } else {
                     // 未使能重力补偿时，示教模式下松弛
-                    for (Joint* joint : joints_) {
-                        if (joint) joint->Relax();
-                    }
+                    RelaxAllJoints();
                 }
                 control_.state = MotionState::MOVING;
                 break;
@@ -506,7 +628,7 @@ public:
         // 1. 检查限位
         for (size_t i = 0; i < JOINT_NUM; ++i) {
             if (joints_[i]) {
-                const auto& dh = joints_[i]->GetDHParams();
+                const auto& dh = joints_[i]->GetParams();
                 if (target_angles[i] < dh.qmin || target_angles[i] > dh.qmax) {
                     return -1;  // 超限
                 }
@@ -535,13 +657,7 @@ public:
         // 检测目标是否发生有效变化（避免每帧重置轨迹）
         constexpr float POS_THRESH = 0.001f;   // 1mm
         constexpr float ANG_THRESH = 0.01f;    // ~0.57°
-        bool goal_changed =
-            fabsf(goal.x     - traj_.goal.x)     > POS_THRESH ||
-            fabsf(goal.y     - traj_.goal.y)     > POS_THRESH ||
-            fabsf(goal.z     - traj_.goal.z)     > POS_THRESH ||
-            fabsf(goal.roll  - traj_.goal.roll)  > ANG_THRESH ||
-            fabsf(goal.pitch - traj_.goal.pitch) > ANG_THRESH ||
-            fabsf(goal.yaw   - traj_.goal.yaw)   > ANG_THRESH;
+        bool goal_changed = IsPoseChanged(goal, traj_.goal, POS_THRESH, ANG_THRESH);
         if (goal_changed) {
             // 从当前末端位姿出发重新规划轨迹
             traj_.start  = end_effector_.current;
@@ -575,31 +691,39 @@ public:
      *        .roll/.pitch/.yaw ：工具系下的目标姿态 (rad)
      */
     void MoveCartesianTool(const Arm6dof_Pose_t& target_tool) {
-        const Arm6dof_Pose_t& cur = end_effector_.current;
+        // 仅当用户输入目标发生变化时才重新换算世界系目标
+        // 若输入不变（用户未推杆），复用缓存的世界系目标，保证轨迹可以连续推进至 t=1
+        constexpr float POS_EPS = 0.001f;
+        constexpr float ANG_EPS = 0.01f;
+        const FrameCache_t& tc = tool_frame_cache_;
+        bool input_changed = !tc.valid || IsPoseChanged(target_tool, tc.last_input, POS_EPS, ANG_EPS);
 
-        // ── R_cur = Rz(yaw)*Ry(pitch)*Rx(roll) ──
-        float rpy_cur_arr[3] = {cur.yaw, cur.pitch, cur.roll};
-        Matrixf<3,3> R = robotics::rpy2r(Matrixf<3,1>(rpy_cur_arr));
+        if (input_changed) {
+            // 用当前末端位姿做坐标系变换（仅在用户改变目标时触发一次）
+            const Arm6dof_Pose_t& cur = end_effector_.current;
+            float rpy_cur_arr[3] = {cur.yaw, cur.pitch, cur.roll};
+            Matrixf<3,3> R = robotics::rpy2r(Matrixf<3,1>(rpy_cur_arr));
 
-        // ── 位置：p_world = R_cur * p_tool（绝对目标，工具系坐标→世界系） ──
-        Arm6dof_Pose_t goal;
-        float p_arr[3] = {target_tool.x, target_tool.y, target_tool.z};
-        Matrixf<3,1> p_world = R * Matrixf<3,1>(p_arr);
-        goal.x = p_world[0][0];
-        goal.y = p_world[1][0];
-        goal.z = p_world[2][0];
+            Arm6dof_Pose_t goal;
+            float p_arr[3] = {target_tool.x, target_tool.y, target_tool.z};
+            Matrixf<3,1> p_world = R * Matrixf<3,1>(p_arr);
+            goal.x = p_world[0][0];
+            goal.y = p_world[1][0];
+            goal.z = p_world[2][0];
 
-        // ── 姿态：R_world = R_cur * R_target（工具系绝对姿态→世界系） ──
-        float rpy_target_arr[3] = {target_tool.yaw, target_tool.pitch, target_tool.roll};
-        Matrixf<3,3> Rn = R * robotics::rpy2r(Matrixf<3,1>(rpy_target_arr));
+            float rpy_target_arr[3] = {target_tool.yaw, target_tool.pitch, target_tool.roll};
+            Matrixf<3,3> Rn = R * robotics::rpy2r(Matrixf<3,1>(rpy_target_arr));
+            Matrixf<3,1> rpy_new = robotics::r2rpy(Rn);
+            goal.yaw   = rpy_new[0][0];
+            goal.pitch = rpy_new[1][0];
+            goal.roll  = rpy_new[2][0];
 
-        // ── R_new → RPY，写入目标位姿 ──
-        Matrixf<3,1> rpy_new = robotics::r2rpy(Rn);  // [yaw; pitch; roll]
-        goal.yaw   = rpy_new[0][0];
-        goal.pitch = rpy_new[1][0];
-        goal.roll  = rpy_new[2][0];
+            tool_frame_cache_.last_input = target_tool;
+            tool_frame_cache_.world_goal = goal;
+            tool_frame_cache_.valid      = true;
+        }
 
-        MoveCartesian(goal);
+        MoveCartesian(tool_frame_cache_.world_goal);
     }
 
     /**
@@ -620,28 +744,35 @@ public:
      *                          直观含义：yaw转动就是末端 yaw，pitch/roll 同理
      */
     void MoveCartesianHeading(const Arm6dof_Pose_t& target_heading) {
-        const Arm6dof_Pose_t& cur = end_effector_.current;
+        // 仅当用户输入目标发生变化时才重新换算世界系目标（同 MoveCartesianTool 原理）
+        constexpr float POS_EPS = 0.001f;
+        constexpr float ANG_EPS = 0.01f;
+        const FrameCache_t& hc = heading_frame_cache_;
+        bool input_changed = !hc.valid || IsPoseChanged(target_heading, hc.last_input, POS_EPS, ANG_EPS);
 
-        // ── 位置：航向系→世界系，Rz(yaw) 旋转水平分量，Z 直接为世界Z ──
-        float cy = cosf(cur.yaw), sy = sinf(cur.yaw);
-        Arm6dof_Pose_t goal;
-        goal.x = cy * target_heading.x - sy * target_heading.y;  // 世界X
-        goal.y = sy * target_heading.x + cy * target_heading.y;  // 世界Y
-        goal.z = target_heading.z;                                // 世界Z 直接赋值
+        if (input_changed) {
+            const Arm6dof_Pose_t& cur = end_effector_.current;
+            float cy = cosf(cur.yaw), sy = sinf(cur.yaw);
+            Arm6dof_Pose_t goal;
+            goal.x = cy * target_heading.x - sy * target_heading.y;
+            goal.y = sy * target_heading.x + cy * target_heading.y;
+            goal.z = target_heading.z;
 
-        // ── 姿态：航向系下绝对姿态→世界系：R_world = Rz(yaw) * R_target ──
-        float rpy_yaw_arr[3]    = {cur.yaw, 0.0f, 0.0f};
-        float rpy_target_arr[3] = {target_heading.yaw, target_heading.pitch, target_heading.roll};
-        Matrixf<3,3> Rn = robotics::rpy2r(Matrixf<3,1>(rpy_yaw_arr))
-                        * robotics::rpy2r(Matrixf<3,1>(rpy_target_arr));
+            float rpy_yaw_arr[3]    = {cur.yaw, 0.0f, 0.0f};
+            float rpy_target_arr[3] = {target_heading.yaw, target_heading.pitch, target_heading.roll};
+            Matrixf<3,3> Rn = robotics::rpy2r(Matrixf<3,1>(rpy_yaw_arr))
+                            * robotics::rpy2r(Matrixf<3,1>(rpy_target_arr));
+            Matrixf<3,1> rpy_new = robotics::r2rpy(Rn);
+            goal.yaw   = rpy_new[0][0];
+            goal.pitch = rpy_new[1][0];
+            goal.roll  = rpy_new[2][0];
 
-        // ── R_new → RPY，写入目标位姿 ──
-        Matrixf<3,1> rpy_new = robotics::r2rpy(Rn);  // [yaw; pitch; roll]
-        goal.yaw   = rpy_new[0][0];
-        goal.pitch = rpy_new[1][0];
-        goal.roll  = rpy_new[2][0];
+            heading_frame_cache_.last_input = target_heading;
+            heading_frame_cache_.world_goal = goal;
+            heading_frame_cache_.valid      = true;
+        }
 
-        MoveCartesian(goal);
+        MoveCartesian(heading_frame_cache_.world_goal);
     }
     
     // 获取末端位姿（FK结果，单位 m/rad）
@@ -680,14 +811,8 @@ public:
         traj_.active = false;
 
         Arm6dof_JointAngles_t q;
-        for (size_t i = 0; i < JOINT_NUM; ++i) {
-            q.q[i] = joints_[i] ? joints_[i]->GetCurrentAngle() : 0.0f;
-        }
-         for (size_t i = 0; i < JOINT_NUM; ++i) {
-            if (joints_[i]) {
-                joints_[i]->SetTargetAngle(joints_[i]->GetCurrentAngle());
-            }
-        }
+        FillCurrentJointAngles(q);
+        SetJointTargetsToCurrent();
         inverseKinematics_.angles = q;
 
 
diff --git a/User/module/cmd/cmd.c b/User/module/cmd/cmd.c
index 67d696f..a2f875e 100644
--- a/User/module/cmd/cmd.c
+++ b/User/module/cmd/cmd.c
@@ -256,52 +256,72 @@ static void CMD_NUC_BuildShootCmd(CMD_t *ctx) {
 #if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_ARM
 static void CMD_RC_BuildArmCmd(CMD_t *ctx) {
   /*
-   * 左拨杆映射：
-   *   UP   -> enable = false（失能）
-   *   MID  -> enable = true，正常笛卡尔增量控制
-   *   DOWN -> enable = true，set_target_as_current = true（目标位姿吸附为当前位姿）
+   * 遥控器控制机械臂末端位姿 —— 笛卡尔增量方案
+   *
+   * 左拨杆 SW_L (sw[0]) —— 整体使能:
+   *   UP   → 失能（电机松弛/重力补偿）
+   *   MID  → 使能，笛卡尔增量控制
+   *   DOWN → 使能（保留备用）
+   *
+   * 右拨杆 SW_R (sw[1]) —— 自由度分组:
+   *
+   *   UP  【位置模式】3轴平移 + 偏航
+   *         右摇杆X (RX) → X 平移
+   *         右摇杆Y (RY) → Y 平移
+   *         左摇杆Y (LY) → Z 平移（升降）
+   *         左摇杆X (LX) → Yaw 偏航旋转
+   *
+   *   MID 【姿态模式】俯仰/横滚/偏航 + 升降
+   *         右摇杆X (RX) → Yaw  偏航旋转
+   *         右摇杆Y (RY) → Pitch 俯仰旋转
+   *         左摇杆X (LX) → Roll  横滚旋转
+   *         左摇杆Y (LY) → Z 平移（升降）
+   *
+   *   DOWN → set_target_as_current（目标吸附当前实际位姿，消除累积漂移）
    */
   ctx->output.arm.cmd.set_target_as_current = false;
-    if (ctx->input.rc.sw[1]==CMD_SW_DOWN) {
-      ctx->output.arm.cmd.set_target_as_current = true;
+  if (ctx->input.rc.sw[1] == CMD_SW_DOWN) {
+    ctx->output.arm.cmd.set_target_as_current = true;
   }
 
   switch (ctx->input.rc.sw[0]) {
-      case CMD_SW_MID:
-          ctx->output.arm.cmd.enable = true;
-          break;
-      case CMD_SW_DOWN:
-          ctx->output.arm.cmd.enable = true;
-          break;
-      default: 
-          ctx->output.arm.cmd.enable = false;
-          goto end;
-          break;
+    case CMD_SW_MID:
+    case CMD_SW_DOWN:
+      ctx->output.arm.cmd.enable = true;
+      break;
+    default:
+      ctx->output.arm.cmd.enable = false;
+      goto end;
   }
 
-  /* 遥控器模式使用笛卡尔位姿控制 */
+  /* 遥控器模式使用笛卡尔位姿累积控制 */
   ctx->output.arm.cmd.ctrl_type = ARM_CTRL_REMOTE_CARTESIAN;
 
-  if (!ctx->output.arm.cmd.enable) return;
-  /* set_target_as_current 置位时不叠加摇杆增量，由上层模块负责同步位姿 */
+  /* set_target_as_current 置位时不叠加摇杆增量，由上层负责同步位姿基准 */
   if (ctx->output.arm.cmd.set_target_as_current) return;
 
-  /* 摆杆增量控制末端位姿 */
-  float pos_speed = 0.3f * ctx->timer.dt;   /* 位置平移速度 (m/s) */
-  float rot_speed = 1.0f * ctx->timer.dt;   /* 姿态旋转速度 (rad/s) */
-    switch (ctx->input.rc.sw[1]) {
-      case CMD_SW_UP:
-            ctx->output.arm.cmd.target_pose.x   += ctx->input.rc.joy_right.x * pos_speed;
-            ctx->output.arm.cmd.target_pose.y   += ctx->input.rc.joy_right.y * pos_speed;
-            ctx->output.arm.cmd.target_pose.z   += ctx->input.rc.joy_left.y  * pos_speed;
-            ctx->output.arm.cmd.target_pose.yaw += ctx->input.rc.joy_left.x  * rot_speed;
-          break;
-      case CMD_SW_MID:
-            ctx->output.arm.cmd.target_pose.roll   += ctx->input.rc.joy_left.x * pos_speed;
-            ctx->output.arm.cmd.target_pose.pitch  += ctx->input.rc.joy_right.y * pos_speed;
-          break;
-      default:  
-          break;
+  /* 摇杆速度直接积分到 target_pose（坐标系语义由 arm_main 的 control_frame 决定） */
+  const float pos_scale = 0.3f;   /* 末端线速度上限 (m/s) */
+  const float rot_scale = 1.0f;   /* 末端角速度上限 (rad/s) */
+  const float dt = ctx->timer.dt;
+
+  switch (ctx->input.rc.sw[1]) {
+    case CMD_SW_UP:
+      /* 位置模式：3轴平移 + 偏航 */
+      ctx->output.arm.cmd.target_pose.x   += ctx->input.rc.joy_right.x * pos_scale * dt;
+      ctx->output.arm.cmd.target_pose.y   += ctx->input.rc.joy_right.y * pos_scale * dt;
+      ctx->output.arm.cmd.target_pose.z   += ctx->input.rc.joy_left.y  * pos_scale * dt;
+      ctx->output.arm.cmd.target_pose.yaw += ctx->input.rc.joy_left.x  * rot_scale * dt;
+      break;
+    case CMD_SW_MID:
+      /* 姿态模式：俯仰 + 横滚 + 偏航 + 升降 */
+      ctx->output.arm.cmd.target_pose.yaw   += ctx->input.rc.joy_right.x * rot_scale * dt;
+      ctx->output.arm.cmd.target_pose.pitch += ctx->input.rc.joy_right.y * rot_scale * dt;
+      ctx->output.arm.cmd.target_pose.roll  += ctx->input.rc.joy_left.x  * rot_scale * dt;
+      ctx->output.arm.cmd.target_pose.z     += ctx->input.rc.joy_left.y  * pos_scale * dt;
+      break;
+    default:
+      break;
   }
   end:
   return;
diff --git a/User/module/config.h b/User/module/config.h
index 60b8dae..9b1ce38 100644
--- a/User/module/config.h
+++ b/User/module/config.h
@@ -12,7 +12,6 @@ extern "C" {
 #include "component/pid.h"
 #include "device/motor.h"
 #include "device/motor_dm.h"
-#include "module/arm.h"
 #include "module/chassis.h"
 #include "module/cmd/cmd.h"
 #include "component/PowerControl.h"
diff --git a/User/module/joint.hpp b/User/module/joint.hpp
index 7d49dfa..eb1d9e6 100644
--- a/User/module/joint.hpp
+++ b/User/module/joint.hpp
@@ -12,6 +12,13 @@
 
 namespace arm {
 
+struct JointControlParams {
+    float qmin;
+    float qmax;
+    float kp;
+    float kd;
+};
+
 // ============================================================================
 // Joint 类 - 关节对象
 // ============================================================================
@@ -19,7 +26,7 @@ class Joint {
 private:
     uint8_t id_;                    // 关节编号
     IMotor* motor_;                 // 电机指针（多态）
-    Arm6dof_DHParams_t dh_params_;  // DH参数
+    JointControlParams params_;     // 关节控制参数
     float q_offset_;                // 零位偏移
     const Joint* coupled_joint_;    // 耦合源关节（J3 与 J2 耦合）
     
@@ -35,9 +42,9 @@ private:
     
 public:
     // 构造函数
-    Joint(uint8_t id, IMotor* motor, const Arm6dof_DHParams_t& dh_params, 
+        Joint(uint8_t id, IMotor* motor, const JointControlParams& params,
           float q_offset, float freq)
-        : id_(id), motor_(motor), dh_params_(dh_params), q_offset_(q_offset),
+                : id_(id), motor_(motor), params_(params), q_offset_(q_offset),
           coupled_joint_(nullptr) {
                 
         state_.current_angle = 0.0f;
@@ -47,6 +54,15 @@ public:
         state_.feedforward_torque = 0.0f;
         state_.online = false;
     }
+
+        // 兼容构造：允许直接传入机械臂DH参数，但仅提取关节层需要的控制字段
+        Joint(uint8_t id, IMotor* motor, const Arm6dof_DHParams_t& dh_params,
+                    float q_offset, float freq)
+                : Joint(id,
+                                motor,
+                                JointControlParams{dh_params.qmin, dh_params.qmax, 0.0f, 0.0f},
+                                q_offset,
+                                freq) {}
     
     // 禁止拷贝（电机资源唯一）
     Joint(const Joint&) = delete;
@@ -58,7 +74,7 @@ public:
     float GetCurrentVelocity() const { return state_.current_velocity; }
     float GetTargetAngle() const { return state_.target_angle; }
     bool IsOnline() const { return state_.online; }
-    const Arm6dof_DHParams_t& GetDHParams() const { return dh_params_; }
+    const JointControlParams& GetParams() const { return params_; }
     float GetOffset() const { return q_offset_; }
     
     // Setters
@@ -101,7 +117,7 @@ public:
         //   零点不变：raw=0 时不触发任何折叠
         //   注意：j3 范围 [0,3]、j5 范围 [-1.75,1.75] 均在 [-π,π] 内，
         //         归一化后其实际运动段不会碰到 ±π 边界，计算安全
-        const bool multi_turn = (dh_params_.qmax - dh_params_.qmin) > 2.0f * M_PI;
+        const bool multi_turn = (params_.qmax - params_.qmin) > 2.0f * M_PI;
         if (!multi_turn) {
             if (raw >  M_PI) raw -= 2.0f * M_PI;
             if (raw < -M_PI) raw += 2.0f * M_PI;
@@ -128,7 +144,7 @@ public:
     // 位置控制
     int8_t PositionControl(float target_angle, float dt) {
         // 检查限位
-        if (target_angle < dh_params_.qmin || target_angle > dh_params_.qmax) {
+        if (target_angle < params_.qmin || target_angle > params_.qmax) {
             return -1;
         }
         
@@ -138,8 +154,8 @@ public:
         float total_feedforward = state_.feedforward_torque;
         
         // MIT控制参数：优先使用DH参数中配置的kp/kd，否则使用默认值
-        float kp = dh_params_.kp;
-        float kd = dh_params_.kd;
+        float kp = params_.kp;
+        float kd = params_.kd;
         
         // 如果未配置（=0），使用默认值（按电机类型）
         if (kp <= 0.0f) kp = (id_ < 3) ? 10.0f : 50.0f;  // LZ vs DM默认值
diff --git a/User/task/arm_main.cpp b/User/task/arm_main.cpp
index 075f381..e59abc8 100644
--- a/User/task/arm_main.cpp
+++ b/User/task/arm_main.cpp
@@ -32,30 +32,28 @@ static MOTOR_DM_Param_t dm_params[3] = {
     {.can = BSP_CAN_1, .master_id = 0x16,  .can_id = 0x06, .module = MOTOR_DM_J4310, .reverse = false,},
 };
 
-// DH参数 (单位: m, rad, kg)
-// rc[3]: 质心在 DH 连杆坐标系下的坐标 (m)
-// 来源：URDF <inertial><origin xyz> 经完整RPY旋转矩阵逆变换到 DH 坐标系
-// 变换公式: rc_dh = R_rpy^(-1) * rc_urdf，其中R_rpy来自URDF joint的rpy参数
-// 数据来源：fix2026224/arm/urdf/arm.urdf (2026-02-24 重建模更新)
-//
-// MIT控制参数kp/kd调优建议：
-// - kp：位置刚度，值越大响应越快但易振荡。大关节（J2/J3）可适当降低避免抖动
-// - kd：阻尼系数，值越大越平稳但响应慢。根据实际测试调整
-// - 设置为0则使用默认值（LZ: kp=10,kd=0.5; DM: kp=50,kd=3）
 static Arm6dof_DHParams_t dh_params[6] = {
-  // J1: 腰部旋转（LZ电机，垂直轴，负载小）  j1 rpy=(0,0,0) → rc_dh=rc_urdf
-  {.theta=0.0f, .d=0.0405f,    .a=0.0014f,   .alpha=-M_PI_2,  .theta_offset=0.0f,     .qmin=-15.7f,   .qmax=15.7f,  .m=2.3045f,  .rc={ 0.00669710f, -0.00030098f,  0.04424100f},  .kp=10.0f,  .kd=0.0f},
-  // J2: 大臂俯仰（LZ电机，负载最大，降低kp避免抖动）  j2 rpy=(-90,0,-90)
-  {.theta=0.0f, .d=0.0f,       .a=0.388f,    .alpha=0.0f,     .theta_offset=-M_PI_2,  .qmin=-1.57f,   .qmax=1.57f,  .m=0.8903f,  .rc={ 0.26586000f, -0.00044116f,  0.00000094f},  .kp=10.0f,  .kd=0.0f},
-  // J3: 小臂（LZ电机，负载中等）  j3 rpy=(0,0,-90)
-  {.theta=0.0f, .d=0.002795f,  .a=0.047775f, .alpha=-M_PI_2,  .theta_offset=-M_PI_2,  .qmin=-1.0f,    .qmax=3.0f,   .m=0.72964f, .rc={ 0.08696299f,  0.00167372f, -0.02500400f},  .kp=20.0f,  .kd=0.0f},
-  // J4: 腕部旋转（DM电机，roll轴，0到2π循环）  j4 rpy=(-90,0,-90)
-  {.theta=0.0f, .d=0.241f,     .a=0.0f,      .alpha=M_PI_2,   .theta_offset=M_PI,     .qmin=0.0f,     .qmax=6.3f,  .m=0.60215f, .rc={ 0.00207070f, -0.14360000f,  0.00004920f},  .kp=3.0f,  .kd=0.0f},
-  // J5: 腕部俯仰（DM电机，负载小，可提高响应）  j5 rpy=(90,0,-180)
-  // {.theta=0.0f, .d=0.0f,       .a=0.1065f,   .alpha=-M_PI_2,  .theta_offset=0.0f,     .qmin=-1.9f,   .qmax=1.9f,  .m=0.21817f, .rc={ 0.00001750f,  0.00297341f,  0.05816899f},  .kp=15.0f,  .kd=0.0f},
-   {.theta=0.0f, .d=0.0f,       .a=0.1065f,   .alpha=-M_PI_2,  .theta_offset=M_PI_2,   .qmin=-1.9f,   .qmax=1.9f,  .m=0.21817f, .rc={ 0.00001750f,  0.00297341f,  0.05816899f},  .kp=5.0f,  .kd=0.0f},
-  // J6: 末端Roll（DM电机，最小负载，roll轴，0到2π循环）  j6 rpy=(90,0,180)
-  {.theta=0.0f, .d=0.0040025f, .a=0.0f,      .alpha=0.0f,     .theta_offset=M_PI,     .qmin=0.0f,     .qmax=6.3f,   .m=0.57513f, .rc={-0.00002134f,  0.09993500f,  0.00053860f},  .kp=5.0f,  .kd=0.0f},
+  // J1: origin(0, 0, 0.024) rpy(0,0,0)
+  {.theta=0.0f, .d=0.024f,     .a=0.000f,    .alpha=0.0f,     .theta_offset=0.0f,      .qmin=-15.7f,   .qmax=15.7f,  .m=2.2629f,  .rc={-0.00718190f,  0.00031034f,  0.06159800f}},
+  // J2: origin(-0.001395, 0, 0.1015) rpy(1.5708, 0, -1.5708)
+  {.theta=0.0f, .d=0.1015f,    .a=-0.00139f, .alpha=M_PI_2,   .theta_offset=-M_PI_2,   .qmin=-1.57f,   .qmax=1.57f,  .m=0.97482f, .rc={ 0.00316320f, -0.00227070f, -0.22947000f}},
+  // J3: origin(0.3265, 0, -0.0071975) rpy(0, 0, 0)
+  {.theta=0.0f, .d=-0.00719f,  .a=0.3265f,   .alpha=0.0f,     .theta_offset=0.0f,      .qmin=-1.0f,    .qmax=3.0f,   .m=0.72964f, .rc={ 0.08696300f,  0.00167340f, -0.01780600f}},
+  // J4: origin(0.0905, 0.052775, 0.0058025) rpy(1.5708, 0, 3.1416)
+  {.theta=0.0f, .d=0.05278f,   .a=0.0905f,   .alpha=M_PI_2,   .theta_offset=M_PI,      .qmin=0.0f,     .qmax=6.3f,   .m=0.54148f, .rc={-0.00005530f,  0.10972717f, -0.00230270f}},
+  // J5: origin(0.001627, 0, 0.18467) rpy(1.5708, 0, 0)
+  {.theta=0.0f, .d=0.18467f,   .a=0.0016f,   .alpha=M_PI_2,   .theta_offset=0.0f,      .qmin=-1.9f,    .qmax=1.9f,   .m=0.21817f, .rc={ 0.05654200f,  0.00102680f, -0.00131060f}},
+  // J6: origin(0.10487, 0.0013347, 0) rpy(1.5708, 0, 1.5708)
+  {.theta=0.0f, .d=0.00133f,   .a=0.10487f,  .alpha=M_PI_2,   .theta_offset=M_PI_2,    .qmin=0.0f,     .qmax=6.3f,   .m=0.56255f, .rc={ 0.00001277f,  0.10159000f, -0.00000780f}},
+};
+
+static JointControlParams joint_params[6] = {
+    {.qmin=-15.7f, .qmax=15.7f, .kp=10.0f, .kd=0.0f},
+    {.qmin=-1.57f, .qmax=1.57f, .kp=10.0f, .kd=0.0f},
+    {.qmin=-1.0f,  .qmax=3.0f,  .kp=20.0f, .kd=0.0f},
+    {.qmin=0.0f,   .qmax=6.3f,  .kp=3.0f,  .kd=0.0f},
+    {.qmin=-1.9f,  .qmax=1.9f,  .kp=5.0f,  .kd=0.0f},
+    {.qmin=0.0f,   .qmax=6.3f,  .kp=5.0f,  .kd=0.0f},
 };
 
 static float q_offset[6] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
@@ -65,6 +63,7 @@ MotorLZ* motors_lz[3] = {nullptr};   // 用于调试查看
 MotorDM* motors_dm[3] = {nullptr};   // 用于调试查看
 Joint* joints[6] = {nullptr};
 RoboticArm* robot_arm = nullptr;
+
 Arm_CMD_t arm_cmd;  // 当前机械臂控制命令（含 target_pose / set_target_as_current）
 
 // ============================================================================
@@ -74,8 +73,9 @@ Arm_CMD_t arm_cmd;  // 当前机械臂控制命令（含 target_pose / set_targe
 //   0 = 仅计算重力补偿力矩，全部电机松弛，观察 gravity_torques_dbg 是否合理
 //   1 = 仅关节6（Roll轴）输出纯力矩，其余松弛（Roll轴重力补偿接近0，最安全）
 //   2 = 全部六轴输出（完整重力补偿，GRAVITY_COMP模式）
-//   3 = 笛卡尔空间控制：控制末端目标位姿，逆运动学解算各关节角度
-uint8_t test_stage = 3;
+//   3 = 笛卡尔空间控制（旧版满秩库代数雅可比算法）
+//   4 = 2.5D 解析降维控制（专为比赛设计的无奇异点稳定版，推荐！）
+uint8_t test_stage = 1;
 Arm6dof_JointAngles_t current_angles;  // 调试观察：当前各关节角度 (rad)
 // 重力补偿力矩观察数组（对应关节1~6，单位 N·m）
 float gravity_torques_dbg[6] = {0.0f};
@@ -107,6 +107,115 @@ int ik_test_ret = 0;                          // IK返回码：0=成功，-1=无
 // cmd task 中的机械臂命令指针（cmd.cpp 中定义），通过 extern 访问以便写回初始位姿
 extern Arm_CMD_t *cmd_for_arm;
 
+/**
+ * @brief 将当前世界系末端位姿转换到指定控制坐标系下的 target_pose，
+ *        使 MoveCartesian*(result) 的目标恰好等于当前 cur_world（无初始跳变）
+ * @param frame  1=世界系  2=工具系  3=航向系
+ * @param cur    当前末端位姿（世界系，由 FK 计算得到）
+ */
+static Arm6dof_Pose_t SyncTargetToFrame(uint8_t frame, const Arm6dof_Pose_t& cur) {
+    Arm6dof_Pose_t target;
+    switch (frame) {
+        case 2: {
+            // 工具系：p_tool = R_cur^T * p_world，使 R_cur*p_tool = p_world
+            // 姿态置零：R_tool = I，使 R_world = R_cur * I = R_cur（保持当前姿态）
+            float rpy[3] = {cur.yaw, cur.pitch, cur.roll};
+            Matrixf<3,3> RT = robotics::rpy2r(Matrixf<3,1>(rpy)).trans();
+            float p[3] = {cur.x, cur.y, cur.z};
+            Matrixf<3,1> pt = RT * Matrixf<3,1>(p);
+            target.x = pt[0][0]; target.y = pt[1][0]; target.z = pt[2][0];
+            target.yaw = 0.0f; target.pitch = 0.0f; target.roll = 0.0f;
+            break;
+        }
+        case 3: {
+            // 航向系：p_heading = Rz(-yaw)*[x,y]，z 直接赋值
+            // 姿态：R_heading = Rz(-yaw)*R_cur，使 Rz(yaw)*R_heading = R_cur
+            float cy = cosf(cur.yaw), sy = sinf(cur.yaw);
+            target.x =  cy * cur.x + sy * cur.y;
+            target.y = -sy * cur.x + cy * cur.y;
+            target.z = cur.z;
+            float rpy_neg[3] = {-cur.yaw, 0.0f, 0.0f};
+            float rpy_c[3]   = { cur.yaw, cur.pitch, cur.roll};
+            Matrixf<3,3> Rn  = robotics::rpy2r(Matrixf<3,1>(rpy_neg))
+                             * robotics::rpy2r(Matrixf<3,1>(rpy_c));
+            Matrixf<3,1> rn  = robotics::r2rpy(Rn);
+            target.yaw = rn[0][0]; target.pitch = rn[1][0]; target.roll = rn[2][0];
+            break;
+        }
+        default:
+            // 世界系：直接复制
+            target = cur;
+            break;
+    }
+    return target;
+}
+
+static void SyncCommandTargetFromCurrent() {
+  Arm6dof_Pose_t sync = SyncTargetToFrame(control_frame, robot_arm->GetEndPose());
+  arm_cmd.target_pose = sync;
+  if (cmd_for_arm) {
+    cmd_for_arm->target_pose = sync;
+  }
+}
+
+static void HandleSetZeroRequest() {
+  if (!setzero) {
+    return;
+  }
+
+  if (setzero <= 3) {
+    MOTOR_LZ_SetZero(&lz_params[setzero - 1]);
+  } else if (setzero > 3 && setzero < 7) {
+    MOTOR_DM_SetZero(&dm_params[setzero - 4]);
+  } else if (setzero == 7) {
+    for (int i = 0; i < 3; ++i) {
+      MOTOR_LZ_SetZero(&lz_params[i]);
+    }
+    for (int i = 0; i < 3; ++i) {
+      MOTOR_DM_SetZero(&dm_params[i]);
+    }
+  }
+  setzero = 0;
+}
+
+static void RelaxAllMotors() {
+  for (int i = 0; i < 6; ++i) {
+    motors[i]->Relax();
+  }
+}
+
+static void MoveBySelectedFrame(const Arm6dof_Pose_t& target) {
+  switch (control_frame) {
+    case 2:
+      robot_arm->MoveCartesianTool(target);
+      break;
+    case 3:
+      robot_arm->MoveCartesianHeading(target);
+      break;
+    default:
+      robot_arm->MoveCartesian(target);
+      break;
+  }
+}
+
+static void HandleCartesianModeError() {
+  if (robot_arm->GetState() == MotionState::ERROR) {
+    robot_arm->ResetError();
+    SyncCommandTargetFromCurrent();
+  }
+}
+
+static void RunCartesianControl(ControlMode mode) {
+  robot_arm->SetLinVelLimit(traj_lin_vel);
+  robot_arm->SetAngVelLimit(traj_ang_vel);
+  robot_arm->SetMode(mode);
+  MoveBySelectedFrame(arm_cmd.target_pose);
+  robot_arm->Control();
+  HandleCartesianModeError();
+  ik_from_fk_result = robot_arm->GetIkAngles();
+  traj_progress_dbg = robot_arm->GetTrajProgress();
+}
+
 extern "C" {
 
 void Task_arm_main(void* argument) {
@@ -138,7 +247,7 @@ void Task_arm_main(void* argument) {
   motors[4] = motors_dm[1];
   motors[5] = motors_dm[2];
   for (int i = 0; i < 6; ++i) {
-      joints[i] = new Joint(i, motors[i], dh_params[i],  q_offset[i], ARM_MAIN_FREQ);
+      joints[i] = new Joint(i, motors[i], joint_params[i], q_offset[i], ARM_MAIN_FREQ);
   }
   // 关节3与关节2存在机械耦合：J3电机读数包含J2的运动，需减去J2角度才是真实J3角度
   joints[2]->SetCoupledJoint(joints[1]);
@@ -148,7 +257,6 @@ void Task_arm_main(void* argument) {
       robot_arm->AddJoint(i, joints[i]);
   }
   robot_arm->Init();
-  // robot_arm->Enable(true);
   
   // 使能重力补偿
   robot_arm->EnableGravityCompensation(true);
@@ -160,96 +268,41 @@ void Task_arm_main(void* argument) {
   // JOINT_POSITION: 关节位置控制 + 重力补偿前馈
   robot_arm->SetMode(ControlMode::GRAVITY_COMP);
 
-  // 读取当前末端位姿，同步到 arm_cmd 和 cmd 侧累积 target_pose，防止上电时大范围跳变
+  // 读取当前末端位姿，转换到 control_frame 后同步到 cmd，防止上电时大范围跳变
   osDelay(100);
   robot_arm->Update();
-  arm_cmd.target_pose = robot_arm->GetEndPose();
-  if (cmd_for_arm) {
-    cmd_for_arm->target_pose = arm_cmd.target_pose;
+  {
+    SyncCommandTargetFromCurrent();
   }
 
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
 /*---------------------------零点校准---------------------------*/
-    if (setzero) {
-      if (setzero <= 3) {
-        MOTOR_LZ_SetZero(&lz_params[setzero-1]);
-      } else if (setzero > 3&&setzero < 7) {
-        MOTOR_DM_SetZero(&dm_params[setzero-4]);
-      } else if (setzero == 7) {
-        for (int i = 0; i < 3; ++i) {
-          MOTOR_LZ_SetZero(&lz_params[i]);
-        }
-        for (int i = 0; i < 3; ++i) {
-          MOTOR_DM_SetZero(&dm_params[i]);
-        }
-      }
-      setzero = 0;
-    }
+    HandleSetZeroRequest();
 /*--------------------------------------------------------------*/
 
     // 更新机械臂状态（读取关节角度、FK、重力补偿计算）
     robot_arm->Update();
 
     osMessageQueueGet(task_runtime.msgq.arm.cmd, &arm_cmd, NULL, 0);  
-    
-    robot_arm->Enable(arm_cmd.enable);
 
-
-    // set_target_as_current：将目标位姿同步为当前实际末端位姿
-    // 同时写回 cmd_for_arm->target_pose，使 cmd 侧增量累积从正确基准继续
-  if (arm_cmd.set_target_as_current) {
-    const Arm6dof_Pose_t& ep = robot_arm->GetEndPose();
-    Arm6dof_Pose_t pose;
-    switch (control_frame) {
-      case 1: {  // 世界系
-        pose = ep;
-        arm_cmd.target_pose = pose;
-        if (cmd_for_arm) {
-          cmd_for_arm->target_pose = pose;
-        }
-        break;
-      }
-      case 2: {  // 工具系（航向系：Rz(-yaw)旋转水平分量）
-        float cy = cosf(ep.yaw), sy = sinf(ep.yaw);
-        pose.x = cy * ep.x + sy * ep.y;
-        pose.y = -sy * ep.x + cy * ep.y;
-        pose.z = ep.z;
-        float rpy_cur_arr[3] = {ep.yaw, ep.pitch, ep.roll};
-        float rpy_mzy_arr[3] = {-ep.yaw, 0.0f, 0.0f};  // Rz(-yaw)
-        Matrixf<3,3> R_h = robotics::rpy2r(Matrixf<3,1>(rpy_mzy_arr))
-                         * robotics::rpy2r(Matrixf<3,1>(rpy_cur_arr));
-        Matrixf<3,1> rpy_h = robotics::r2rpy(R_h);
-        pose.yaw   = rpy_h[0][0];
-        pose.pitch = rpy_h[1][0];
-        pose.roll  = rpy_h[2][0];
-        arm_cmd.target_pose = pose;
-        if (cmd_for_arm) {
-          cmd_for_arm->target_pose = pose;
-        }
-        break;
-      }
-      case 3: {  // 工具系（R_cur^T * p_world，姿态置零）
-        float rpy_cur_arr[3] = {ep.yaw, ep.pitch, ep.roll};
-        Matrixf<3,3> R = robotics::rpy2r(Matrixf<3,1>(rpy_cur_arr));
-        float p_arr[3] = {ep.x, ep.y, ep.z};
-        Matrixf<3,1> p_tool = R.trans() * Matrixf<3,1>(p_arr);
-        pose.x     = p_tool[0][0];
-        pose.y     = p_tool[1][0];
-        pose.z     = p_tool[2][0];
-        pose.yaw   = 0.0f;
-        pose.pitch = 0.0f;
-        pose.roll  = 0.0f;
-        arm_cmd.target_pose = pose;
-        if (cmd_for_arm) {
-          cmd_for_arm->target_pose = pose;
-        }
-        break;
-      }
-      default:
-        break;
+    // 使能状态变化沿处理：仅在变化时下发使能，减少冗余调用
+    static bool last_enable = false;
+    if (arm_cmd.enable != last_enable) {
+      robot_arm->Enable(arm_cmd.enable);
     }
-  }
+
+    // 使能上升沿自动同步：避免使能时 target_pose 与当前实际位姿不一致导致初始跳变
+    if (arm_cmd.enable && !last_enable) {
+      SyncCommandTargetFromCurrent();
+    }
+    last_enable = arm_cmd.enable;
+
+    // set_target_as_current：将 target_pose 同步到当前末端位姿（转换到当前 control_frame）
+    if (arm_cmd.set_target_as_current) {
+      SyncCommandTargetFromCurrent();
+    }
+
     
     // 每帧同步调试观察变量
     for (int i = 0; i < 6; ++i) {
@@ -262,16 +315,24 @@ void Task_arm_main(void* argument) {
     end_pose_mm_dbg = { ep.x * 1000.0f, ep.y * 1000.0f, ep.z * 1000.0f,
                         ep.roll, ep.pitch, ep.yaw };
 
-      
-      osMessageQueueGet(task_runtime.msgq.arm.cmd, &arm_cmd, NULL, 0);
-
       switch (test_stage) {
         case 0:
-          // 阶段1：仅计算，不输出。观察 gravity_torques_dbg[0~5] 是否量级合理
-          for (int i = 0; i < 6; ++i) motors[i]->Relax();
+          //检测电机正电流旋转方向与urdf规定是否一致
+          static float rotationDirectionCheck[6] = {0.0f};
+          joints[0]->TorqueControl(rotationDirectionCheck[0]);  
+          joints[1]->TorqueControl(rotationDirectionCheck[1]);  
+          joints[2]->TorqueControl(rotationDirectionCheck[2]);  
+          joints[3]->TorqueControl(rotationDirectionCheck[3]); 
+          joints[4]->TorqueControl(rotationDirectionCheck[4]); 
+          joints[5]->TorqueControl(rotationDirectionCheck[5]); 
           break;
 
         case 1:
+          // 阶段1：仅计算，不输出。观察 gravity_torques_dbg[0~5] 是否量级合理
+          RelaxAllMotors();
+          break;
+
+        case 2:
           // 阶段1：测试单个关节力矩输出（用于验证力矩计算）
           // 修改下面的索引来测试不同关节：j2=1, j3=2, j5=4
           motors[0]->Relax();
@@ -288,31 +349,26 @@ void Task_arm_main(void* argument) {
           // joints[3]->TorqueControl(gravity_torques_dbg[3]); 
           // joints[5]->TorqueControl(gravity_torques_dbg[5]); 
           break;
-        case 2:
+        case 3:
         default:
           // 阶段4：全部六轴 GRAVITY_COMP 模式（位置保持 + 重力补偿前馈）
           robot_arm->SetMode(ControlMode::GRAVITY_COMP);
           robot_arm->Control();
           break;
 
-        case 3:
-          // 笛卡尔空间轨迹规划控制
-          // 修改 target_pose 后，机械臂自动从当前位姿平滑运动到目标位姿
-          robot_arm->SetLinVelLimit(traj_lin_vel);
-          robot_arm->SetAngVelLimit(traj_ang_vel);
-          robot_arm->SetMode(ControlMode::CARTESIAN_POSITION);
-          // robot_arm->MoveCartesianTool(target_pose);
-          // robot_arm->MoveCartesianHeading(target_pose);
-          robot_arm->MoveCartesian(arm_cmd.target_pose);
-          
-        
-          // robot_arm->StepTrajectory();
-          robot_arm->Control();
-          // for (int i = 0; i < 6; ++i) motors[i]->Relax();
-
-          ik_from_fk_result  = robot_arm->GetIkAngles();
-          traj_progress_dbg  = robot_arm->GetTrajProgress();
+        case 4:
+          // 笛卡尔空间轨迹规划控制：基于数值逆解(雅可比)
+          RunCartesianControl(ControlMode::CARTESIAN_POSITION);
           break;
+
+        case 5: {
+          // =================================================================================
+          // ★ 2.5D 解析降维控制算法 ★ 
+          // 已经集成到底层 arm_oop 的 CARTESIAN_ANALYTICAL 模式中，完全与原轨迹规划流程接轨
+          // =================================================================================
+          RunCartesianControl(ControlMode::CARTESIAN_ANALYTICAL); // 启用降维解析数学模式
+          break;
+        }
       }
 
     // IK测试：以当前角度为初始猜测，对 target_pose 求逆运动学
diff --git a/User/task/blink.c b/User/task/blink.c
index 8d6a71e..92a9085 100644
--- a/User/task/blink.c
+++ b/User/task/blink.c
@@ -9,6 +9,7 @@
 /* USER INCLUDE BEGIN */
 #include "bsp/pwm.h"
 #include <math.h>
+#include "device/buzzer.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -16,7 +17,9 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
-
+BUZZER_t buzzer;
+static uint16_t count;
+bool reset=0;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -36,13 +39,33 @@ void Task_blink(void *argument) {
   BSP_PWM_Start(BSP_PWM_TIM5_CH1);
   BSP_PWM_SetComp(BSP_PWM_TIM5_CH2, 0.0f);
   BSP_PWM_Start(BSP_PWM_TIM5_CH2);
-    BSP_PWM_SetComp(BSP_PWM_TIM5_CH3, 0.0f);
+  BSP_PWM_SetComp(BSP_PWM_TIM5_CH3, 0.0f);
   BSP_PWM_Start(BSP_PWM_TIM5_CH3);
+
+  BUZZER_Init(&buzzer, BSP_PWM_BUZZER);
+  BUZZER_PlayMusic(&buzzer, MUSIC_NOKIA);
+
   /* USER CODE INIT END */
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
+    count++;
+    uint16_t phase = count % 1000;
+    if (count == 1001) count = 1;
+    if (phase == 0) {
+      /* 每秒开始播放C4音符 */
+      BUZZER_Set(&buzzer, 261.63f, 0.5f); // C4音符频率约261.63Hz
+      BUZZER_Start(&buzzer);
+    } else if (phase == 50) {
+      /* 播放100ms后停止 (50/500Hz = 0.1s) */
+      BUZZER_Stop(&buzzer);
+    }
+    if (reset) {
+      __set_FAULTMASK(1);      /* 关闭所有中断 */
+      NVIC_SystemReset();       /* 系统复位 */
+    }
+
     // 呼吸灯 - 基于tick的正弦波
     float dutyB = (sinf(tick * 0.003f) + 1.0f) * 0.25f; // 0到1之间的正弦波，加快频率
     float dutyG = (sinf(tick * 0.000f) + 1.0f) * 0.25f; // 0到1之间的正弦波，加快频率
diff --git a/User/task/rc.c b/User/task/rc.c
index e1a8c05..128de28 100644
--- a/User/task/rc.c
+++ b/User/task/rc.c
@@ -28,10 +28,14 @@
  AT9S_t at9s;
 #endif
 #ifdef DR16
-// 将DR16变量放到RAM_D1 (0x24000000)，用于DMA传输
+// 将DR16变量放到RAM_D1，用于DMA传输并保证32字节对齐以支持Cache操作
 // __attribute__((section(".ram_d1"))) __attribute__((aligned(32))) 
 DR16_t dr16;
+static DR16_SwitchPos_t last_sw_l = DR16_SW_ERR;  /* 记录左拨杆上一次状态 */
 #endif
+
+extern bool reset; 
+#include "stm32f4xx.h"
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -78,6 +82,15 @@ void Task_rc(void *argument) {
     osMessageQueuePut(task_runtime.msgq.cmd.rc, &dr16, 0, 0);
     // 启动下一次DMA接收
     DR16_StartDmaRecv(&dr16);
+        if (dr16.header.online) {
+      /* 拨杆从非UP状态切换到UP状态，且复位功能已使能，触发系统复位 */
+      if (
+         dr16.data.sw_l == DR16_SW_UP &&
+          last_sw_l != DR16_SW_UP && last_sw_l != DR16_SW_ERR) {
+          reset=!reset; 
+      }
+      last_sw_l = dr16.data.sw_l;  /* 更新拨杆状态 */
+    }
     #endif
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
diff --git a/arm.ioc b/arm.ioc
index 5f22013..180be7e 100644
--- a/arm.ioc
+++ b/arm.ioc
@@ -45,9 +45,10 @@ Mcu.IP3=FREERTOS
 Mcu.IP4=NVIC
 Mcu.IP5=RCC
 Mcu.IP6=SYS
-Mcu.IP7=TIM5
-Mcu.IP8=USART3
-Mcu.IPNb=9
+Mcu.IP7=TIM4
+Mcu.IP8=TIM5
+Mcu.IP9=USART3
+Mcu.IPNb=10
 Mcu.Name=STM32F407I(E-G)Hx
 Mcu.Package=UFBGA176
 Mcu.Pin0=PB5
@@ -55,9 +56,11 @@ Mcu.Pin1=PA14
 Mcu.Pin10=PH12
 Mcu.Pin11=PH11
 Mcu.Pin12=PH10
-Mcu.Pin13=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin14=VP_SYS_VS_Systick
-Mcu.Pin15=VP_TIM5_VS_ClockSourceINT
+Mcu.Pin13=PD14
+Mcu.Pin14=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin15=VP_SYS_VS_Systick
+Mcu.Pin16=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin17=VP_TIM5_VS_ClockSourceINT
 Mcu.Pin2=PA13
 Mcu.Pin3=PB6
 Mcu.Pin4=PD0
@@ -66,7 +69,7 @@ Mcu.Pin6=PC10
 Mcu.Pin7=PD1
 Mcu.Pin8=PH0-OSC_IN
 Mcu.Pin9=PH1-OSC_OUT
-Mcu.PinsNb=16
+Mcu.PinsNb=18
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407IGHx
@@ -119,6 +122,8 @@ PD0.Signal=CAN1_RX
 PD1.Locked=true
 PD1.Mode=CAN_Activate
 PD1.Signal=CAN1_TX
+PD14.Locked=true
+PD14.Signal=S_TIM4_CH3
 PH0-OSC_IN.Mode=HSE-External-Oscillator
 PH0-OSC_IN.Signal=RCC_OSC_IN
 PH1-OSC_OUT.Mode=HSE-External-Oscillator
@@ -197,12 +202,18 @@ RCC.VCOI2SOutputFreq_Value=384000000
 RCC.VCOInputFreq_Value=2000000
 RCC.VCOOutputFreq_Value=336000000
 RCC.VcooutputI2S=192000000
+SH.S_TIM4_CH3.0=TIM4_CH3,PWM Generation3 CH3
+SH.S_TIM4_CH3.ConfNb=1
 SH.S_TIM5_CH1.0=TIM5_CH1,PWM Generation1 CH1
 SH.S_TIM5_CH1.ConfNb=1
 SH.S_TIM5_CH2.0=TIM5_CH2,PWM Generation2 CH2
 SH.S_TIM5_CH2.ConfNb=1
 SH.S_TIM5_CH3.0=TIM5_CH3,PWM Generation3 CH3
 SH.S_TIM5_CH3.ConfNb=1
+TIM4.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM4.IPParameters=Channel-PWM Generation3 CH3,Prescaler,Period
+TIM4.Period=2000
+TIM4.Prescaler=17-1
 TIM5.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
 TIM5.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
 TIM5.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
@@ -218,6 +229,8 @@ VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
 VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_TIM4_VS_ClockSourceINT.Mode=Internal
+VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
 VP_TIM5_VS_ClockSourceINT.Mode=Internal
 VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT
 board=custom
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/CMakeLists.txt b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/CMakeLists.txt
new file mode 100644
index 0000000..a8ef52a
--- /dev/null
+++ b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/CMakeLists.txt
@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(xin)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/config/joint_names_xin.yaml b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/config/joint_names_xin.yaml
new file mode 100644
index 0000000..9108388
--- /dev/null
+++ b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/config/joint_names_xin.yaml
@@ -0,0 +1 @@
+controller_joint_names: ['', 'j1', 'j2', 'j3', 'j4', 'j5', 'j6', ]
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/export.log b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/export.log
new file mode 100644
index 0000000..59fb923
--- /dev/null
+++ b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/export.log
@@ -0,0 +1,1617 @@
+2026-03-15 13:58:46,076 INFO  Logger.cs: 70 - 
+--------------------------------------------------------------------------------
+2026-03-15 13:58:46,094 INFO  Logger.cs: 71 - Logging commencing for SW2URDF exporter
+2026-03-15 13:58:46,095 INFO  Logger.cs: 73 - Commit version 1.6.0-4-g7f85cfe
+2026-03-15 13:58:46,095 INFO  Logger.cs: 74 - Build version 1.6.7995.38578
+2026-03-15 13:58:46,113 INFO  SwAddin.cs: 192 - Attempting to connect to SW
+2026-03-15 13:58:46,114 INFO  SwAddin.cs: 197 - Setting up callbacks
+2026-03-15 13:58:46,114 INFO  SwAddin.cs: 201 - Setting up command manager
+2026-03-15 13:58:46,114 INFO  SwAddin.cs: 204 - Adding command manager
+2026-03-15 13:58:46,116 INFO  SwAddin.cs: 263 - Adding Assembly export to file menu
+2026-03-15 13:58:46,116 INFO  SwAddin.cs: 272 - Adding Part export to file menu
+2026-03-15 13:58:46,117 INFO  SwAddin.cs: 210 - Adding event handlers
+2026-03-15 13:58:46,216 INFO  SwAddin.cs: 217 - Connecting plugin to SolidWorks
+2026-03-15 14:00:32,976 INFO  SwAddin.cs: 294 - Assembly export called for file 3.2.SLDASM
+2026-03-15 14:00:34,738 INFO  SwAddin.cs: 313 - Saving assembly
+2026-03-15 14:00:36,657 INFO  SwAddin.cs: 316 - Opening property manager
+2026-03-15 14:00:36,668 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.2.SLDASM
+2026-03-15 14:00:36,689 INFO  ExportHelperExtension.cs: 1136 - Found 55 in 3.2.SLDASM
+2026-03-15 14:00:36,689 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.2.SLDASM
+2026-03-15 14:00:36,690 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 14:00:36,690 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 14:00:36,691 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
+2026-03-15 14:00:36,691 INFO  ExportHelperExtension.cs: 1136 - Found 55 in 3.2.SLDASM
+2026-03-15 14:00:36,692 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.2.SLDASM
+2026-03-15 14:00:36,692 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 14:00:36,692 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 14:00:37,004 INFO  SwAddin.cs: 339 - Loading config tree
+2026-03-15 14:00:37,006 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
+<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" 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z:Id="i504"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i504"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i503"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i502"/><Origin z:Ref="i499"/></URDFElement><URDFElement z:Id="i505" i:type="Joint"><Attributes><Attribute z:Id="i506"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">j7</Value></Attribute><Attribute z:Id="i507"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Automatically Detect</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i508" i:type="Origin"><Attributes><Attribute z:Id="i509"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i510"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i510"/><XYZAttribute z:Ref="i509"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i511" i:type="ParentLink"><Attributes><Attribute z:Id="i512"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" 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z:Ref="i516"/></URDFElement><URDFElement z:Id="i517" i:type="Limit"><Attributes><Attribute z:Id="i518"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i519"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i520"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i521"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i520"/><LowerAttribute z:Ref="i518"/><UpperAttribute z:Ref="i519"/><VelocityAttribute z:Ref="i521"/></URDFElement><URDFElement z:Id="i522" i:type="Calibration"><Attributes><Attribute z:Id="i523"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i524"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i524"/><RisingAttribute z:Ref="i523"/></URDFElement><URDFElement z:Id="i525" i:type="Dynamics"><Attributes><Attribute z:Id="i526"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i527"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i526"/><FrictionAttribute z:Ref="i527"/></URDFElement><URDFElement z:Id="i528" i:type="SafetyController"><Attributes><Attribute z:Id="i529"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i530"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i531"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i532"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i531"/><KVelocityAttribute z:Ref="i532"/><SoftLowerAttribute z:Ref="i530"/><SoftUpperAttribute z:Ref="i529"/></URDFElement><URDFElement z:Id="i533" i:type="Mimic"><Attributes><Attribute z:Id="i534"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i535"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i536"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i534"/><MultiplierAttribute z:Ref="i535"/><OffsetAttribute z:Ref="i536"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i515"/><AxisName>?????????8</AxisName><Calibration z:Ref="i522"/><Child z:Ref="i513"/><CoordinateSystemName>?????????8</CoordinateSystemName><Dynamics z:Ref="i525"/><Limit z:Ref="i517"/><Mimic z:Ref="i533"/><NameAttribute z:Ref="i506"/><Origin z:Ref="i508"/><Parent z:Ref="i511"/><Safety z:Ref="i528"/><TypeAttribute z:Ref="i507"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i498"/><Inertial z:Ref="i472"/><Joint z:Ref="i505"/><NameAttribute z:Ref="i471"/><Parent z:Ref="i403"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"/><SWMainComponentPID i:nil="true"/><Visual z:Ref="i485"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i431"/><Inertial z:Ref="i405"/><Joint z:Ref="i438"/><NameAttribute z:Ref="i404"/><Parent z:Ref="i336"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8WQwBvAHAAeQAgAG8AZgAgACpy+39sj6deXgAzAC4AMAAtADEAQAAzAC4AMAAEAAAAEAAAAAEAAAABAAAAqgUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i418"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i364"/><Inertial z:Ref="i338"/><Joint z:Ref="i371"/><NameAttribute z:Ref="i337"/><Parent z:Ref="i269"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs 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+2026-03-15 14:00:37,053 INFO  LinkNode.cs: 35 - Building node base_link
+2026-03-15 14:00:37,054 INFO  LinkNode.cs: 35 - Building node Link1
+2026-03-15 14:00:37,054 INFO  LinkNode.cs: 35 - Building node Link2
+2026-03-15 14:00:37,054 INFO  LinkNode.cs: 35 - Building node Link3
+2026-03-15 14:00:37,055 INFO  LinkNode.cs: 35 - Building node Link4
+2026-03-15 14:00:37,055 INFO  LinkNode.cs: 35 - Building node Link5
+2026-03-15 14:00:37,055 INFO  LinkNode.cs: 35 - Building node Link6
+2026-03-15 14:00:37,056 INFO  LinkNode.cs: 35 - Building node Link7
+2026-03-15 14:00:37,056 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for base_link from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 14:00:37,065 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???
+'YY!jWW-2@3.0

$
+2026-03-15 14:00:37,254 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\��Yģ��.SLDASM
+2026-03-15 14:00:37,255 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link base_link
+2026-03-15 14:00:37,255 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link1 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 14:00:37,255 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???
N?S??q??RUSCQ-1@3.0

?
+2026-03-15 14:00:37,256 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\һ�ű�������Ԫ.SLDASM
+2026-03-15 14:00:37,256 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???3.0-?N?S??q??RUSCQ-1@3.0

L
+2026-03-15 14:00:37,257 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-���ű�������Ԫ.SLDASM
+2026-03-15 14:00:37,257 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link Link1
+2026-03-15 14:00:37,257 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link2 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 14:00:37,257 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???
2.0-N?S??-1@3.0

P
+2026-03-15 14:00:37,258 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-һ�ű�.SLDASM
+2026-03-15 14:00:37,258 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link2
+2026-03-15 14:00:37,258 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link3 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 14:00:37,258 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???2.0-?N?S??;N??-1@3.0

8
+2026-03-15 14:00:37,259 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-���ű�����.SLDASM
+2026-03-15 14:00:37,259 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link3
+2026-03-15 14:00:37,259 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link4 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 14:00:37,259 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???2.0-?N?S???Vl???-1@3.0

:
+2026-03-15 14:00:37,260 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-���űۻ�ת��.SLDASM
+2026-03-15 14:00:37,260 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link4
+2026-03-15 14:00:37,261 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link5 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 14:00:37,261 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???		N?S??-1@3.0

a
+2026-03-15 14:00:37,261 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\���ű�.SLDASM
+2026-03-15 14:00:37,262 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link5
+2026-03-15 14:00:37,262 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link6 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 14:00:37,262 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???Copy of *r?l??^^3.0-1@3.0

?
+2026-03-15 14:00:37,263 ERROR CommonSwOperations.cs: 281 - The component associated with PID PF???Copy of *r?l??^^3.0-1@3.0

? was found to be invalid
+2026-03-15 14:00:37,263 WARN  CommonSwOperations.cs: 249 - Component with PID PF???Copy of *r?l??^^3.0-1@3.0

? failed to load
+2026-03-15 14:00:37,263 ERROR CommonSwOperations.cs: 228 - Link Link6 did not fully load all components
+2026-03-15 14:00:37,264 INFO  CommonSwOperations.cs: 230 - Loaded 0 components for link Link6
+2026-03-15 14:00:37,264 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link7 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 14:00:37,264 INFO  CommonSwOperations.cs: 230 - Loaded 0 components for link Link7
+2026-03-15 14:00:38,716 INFO  SwAddin.cs: 344 - Showing property manager
+2026-03-15 14:01:07,822 INFO  ExportPropertyManager.cs: 422 - Configuration saved
+2026-03-15 14:01:07,826 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
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i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i499" i:type="Origin"><Attributes><Attribute z:Id="i500"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i501"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i501"/><XYZAttribute z:Ref="i500"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i502" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i503" i:type="Mesh"><Attributes><Attribute z:Id="i504"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i504"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i503"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i502"/><Origin z:Ref="i499"/></URDFElement><URDFElement z:Id="i505" i:type="Joint"><Attributes><Attribute z:Id="i506"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">j7</Value></Attribute><Attribute z:Id="i507"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Automatically Detect</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i508" i:type="Origin"><Attributes><Attribute z:Id="i509"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i510"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i510"/><XYZAttribute z:Ref="i509"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i511" i:type="ParentLink"><Attributes><Attribute z:Id="i512"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i512"/></URDFElement><URDFElement z:Id="i513" i:type="ChildLink"><Attributes><Attribute z:Id="i514"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i514"/></URDFElement><URDFElement z:Id="i515" i:type="Axis"><Attributes><Attribute z:Id="i516"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i516"/></URDFElement><URDFElement z:Id="i517" i:type="Limit"><Attributes><Attribute z:Id="i518"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i519"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i520"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i521"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i520"/><LowerAttribute z:Ref="i518"/><UpperAttribute z:Ref="i519"/><VelocityAttribute z:Ref="i521"/></URDFElement><URDFElement z:Id="i522" i:type="Calibration"><Attributes><Attribute z:Id="i523"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i524"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i524"/><RisingAttribute z:Ref="i523"/></URDFElement><URDFElement z:Id="i525" i:type="Dynamics"><Attributes><Attribute z:Id="i526"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i527"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i526"/><FrictionAttribute z:Ref="i527"/></URDFElement><URDFElement z:Id="i528" i:type="SafetyController"><Attributes><Attribute z:Id="i529"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i530"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i531"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i532"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i531"/><KVelocityAttribute z:Ref="i532"/><SoftLowerAttribute z:Ref="i530"/><SoftUpperAttribute z:Ref="i529"/></URDFElement><URDFElement z:Id="i533" i:type="Mimic"><Attributes><Attribute z:Id="i534"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i535"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i536"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i534"/><MultiplierAttribute z:Ref="i535"/><OffsetAttribute z:Ref="i536"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i515"/><AxisName>?????????8</AxisName><Calibration z:Ref="i522"/><Child z:Ref="i513"/><CoordinateSystemName>?????????8</CoordinateSystemName><Dynamics z:Ref="i525"/><Limit z:Ref="i517"/><Mimic z:Ref="i533"/><NameAttribute z:Ref="i506"/><Origin z:Ref="i508"/><Parent z:Ref="i511"/><Safety z:Ref="i528"/><TypeAttribute z:Ref="i507"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i498"/><Inertial z:Ref="i472"/><Joint z:Ref="i505"/><NameAttribute z:Ref="i471"/><Parent z:Ref="i403"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"/><SWMainComponentPID i:nil="true"/><Visual z:Ref="i485"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i431"/><Inertial z:Ref="i405"/><Joint z:Ref="i438"/><NameAttribute z:Ref="i404"/><Parent z:Ref="i336"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8WQwBvAHAAeQAgAG8AZgAgACpy+39sj6deXgAzAC4AMAAtADEAQAAzAC4AMAAEAAAAEAAAAAEAAAABAAAAqgUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i418"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i364"/><Inertial z:Ref="i338"/><Joint z:Ref="i371"/><NameAttribute z:Ref="i337"/><Parent z:Ref="i269"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8JCU73U8KBLQAxAEAAMwAuADAABAAAABAAAAABAAAAAQAAAGEEAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i351"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i297"/><Inertial z:Ref="i271"/><Joint z:Ref="i304"/><NameAttribute z:Ref="i270"/><Parent z:Ref="i202"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8QMgAuADAALQCMTvdTwoHeVmyPwoEtADEAQAAzAC4AMAAEAAAAEAAAAAEAAAABAAAAOgUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i284"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i230"/><Inertial z:Ref="i204"/><Joint z:Ref="i237"/><NameAttribute z:Ref="i203"/><Parent z:Ref="i135"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8PMgAuADAALQCMTvdTwoE7TsKBLQAxAEAAMwAuADAABAAAABAAAAABAAAAAQAAADgFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i217"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i163"/><Inertial z:Ref="i137"/><Joint z:Ref="i170"/><NameAttribute z:Ref="i136"/><Parent z:Ref="i68"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NMgAuADAALQAATvdTwoEtADEAQAAzAC4AMAAEAAAAEAAAAAEAAAABAAAAUAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i150"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i96"/><Inertial z:Ref="i70"/><Joint z:Ref="i103"/><NameAttribute z:Ref="i69"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NAE73U8KBcZqoUlVTQ1EtADEAQAAzAC4AMAAEAAAAEAAAAAEAAAABAAAAwgQAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8RMwAuADAALQCMTvdTwoFxmqhSVVNDUS0AMQBAADMALgAwAAQAAAAQAAAAAQAAAAEAAABMBQAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i83"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8KJ1lZACFqV1ctADIAQAAzAC4AMAAEAAAAEAAAAAEAAAABAAAAJAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
+2026-03-15 14:01:08,151 INFO  ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 14:01:20,031 INFO  ExportHelperExtension.cs: 347 - Creating joint Link1
+2026-03-15 14:01:20,034 INFO  ExportHelperExtension.cs: 1397 - Fixing components for base_link
+2026-03-15 14:01:20,036 INFO  ExportHelperExtension.cs: 1402 - Fixing 1316
+2026-03-15 14:01:20,037 INFO  ExportHelperExtension.cs: 1409 - Component 1316 is already fixed
+2026-03-15 14:01:20,316 INFO  : 0 - R1: 1, System.__ComObject, 1, System.Double[]
+2026-03-15 14:01:20,317 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2026-03-15 14:01:20,317 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2026-03-15 14:01:20,318 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2026-03-15 14:01:22,444 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child Link1 failed
+2026-03-15 14:01:26,569 INFO  ExportHelperExtension.cs: 347 - Creating joint Link2
+2026-03-15 14:01:26,569 INFO  ExportHelperExtension.cs: 1397 - Fixing components for Link1
+2026-03-15 14:01:26,569 INFO  ExportHelperExtension.cs: 1402 - Fixing 1218
+2026-03-15 14:01:26,571 INFO  ExportHelperExtension.cs: 1402 - Fixing 1356
+2026-03-15 14:01:26,571 INFO  ExportHelperExtension.cs: 1402 - Fixing 1316
+2026-03-15 14:01:26,571 INFO  ExportHelperExtension.cs: 1409 - Component 1316 is already fixed
+2026-03-15 14:01:26,828 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2026-03-15 14:01:26,828 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2026-03-15 14:01:26,829 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2026-03-15 14:01:26,829 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2026-03-15 14:01:26,829 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1218
+2026-03-15 14:01:26,829 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1356
+2026-03-15 14:01:27,977 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link1 to child Link2 failed
+2026-03-15 14:01:28,554 INFO  ExportHelperExtension.cs: 347 - Creating joint Link3
+2026-03-15 14:01:28,555 INFO  ExportHelperExtension.cs: 1397 - Fixing components for Link2
+2026-03-15 14:01:28,555 INFO  ExportHelperExtension.cs: 1402 - Fixing 1360
+2026-03-15 14:01:28,555 INFO  ExportHelperExtension.cs: 1402 - Fixing 1218
+2026-03-15 14:01:28,555 INFO  ExportHelperExtension.cs: 1402 - Fixing 1356
+2026-03-15 14:01:28,556 INFO  ExportHelperExtension.cs: 1402 - Fixing 1316
+2026-03-15 14:01:28,556 INFO  ExportHelperExtension.cs: 1409 - Component 1316 is already fixed
+2026-03-15 14:01:28,857 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2026-03-15 14:01:28,857 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2026-03-15 14:01:28,858 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2026-03-15 14:01:28,858 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2026-03-15 14:01:28,858 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1360
+2026-03-15 14:01:28,859 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1218
+2026-03-15 14:01:28,859 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1356
+2026-03-15 14:01:29,952 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link2 to child Link3 failed
+2026-03-15 14:01:34,644 INFO  ExportHelperExtension.cs: 347 - Creating joint Link4
+2026-03-15 14:01:34,645 INFO  ExportHelperExtension.cs: 1397 - Fixing components for Link3
+2026-03-15 14:01:34,645 INFO  ExportHelperExtension.cs: 1402 - Fixing 1336
+2026-03-15 14:01:34,646 INFO  ExportHelperExtension.cs: 1402 - Fixing 1360
+2026-03-15 14:01:34,646 INFO  ExportHelperExtension.cs: 1402 - Fixing 1218
+2026-03-15 14:01:34,646 INFO  ExportHelperExtension.cs: 1402 - Fixing 1356
+2026-03-15 14:01:34,647 INFO  ExportHelperExtension.cs: 1402 - Fixing 1316
+2026-03-15 14:01:34,647 INFO  ExportHelperExtension.cs: 1409 - Component 1316 is already fixed
+2026-03-15 14:01:34,975 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2026-03-15 14:01:34,976 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2026-03-15 14:01:34,976 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2026-03-15 14:01:34,976 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2026-03-15 14:01:34,978 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1336
+2026-03-15 14:01:34,978 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1360
+2026-03-15 14:01:34,979 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1218
+2026-03-15 14:01:34,979 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1356
+2026-03-15 14:01:36,093 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link3 to child Link4 failed
+2026-03-15 14:01:40,653 INFO  ExportHelperExtension.cs: 347 - Creating joint Link5
+2026-03-15 14:01:40,654 INFO  ExportHelperExtension.cs: 1397 - Fixing components for Link4
+2026-03-15 14:01:40,654 INFO  ExportHelperExtension.cs: 1402 - Fixing 1338
+2026-03-15 14:01:40,655 INFO  ExportHelperExtension.cs: 1402 - Fixing 1336
+2026-03-15 14:01:40,655 INFO  ExportHelperExtension.cs: 1402 - Fixing 1360
+2026-03-15 14:01:40,655 INFO  ExportHelperExtension.cs: 1402 - Fixing 1218
+2026-03-15 14:01:40,656 INFO  ExportHelperExtension.cs: 1402 - Fixing 1356
+2026-03-15 14:01:40,656 INFO  ExportHelperExtension.cs: 1402 - Fixing 1316
+2026-03-15 14:01:40,656 INFO  ExportHelperExtension.cs: 1409 - Component 1316 is already fixed
+2026-03-15 14:01:41,023 INFO  ExportHelperExtension.cs: 828 - R1: 1, System.__ComObject, 1, System.Double[]
+2026-03-15 14:01:41,024 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2026-03-15 14:01:41,024 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2026-03-15 14:01:41,024 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2026-03-15 14:01:41,025 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1338
+2026-03-15 14:01:41,025 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1336
+2026-03-15 14:01:41,025 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1360
+2026-03-15 14:01:41,025 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1218
+2026-03-15 14:01:41,026 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1356
+2026-03-15 14:01:43,217 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link4 to child Link5 failed
+2026-03-15 14:01:47,542 INFO  ExportHelperExtension.cs: 347 - Creating joint Link6
+2026-03-15 14:01:47,543 INFO  ExportHelperExtension.cs: 1397 - Fixing components for Link5
+2026-03-15 14:01:47,543 INFO  ExportHelperExtension.cs: 1402 - Fixing 1121
+2026-03-15 14:01:47,544 INFO  ExportHelperExtension.cs: 1402 - Fixing 1338
+2026-03-15 14:01:47,544 INFO  ExportHelperExtension.cs: 1402 - Fixing 1336
+2026-03-15 14:01:47,544 INFO  ExportHelperExtension.cs: 1402 - Fixing 1360
+2026-03-15 14:01:47,544 INFO  ExportHelperExtension.cs: 1402 - Fixing 1218
+2026-03-15 14:01:47,545 INFO  ExportHelperExtension.cs: 1402 - Fixing 1356
+2026-03-15 14:01:47,545 INFO  ExportHelperExtension.cs: 1402 - Fixing 1316
+2026-03-15 14:01:47,545 INFO  ExportHelperExtension.cs: 1409 - Component 1316 is already fixed
+2026-03-15 14:01:47,883 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2026-03-15 14:01:47,884 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2026-03-15 14:01:47,884 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2026-03-15 14:01:47,885 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2026-03-15 14:01:47,885 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1121
+2026-03-15 14:01:47,885 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1338
+2026-03-15 14:01:47,885 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1336
+2026-03-15 14:01:47,886 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1360
+2026-03-15 14:01:47,886 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1218
+2026-03-15 14:01:47,886 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1356
+2026-03-15 14:01:49,054 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link5 to child Link6 failed
+2026-03-15 14:01:50,224 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.2.SLDASM
+2026-03-15 14:01:50,228 INFO  ExportHelperExtension.cs: 1136 - Found 65 in 3.2.SLDASM
+2026-03-15 14:01:50,228 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in 3.2.SLDASM
+2026-03-15 14:01:50,229 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 14:01:50,229 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 14:01:50,230 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��Yģ��-2
+2026-03-15 14:01:50,230 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 14:01:50,230 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��Yģ��-2
+2026-03-15 14:01:50,231 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ�ű�������Ԫ-1
+2026-03-15 14:01:50,231 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 14:01:50,232 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ�ű�������Ԫ-1
+2026-03-15 14:01:50,233 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���ű�-1
+2026-03-15 14:01:50,233 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 14:01:50,233 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���ű�-1
+2026-03-15 14:01:50,233 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��еצ3.1-2
+2026-03-15 14:01:50,235 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 14:01:50,236 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��еצ3.1-2
+2026-03-15 14:01:50,242 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ�ű�-1
+2026-03-15 14:01:50,294 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 14:01:50,296 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ�ű�-1
+2026-03-15 14:01:50,296 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�����-1
+2026-03-15 14:01:50,296 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 14:01:50,298 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�����-1
+2026-03-15 14:01:50,298 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���űۻ�ת��-1
+2026-03-15 14:01:50,299 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 14:01:50,300 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���űۻ�ת��-1
+2026-03-15 14:01:50,300 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�������Ԫ-1
+2026-03-15 14:01:50,300 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 14:01:50,301 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�������Ԫ-1
+2026-03-15 14:01:50,301 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
+2026-03-15 14:01:50,301 INFO  ExportHelperExtension.cs: 1136 - Found 65 in 3.2.SLDASM
+2026-03-15 14:01:50,302 INFO  ExportHelperExtension.cs: 1145 - Found 2 features of type [RefAxis] in 3.2.SLDASM
+2026-03-15 14:01:50,302 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 14:01:50,302 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 14:01:50,302 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��Yģ��-2
+2026-03-15 14:01:50,303 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 14:01:50,303 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��Yģ��-2
+2026-03-15 14:01:50,303 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ�ű�������Ԫ-1
+2026-03-15 14:01:50,304 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 14:01:50,305 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ�ű�������Ԫ-1
+2026-03-15 14:01:50,305 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���ű�-1
+2026-03-15 14:01:50,305 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 14:01:50,306 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���ű�-1
+2026-03-15 14:01:50,306 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��еצ3.1-2
+2026-03-15 14:01:50,306 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 14:01:50,308 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��еצ3.1-2
+2026-03-15 14:01:50,308 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ�ű�-1
+2026-03-15 14:01:50,308 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 14:01:50,309 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ�ű�-1
+2026-03-15 14:01:50,309 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�����-1
+2026-03-15 14:01:50,310 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 14:01:50,310 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�����-1
+2026-03-15 14:01:50,311 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���űۻ�ת��-1
+2026-03-15 14:01:50,311 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 14:01:50,312 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���űۻ�ת��-1
+2026-03-15 14:01:50,312 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�������Ԫ-1
+2026-03-15 14:01:50,312 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 14:01:50,313 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�������Ԫ-1
+2026-03-15 15:34:42,351 INFO  SwAddin.cs: 294 - Assembly export called for file 3.2.SLDASM
+2026-03-15 15:34:42,353 INFO  SwAddin.cs: 299 - Save is required
+2026-03-15 15:34:42,353 INFO  SwAddin.cs: 313 - Saving assembly
+2026-03-15 15:34:44,687 INFO  SwAddin.cs: 316 - Opening property manager
+2026-03-15 15:34:44,687 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.2.SLDASM
+2026-03-15 15:34:44,689 INFO  ExportHelperExtension.cs: 1136 - Found 80 in 3.2.SLDASM
+2026-03-15 15:34:44,690 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in 3.2.SLDASM
+2026-03-15 15:34:44,690 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 15:34:44,690 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 15:34:44,691 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��Yģ��-2
+2026-03-15 15:34:44,691 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 15:34:44,692 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��Yģ��-2
+2026-03-15 15:34:44,692 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ�ű�������Ԫ-1
+2026-03-15 15:34:44,693 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 15:34:44,694 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ�ű�������Ԫ-1
+2026-03-15 15:34:44,694 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���ű�-1
+2026-03-15 15:34:44,695 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 15:34:44,695 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���ű�-1
+2026-03-15 15:34:44,695 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��еצ3.1-2
+2026-03-15 15:34:44,696 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 15:34:44,697 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��еצ3.1-2
+2026-03-15 15:34:44,697 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ�ű�-1
+2026-03-15 15:34:44,698 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 15:34:44,699 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ�ű�-1
+2026-03-15 15:34:44,699 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�����-1
+2026-03-15 15:34:44,700 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 15:34:44,701 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�����-1
+2026-03-15 15:34:44,702 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���űۻ�ת��-1
+2026-03-15 15:34:44,703 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 15:34:44,703 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���űۻ�ת��-1
+2026-03-15 15:34:44,705 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�������Ԫ-1
+2026-03-15 15:34:44,705 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 15:34:44,705 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�������Ԫ-1
+2026-03-15 15:34:44,706 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
+2026-03-15 15:34:44,706 INFO  ExportHelperExtension.cs: 1136 - Found 80 in 3.2.SLDASM
+2026-03-15 15:34:44,706 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
+2026-03-15 15:34:44,706 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 15:34:44,708 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 15:34:44,708 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��Yģ��-2
+2026-03-15 15:34:44,708 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 15:34:44,708 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��Yģ��-2
+2026-03-15 15:34:44,709 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ�ű�������Ԫ-1
+2026-03-15 15:34:44,709 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 15:34:44,710 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ�ű�������Ԫ-1
+2026-03-15 15:34:44,710 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���ű�-1
+2026-03-15 15:34:44,710 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 15:34:44,710 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���ű�-1
+2026-03-15 15:34:44,710 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��еצ3.1-2
+2026-03-15 15:34:44,712 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 15:34:44,712 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��еצ3.1-2
+2026-03-15 15:34:44,713 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ�ű�-1
+2026-03-15 15:34:44,713 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 15:34:44,714 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ�ű�-1
+2026-03-15 15:34:44,714 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�����-1
+2026-03-15 15:34:44,714 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 15:34:44,715 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�����-1
+2026-03-15 15:34:44,715 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���űۻ�ת��-1
+2026-03-15 15:34:44,717 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 15:34:44,717 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���űۻ�ת��-1
+2026-03-15 15:34:44,718 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�������Ԫ-1
+2026-03-15 15:34:44,718 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 15:34:44,718 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�������Ԫ-1
+2026-03-15 15:34:45,314 INFO  SwAddin.cs: 339 - Loading config tree
+2026-03-15 15:34:45,316 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
+<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i6"/><XYZAttribute z:Ref="i5"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i7" i:type="Mass"><Attributes><Attribute z:Id="i8"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i8"/></URDFElement><URDFElement z:Id="i9" i:type="Inertia"><Attributes><Attribute z:Id="i10"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i11"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i12"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i13"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i14"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i15"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i10"/><IxyAttribute z:Ref="i11"/><IxzAttribute z:Ref="i12"/><IyyAttribute z:Ref="i13"/><IyzAttribute z:Ref="i14"/><IzzAttribute z:Ref="i15"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i9"/><Mass z:Ref="i7"/><Origin z:Ref="i4"/></URDFElement><URDFElement z:Id="i16" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i17" i:type="Origin"><Attributes><Attribute z:Id="i18"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i19"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i19"/><XYZAttribute z:Ref="i18"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i20" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i21" i:type="Mesh"><Attributes><Attribute z:Id="i22"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i22"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i21"/></URDFElement><URDFElement z:Id="i23" i:type="Material"><Attributes><Attribute z:Id="i24"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i25" i:type="Color"><Attributes><Attribute z:Id="i26"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i26"/></URDFElement><URDFElement z:Id="i27" i:type="Texture"><Attributes><Attribute z:Id="i28"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i28"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i25"/><NameAttribute z:Ref="i24"/><Texture z:Ref="i27"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i20"/><Material z:Ref="i23"/><Origin z:Ref="i17"/></URDFElement><URDFElement z:Id="i29" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i30" i:type="Origin"><Attributes><Attribute z:Id="i31"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i32"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i32"/><XYZAttribute z:Ref="i31"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i33" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i34" i:type="Mesh"><Attributes><Attribute z:Id="i35"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i35"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i34"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i33"/><Origin z:Ref="i30"/></URDFElement><URDFElement z:Id="i36" i:type="Joint"><Attributes><Attribute z:Id="i37"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute><Attribute z:Id="i38"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i39" i:type="Origin"><Attributes><Attribute z:Id="i40"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i41"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i41"/><XYZAttribute z:Ref="i40"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i42" i:type="ParentLink"><Attributes><Attribute 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z:Id="i424"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i424"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i423"/></URDFElement><URDFElement z:Id="i425" i:type="Material"><Attributes><Attribute z:Id="i426"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i427" i:type="Color"><Attributes><Attribute z:Id="i428"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" 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z:Id="i437"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i437"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i436"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i435"/><Origin z:Ref="i432"/></URDFElement><URDFElement z:Id="i438" i:type="Joint"><Attributes><Attribute z:Id="i439"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">j6</Value></Attribute><Attribute z:Id="i440"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Automatically Detect</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i441" 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z:Ref="i449"/></URDFElement><URDFElement z:Id="i450" i:type="Limit"><Attributes><Attribute z:Id="i451"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i452"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i453"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i454"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i453"/><LowerAttribute z:Ref="i451"/><UpperAttribute z:Ref="i452"/><VelocityAttribute z:Ref="i454"/></URDFElement><URDFElement z:Id="i455" i:type="Calibration"><Attributes><Attribute z:Id="i456"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i457"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i457"/><RisingAttribute z:Ref="i456"/></URDFElement><URDFElement z:Id="i458" i:type="Dynamics"><Attributes><Attribute z:Id="i459"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i460"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i459"/><FrictionAttribute z:Ref="i460"/></URDFElement><URDFElement z:Id="i461" i:type="SafetyController"><Attributes><Attribute z:Id="i462"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i463"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i464"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i465"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i464"/><KVelocityAttribute z:Ref="i465"/><SoftLowerAttribute z:Ref="i463"/><SoftUpperAttribute z:Ref="i462"/></URDFElement><URDFElement z:Id="i466" i:type="Mimic"><Attributes><Attribute z:Id="i467"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i468"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i469"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i467"/><MultiplierAttribute z:Ref="i468"/><OffsetAttribute z:Ref="i469"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i448"/><AxisName>Automatically Generate</AxisName><Calibration z:Ref="i455"/><Child z:Ref="i446"/><CoordinateSystemName>Automatically Generate</CoordinateSystemName><Dynamics z:Ref="i458"/><Limit z:Ref="i450"/><Mimic z:Ref="i466"/><NameAttribute z:Ref="i439"/><Origin z:Ref="i441"/><Parent z:Ref="i444"/><Safety z:Ref="i461"/><TypeAttribute z:Ref="i440"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i431"/><Inertial z:Ref="i405"/><Joint z:Ref="i438"/><NameAttribute z:Ref="i404"/><Parent z:Ref="i336"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8MOmewaCpyMwAuADEALQAyAEAAMwAuADIABAAAABAAAAABAAAAAQAAAMEFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i418"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i364"/><Inertial z:Ref="i338"/><Joint z:Ref="i371"/><NameAttribute z:Ref="i337"/><Parent z:Ref="i269"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8JCU73U8KBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAAGEEAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i351"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i297"/><Inertial z:Ref="i271"/><Joint z:Ref="i304"/><NameAttribute z:Ref="i270"/><Parent z:Ref="i202"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8QMwAuADEALQCMTvdTwoHeVmyPwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAOgUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i284"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i230"/><Inertial z:Ref="i204"/><Joint z:Ref="i237"/><NameAttribute z:Ref="i203"/><Parent z:Ref="i135"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8PMwAuADEALQCMTvdTwoE7TsKBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAADgFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i217"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i163"/><Inertial z:Ref="i137"/><Joint z:Ref="i170"/><NameAttribute z:Ref="i136"/><Parent z:Ref="i68"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NMwAuADEALQAATvdTwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAUAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i150"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i96"/><Inertial z:Ref="i70"/><Joint z:Ref="i103"/><NameAttribute z:Ref="i69"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NAE73U8KBcZqoUlVTQ1EtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAwgQAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8RMwAuADEALQCMTvdTwoFxmqhSVVNDUS0AMQBAADMALgAyAAQAAAAQAAAAAQAAAAEAAABMBQAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i83"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8KJ1lZACFqV1ctADIAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAJAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
+2026-03-15 15:34:45,320 INFO  LinkNode.cs: 35 - Building node base_link
+2026-03-15 15:34:45,321 INFO  LinkNode.cs: 35 - Building node Link1
+2026-03-15 15:34:45,321 INFO  LinkNode.cs: 35 - Building node Link2
+2026-03-15 15:34:45,321 INFO  LinkNode.cs: 35 - Building node Link3
+2026-03-15 15:34:45,321 INFO  LinkNode.cs: 35 - Building node Link4
+2026-03-15 15:34:45,322 INFO  LinkNode.cs: 35 - Building node Link5
+2026-03-15 15:34:45,322 INFO  LinkNode.cs: 35 - Building node Link6
+2026-03-15 15:34:45,322 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for base_link from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 15:34:45,322 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???
+'YY!jWW-2@3.2

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+2026-03-15 15:34:45,324 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\��Yģ��.SLDASM
+2026-03-15 15:34:45,325 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link base_link
+2026-03-15 15:34:45,325 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link1 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 15:34:45,325 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???
N?S??q??RUSCQ-1@3.2

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+2026-03-15 15:34:45,326 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\һ�ű�������Ԫ.SLDASM
+2026-03-15 15:34:45,326 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S??q??RUSCQ-1@3.2

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+2026-03-15 15:34:45,326 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-���ű�������Ԫ.SLDASM
+2026-03-15 15:34:45,327 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link Link1
+2026-03-15 15:34:45,327 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link2 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 15:34:45,327 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???
3.1-N?S??-1@3.2

P
+2026-03-15 15:34:45,327 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-һ�ű�.SLDASM
+2026-03-15 15:34:45,328 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link2
+2026-03-15 15:34:45,328 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link3 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 15:34:45,328 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S??;N??-1@3.2

8
+2026-03-15 15:34:45,328 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-���ű�����.SLDASM
+2026-03-15 15:34:45,329 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link3
+2026-03-15 15:34:45,329 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link4 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 15:34:45,329 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S???Vl???-1@3.2

:
+2026-03-15 15:34:45,330 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-���űۻ�ת��.SLDASM
+2026-03-15 15:34:45,330 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link4
+2026-03-15 15:34:45,330 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link5 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 15:34:45,330 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???		N?S??-1@3.2

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+2026-03-15 15:34:45,331 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\���ű�.SLDASM
+2026-03-15 15:34:45,331 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link5
+2026-03-15 15:34:45,331 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link6 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 15:34:45,331 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.2

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+2026-03-15 15:34:45,332 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\��еצ3.0\��еצ3.1.SLDASM
+2026-03-15 15:34:45,332 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link6
+2026-03-15 15:34:45,350 INFO  SwAddin.cs: 344 - Showing property manager
+2026-03-15 15:35:04,959 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:35:11,134 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:35:12,780 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:35:20,208 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:35:25,402 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:36:24,668 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:36:33,417 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:36:34,673 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:36:37,622 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:36:47,710 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:36:48,766 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:36:51,546 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:36:58,189 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:36:59,901 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:37:09,273 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:37:13,755 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:37:14,967 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:37:18,214 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:37:25,026 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:37:26,585 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:37:28,339 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:37:39,652 INFO  ExportPropertyManager.cs: 422 - Configuration saved
+2026-03-15 15:37:39,655 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
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i:nil="true"/><Visual z:Ref="i83"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8KJ1lZACFqV1ctADIAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAJAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
+2026-03-15 15:37:40,600 INFO  ExportHelperExtension.cs: 347 - Creating joint Link1
+2026-03-15 15:37:40,736 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child Link1 failed
+2026-03-15 15:37:44,637 INFO  ExportHelperExtension.cs: 347 - Creating joint Link2
+2026-03-15 15:37:44,752 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link1 to child Link2 failed
+2026-03-15 15:37:45,312 INFO  ExportHelperExtension.cs: 347 - Creating joint Link3
+2026-03-15 15:37:45,495 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link2 to child Link3 failed
+2026-03-15 15:37:50,431 INFO  ExportHelperExtension.cs: 347 - Creating joint Link4
+2026-03-15 15:37:50,534 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link3 to child Link4 failed
+2026-03-15 15:37:56,015 INFO  ExportHelperExtension.cs: 347 - Creating joint Link5
+2026-03-15 15:37:56,169 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link4 to child Link5 failed
+2026-03-15 15:38:01,263 INFO  ExportHelperExtension.cs: 347 - Creating joint Link6
+2026-03-15 15:38:01,433 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link5 to child Link6 failed
+2026-03-15 15:38:02,720 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.2.SLDASM
+2026-03-15 15:38:02,722 INFO  ExportHelperExtension.cs: 1136 - Found 80 in 3.2.SLDASM
+2026-03-15 15:38:02,723 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in 3.2.SLDASM
+2026-03-15 15:38:02,723 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 15:38:02,724 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 15:38:02,724 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��Yģ��-2
+2026-03-15 15:38:02,725 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 15:38:02,725 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��Yģ��-2
+2026-03-15 15:38:02,725 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ�ű�������Ԫ-1
+2026-03-15 15:38:02,727 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 15:38:02,728 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ�ű�������Ԫ-1
+2026-03-15 15:38:02,729 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���ű�-1
+2026-03-15 15:38:02,729 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 15:38:02,730 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���ű�-1
+2026-03-15 15:38:02,730 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��еצ3.1-2
+2026-03-15 15:38:02,731 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 15:38:02,732 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��еצ3.1-2
+2026-03-15 15:38:02,732 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ�ű�-1
+2026-03-15 15:38:02,734 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 15:38:02,735 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ�ű�-1
+2026-03-15 15:38:02,735 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�����-1
+2026-03-15 15:38:02,738 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 15:38:02,739 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�����-1
+2026-03-15 15:38:02,744 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���űۻ�ת��-1
+2026-03-15 15:38:02,854 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 15:38:02,856 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���űۻ�ת��-1
+2026-03-15 15:38:02,857 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�������Ԫ-1
+2026-03-15 15:38:02,858 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 15:38:02,859 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�������Ԫ-1
+2026-03-15 15:38:02,859 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
+2026-03-15 15:38:02,859 INFO  ExportHelperExtension.cs: 1136 - Found 80 in 3.2.SLDASM
+2026-03-15 15:38:02,860 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
+2026-03-15 15:38:02,860 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 15:38:02,861 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 15:38:02,861 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��Yģ��-2
+2026-03-15 15:38:02,861 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 15:38:02,862 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��Yģ��-2
+2026-03-15 15:38:02,862 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ�ű�������Ԫ-1
+2026-03-15 15:38:02,863 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 15:38:02,864 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ�ű�������Ԫ-1
+2026-03-15 15:38:02,864 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���ű�-1
+2026-03-15 15:38:02,865 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 15:38:02,865 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���ű�-1
+2026-03-15 15:38:02,866 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��еצ3.1-2
+2026-03-15 15:38:02,866 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 15:38:02,867 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��еצ3.1-2
+2026-03-15 15:38:02,867 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ�ű�-1
+2026-03-15 15:38:02,868 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 15:38:02,869 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ�ű�-1
+2026-03-15 15:38:02,870 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�����-1
+2026-03-15 15:38:02,871 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 15:38:02,872 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�����-1
+2026-03-15 15:38:02,872 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���űۻ�ת��-1
+2026-03-15 15:38:02,873 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 15:38:02,874 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���űۻ�ת��-1
+2026-03-15 15:38:02,874 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�������Ԫ-1
+2026-03-15 15:38:02,875 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 15:38:02,875 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�������Ԫ-1
+2026-03-15 15:38:02,927 INFO  ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 15:42:40,324 INFO  AssemblyExportForm.cs: 253 - Completing URDF export
+2026-03-15 15:42:40,329 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
+<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i6"/><XYZAttribute z:Ref="i5"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i7" i:type="Mass"><Attributes><Attribute z:Id="i8"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i8"/></URDFElement><URDFElement z:Id="i9" i:type="Inertia"><Attributes><Attribute z:Id="i10"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i11"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i12"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i13"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i14"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i15"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i10"/><IxyAttribute z:Ref="i11"/><IxzAttribute z:Ref="i12"/><IyyAttribute z:Ref="i13"/><IyzAttribute z:Ref="i14"/><IzzAttribute z:Ref="i15"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i9"/><Mass z:Ref="i7"/><Origin z:Ref="i4"/></URDFElement><URDFElement z:Id="i16" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i17" i:type="Origin"><Attributes><Attribute z:Id="i18"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i19"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i19"/><XYZAttribute z:Ref="i18"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i20" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i21" i:type="Mesh"><Attributes><Attribute z:Id="i22"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i22"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i21"/></URDFElement><URDFElement z:Id="i23" i:type="Material"><Attributes><Attribute z:Id="i24"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i25" i:type="Color"><Attributes><Attribute z:Id="i26"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i26"/></URDFElement><URDFElement z:Id="i27" i:type="Texture"><Attributes><Attribute z:Id="i28"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i28"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i25"/><NameAttribute z:Ref="i24"/><Texture z:Ref="i27"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i20"/><Material z:Ref="i23"/><Origin z:Ref="i17"/></URDFElement><URDFElement z:Id="i29" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i30" i:type="Origin"><Attributes><Attribute z:Id="i31"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i32"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i32"/><XYZAttribute z:Ref="i31"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i33" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i34" i:type="Mesh"><Attributes><Attribute z:Id="i35"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i35"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i34"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i33"/><Origin z:Ref="i30"/></URDFElement><URDFElement z:Id="i36" i:type="Joint"><Attributes><Attribute z:Id="i37"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute><Attribute z:Id="i38"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i39" i:type="Origin"><Attributes><Attribute z:Id="i40"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i41"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i41"/><XYZAttribute z:Ref="i40"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i42" i:type="ParentLink"><Attributes><Attribute z:Id="i43"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i43"/></URDFElement><URDFElement z:Id="i44" i:type="ChildLink"><Attributes><Attribute z:Id="i45"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i45"/></URDFElement><URDFElement z:Id="i46" i:type="Axis"><Attributes><Attribute z:Id="i47"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i47"/></URDFElement><URDFElement z:Id="i48" i:type="Limit"><Attributes><Attribute z:Id="i49"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i50"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i51"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i52"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i51"/><LowerAttribute z:Ref="i49"/><UpperAttribute 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z:Id="i424"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i424"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i423"/></URDFElement><URDFElement z:Id="i425" i:type="Material"><Attributes><Attribute z:Id="i426"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i427" i:type="Color"><Attributes><Attribute z:Id="i428"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" 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i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i432" i:type="Origin"><Attributes><Attribute z:Id="i433"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i434"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i434"/><XYZAttribute z:Ref="i433"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i435" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i436" i:type="Mesh"><Attributes><Attribute z:Id="i437"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i437"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i436"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i435"/><Origin z:Ref="i432"/></URDFElement><URDFElement z:Id="i438" i:type="Joint"><Attributes><Attribute z:Id="i439"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">j6</Value></Attribute><Attribute z:Id="i440"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i441" i:type="Origin"><Attributes><Attribute z:Id="i442"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i443"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i443"/><XYZAttribute z:Ref="i442"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i444" i:type="ParentLink"><Attributes><Attribute z:Id="i445"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i445"/></URDFElement><URDFElement z:Id="i446" i:type="ChildLink"><Attributes><Attribute z:Id="i447"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i447"/></URDFElement><URDFElement z:Id="i448" i:type="Axis"><Attributes><Attribute z:Id="i449"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i449"/></URDFElement><URDFElement z:Id="i450" i:type="Limit"><Attributes><Attribute z:Id="i451"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i452"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i453"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i454"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i453"/><LowerAttribute z:Ref="i451"/><UpperAttribute z:Ref="i452"/><VelocityAttribute z:Ref="i454"/></URDFElement><URDFElement z:Id="i455" i:type="Calibration"><Attributes><Attribute z:Id="i456"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i457"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i457"/><RisingAttribute z:Ref="i456"/></URDFElement><URDFElement z:Id="i458" i:type="Dynamics"><Attributes><Attribute z:Id="i459"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i460"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i459"/><FrictionAttribute z:Ref="i460"/></URDFElement><URDFElement z:Id="i461" i:type="SafetyController"><Attributes><Attribute z:Id="i462"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i463"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i464"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i465"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i464"/><KVelocityAttribute z:Ref="i465"/><SoftLowerAttribute z:Ref="i463"/><SoftUpperAttribute z:Ref="i462"/></URDFElement><URDFElement z:Id="i466" i:type="Mimic"><Attributes><Attribute z:Id="i467"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i468"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i469"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i467"/><MultiplierAttribute z:Ref="i468"/><OffsetAttribute z:Ref="i469"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i448"/><AxisName>?????????6</AxisName><Calibration z:Ref="i455"/><Child z:Ref="i446"/><CoordinateSystemName>?????????6</CoordinateSystemName><Dynamics z:Ref="i458"/><Limit z:Ref="i450"/><Mimic z:Ref="i466"/><NameAttribute z:Ref="i439"/><Origin z:Ref="i441"/><Parent z:Ref="i444"/><Safety z:Ref="i461"/><TypeAttribute z:Ref="i440"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i431"/><Inertial z:Ref="i405"/><Joint z:Ref="i438"/><NameAttribute z:Ref="i404"/><Parent z:Ref="i336"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8MOmewaCpyMwAuADEALQAyAEAAMwAuADIABAAAABAAAAABAAAAAQAAAMEFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i418"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i364"/><Inertial z:Ref="i338"/><Joint z:Ref="i371"/><NameAttribute z:Ref="i337"/><Parent z:Ref="i269"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8JCU73U8KBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAAGEEAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i351"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i297"/><Inertial z:Ref="i271"/><Joint z:Ref="i304"/><NameAttribute z:Ref="i270"/><Parent z:Ref="i202"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8QMwAuADEALQCMTvdTwoHeVmyPwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAOgUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i284"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i230"/><Inertial z:Ref="i204"/><Joint z:Ref="i237"/><NameAttribute z:Ref="i203"/><Parent z:Ref="i135"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8PMwAuADEALQCMTvdTwoE7TsKBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAADgFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i217"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i163"/><Inertial z:Ref="i137"/><Joint z:Ref="i170"/><NameAttribute z:Ref="i136"/><Parent z:Ref="i68"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NMwAuADEALQAATvdTwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAUAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i150"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i96"/><Inertial z:Ref="i70"/><Joint z:Ref="i103"/><NameAttribute z:Ref="i69"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NAE73U8KBcZqoUlVTQ1EtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAwgQAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8RMwAuADEALQCMTvdTwoFxmqhSVVNDUS0AMQBAADMALgAyAAQAAAAQAAAAAQAAAAEAAABMBQAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i83"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8KJ1lZACFqV1ctADIAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAJAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
+2026-03-15 15:43:14,915 INFO  AssemblyExportForm.cs: 309 - Saving URDF package to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\3.2.SLDASM
+2026-03-15 15:43:14,920 INFO  ExportHelper.cs: 147 - Beginning the export process
+2026-03-15 15:43:14,921 INFO  ExportHelper.cs: 153 - Creating package directories with name 3.2.SLDASM and save path D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315
+2026-03-15 15:43:16,982 INFO  ExportHelper.cs: 162 - Creating CMakeLists.txt at D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\3.2.SLDASM\CMakeLists.txt
+2026-03-15 15:43:16,984 INFO  ExportHelper.cs: 166 - Creating joint names config at D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\3.2.SLDASM\config\joint_names_3.2.SLDASM.yaml
+2026-03-15 15:43:16,985 INFO  ExportHelper.cs: 170 - Creating package.xml at D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\3.2.SLDASM\package.xml
+2026-03-15 15:43:16,986 INFO  PackageXMLWriter.cs: 21 - Creating package.xml at D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\3.2.SLDASM\package.xml
+2026-03-15 15:43:16,989 INFO  ExportHelper.cs: 177 - Creating RVIZ launch file in D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\3.2.SLDASM\launch\
+2026-03-15 15:43:16,991 INFO  ExportHelper.cs: 182 - Creating Gazebo launch file in D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\3.2.SLDASM\launch\
+2026-03-15 15:43:16,991 INFO  ExportHelper.cs: 187 - Saving existing STL preferences
+2026-03-15 15:43:16,993 INFO  ExportHelper.cs: 450 - Saving users preferences
+2026-03-15 15:43:16,994 INFO  ExportHelper.cs: 190 - Modifying STL preferences
+2026-03-15 15:43:16,994 INFO  ExportHelper.cs: 464 - Setting STL preferences
+2026-03-15 15:43:17,005 INFO  ExportHelper.cs: 196 - Found 0 hidden components 
+2026-03-15 15:43:17,005 INFO  ExportHelper.cs: 197 - Hiding all components
+2026-03-15 15:43:17,963 INFO  ExportHelper.cs: 204 - Beginning individual files export
+2026-03-15 15:43:17,981 INFO  ExportHelper.cs: 270 - Exporting link: base_link
+2026-03-15 15:43:17,982 INFO  ExportHelper.cs: 272 - Link base_link has 1 children
+2026-03-15 15:43:17,982 INFO  ExportHelper.cs: 270 - Exporting link: Link1
+2026-03-15 15:43:17,983 INFO  ExportHelper.cs: 272 - Link Link1 has 1 children
+2026-03-15 15:43:17,983 INFO  ExportHelper.cs: 270 - Exporting link: Link2
+2026-03-15 15:43:17,983 INFO  ExportHelper.cs: 272 - Link Link2 has 1 children
+2026-03-15 15:43:17,984 INFO  ExportHelper.cs: 270 - Exporting link: Link3
+2026-03-15 15:43:17,984 INFO  ExportHelper.cs: 272 - Link Link3 has 1 children
+2026-03-15 15:43:17,985 INFO  ExportHelper.cs: 270 - Exporting link: Link4
+2026-03-15 15:43:17,985 INFO  ExportHelper.cs: 272 - Link Link4 has 1 children
+2026-03-15 15:43:17,986 INFO  ExportHelper.cs: 270 - Exporting link: Link5
+2026-03-15 15:43:17,986 INFO  ExportHelper.cs: 272 - Link Link5 has 1 children
+2026-03-15 15:43:17,987 INFO  ExportHelper.cs: 270 - Exporting link: Link6
+2026-03-15 15:43:17,987 INFO  ExportHelper.cs: 272 - Link Link6 has 0 children
+2026-03-15 15:43:17,987 INFO  ExportHelper.cs: 317 - Link6: Exporting STL with coordinate frame ����ϵ6
+2026-03-15 15:43:17,988 INFO  ExportHelper.cs: 322 - Link6: Reference geometry name 
+2026-03-15 15:43:18,327 INFO  ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\3.2.SLDASM\meshes\Link6.STL
+2026-03-15 15:43:19,444 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-15 15:43:19,445 INFO  ExportHelper.cs: 317 - Link5: Exporting STL with coordinate frame ����ϵ5
+2026-03-15 15:43:19,445 INFO  ExportHelper.cs: 322 - Link5: Reference geometry name 
+2026-03-15 15:43:19,595 INFO  ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\3.2.SLDASM\meshes\Link5.STL
+2026-03-15 15:43:23,226 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-15 15:43:23,226 INFO  ExportHelper.cs: 317 - Link4: Exporting STL with coordinate frame ����ϵ4
+2026-03-15 15:43:23,227 INFO  ExportHelper.cs: 322 - Link4: Reference geometry name 
+2026-03-15 15:43:24,062 INFO  ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\3.2.SLDASM\meshes\Link4.STL
+2026-03-15 15:43:27,694 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-15 15:43:27,694 INFO  ExportHelper.cs: 317 - Link3: Exporting STL with coordinate frame ����ϵ3
+2026-03-15 15:43:27,695 INFO  ExportHelper.cs: 322 - Link3: Reference geometry name 
+2026-03-15 15:43:27,758 INFO  ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\3.2.SLDASM\meshes\Link3.STL
+2026-03-15 15:43:31,211 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-15 15:43:31,212 INFO  ExportHelper.cs: 317 - Link2: Exporting STL with coordinate frame ����ϵ2
+2026-03-15 15:43:31,212 INFO  ExportHelper.cs: 322 - Link2: Reference geometry name 
+2026-03-15 15:43:31,666 INFO  ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\3.2.SLDASM\meshes\Link2.STL
+2026-03-15 15:43:32,409 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-15 15:43:32,410 INFO  ExportHelper.cs: 317 - Link1: Exporting STL with coordinate frame ����ϵ1
+2026-03-15 15:43:32,410 INFO  ExportHelper.cs: 322 - Link1: Reference geometry name 
+2026-03-15 15:43:33,222 INFO  ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\3.2.SLDASM\meshes\Link1.STL
+2026-03-15 15:43:39,088 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-15 15:43:39,088 INFO  ExportHelper.cs: 317 - base_link: Exporting STL with coordinate frame ����ϵbase
+2026-03-15 15:43:39,089 INFO  ExportHelper.cs: 322 - base_link: Reference geometry name 
+2026-03-15 15:43:39,242 INFO  ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\3.2.SLDASM\meshes\base_link.STL
+2026-03-15 15:43:41,144 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-15 15:43:41,145 INFO  ExportHelper.cs: 145 - Showing all components except previously hidden components
+2026-03-15 15:43:53,420 INFO  ExportHelper.cs: 145 - Resetting STL preferences
+2026-03-15 15:43:53,421 INFO  ExportHelper.cs: 478 - Returning STL preferences to user preferences
+2026-03-15 15:43:53,422 INFO  ExportHelper.cs: 228 - Writing URDF file to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\3.2.SLDASM\urdf\3.2.SLDASM.urdf
+2026-03-15 15:43:53,721 INFO  CSVImportExport.cs: 32 - Writing CSV file D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\3.2.SLDASM\urdf\3.2.SLDASM.csv
+2026-03-15 15:43:53,741 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-15 15:43:53,741 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-15 15:43:53,742 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-15 15:43:53,742 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-15 15:43:53,742 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-15 15:43:53,742 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-15 15:43:53,743 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-15 15:43:53,743 INFO  ExportHelper.cs: 234 - Copying log file
+2026-03-15 15:43:53,746 INFO  ExportHelper.cs: 439 - Copying C:\Users\Lenovo\sw2urdf_logs\sw2urdf.log to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\3.2.SLDASM\export.log
+2026-03-15 15:43:53,747 INFO  ExportHelper.cs: 237 - Resetting STL preferences
+2026-03-15 15:43:53,748 INFO  ExportHelper.cs: 478 - Returning STL preferences to user preferences
+2026-03-15 16:35:44,840 INFO  SwAddin.cs: 294 - Assembly export called for file 3.2.SLDASM
+2026-03-15 16:35:44,841 INFO  SwAddin.cs: 299 - Save is required
+2026-03-15 16:35:44,841 INFO  SwAddin.cs: 313 - Saving assembly
+2026-03-15 16:35:46,551 INFO  SwAddin.cs: 316 - Opening property manager
+2026-03-15 16:35:46,552 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.2.SLDASM
+2026-03-15 16:35:46,552 INFO  ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
+2026-03-15 16:35:46,552 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in 3.2.SLDASM
+2026-03-15 16:35:46,554 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 16:35:46,554 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 16:35:46,554 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��Yģ��-2
+2026-03-15 16:35:46,555 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 16:35:46,555 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��Yģ��-2
+2026-03-15 16:35:46,556 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ�ű�������Ԫ-1
+2026-03-15 16:35:46,556 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 16:35:46,557 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ�ű�������Ԫ-1
+2026-03-15 16:35:46,557 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���ű�-1
+2026-03-15 16:35:46,557 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 16:35:46,558 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���ű�-1
+2026-03-15 16:35:46,558 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��еצ3.1-2
+2026-03-15 16:35:46,559 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 16:35:46,559 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��еצ3.1-2
+2026-03-15 16:35:46,559 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ�ű�-1
+2026-03-15 16:35:46,560 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 16:35:46,561 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ�ű�-1
+2026-03-15 16:35:46,561 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�����-1
+2026-03-15 16:35:46,562 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 16:35:46,562 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�����-1
+2026-03-15 16:35:46,564 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���űۻ�ת��-1
+2026-03-15 16:35:46,565 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 16:35:46,565 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���űۻ�ת��-1
+2026-03-15 16:35:46,566 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�������Ԫ-1
+2026-03-15 16:35:46,566 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 16:35:46,566 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�������Ԫ-1
+2026-03-15 16:35:46,567 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
+2026-03-15 16:35:46,567 INFO  ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
+2026-03-15 16:35:46,567 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
+2026-03-15 16:35:46,568 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 16:35:46,568 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 16:35:46,568 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��Yģ��-2
+2026-03-15 16:35:46,569 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 16:35:46,569 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��Yģ��-2
+2026-03-15 16:35:46,569 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ�ű�������Ԫ-1
+2026-03-15 16:35:46,570 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 16:35:46,570 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ�ű�������Ԫ-1
+2026-03-15 16:35:46,571 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���ű�-1
+2026-03-15 16:35:46,571 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 16:35:46,571 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���ű�-1
+2026-03-15 16:35:46,572 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��еצ3.1-2
+2026-03-15 16:35:46,572 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 16:35:46,572 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��еצ3.1-2
+2026-03-15 16:35:46,574 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ�ű�-1
+2026-03-15 16:35:46,575 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 16:35:46,575 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ�ű�-1
+2026-03-15 16:35:46,576 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�����-1
+2026-03-15 16:35:46,576 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 16:35:46,577 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�����-1
+2026-03-15 16:35:46,577 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���űۻ�ת��-1
+2026-03-15 16:35:46,578 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 16:35:46,579 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���űۻ�ת��-1
+2026-03-15 16:35:46,579 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�������Ԫ-1
+2026-03-15 16:35:46,580 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 16:35:46,580 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�������Ԫ-1
+2026-03-15 16:35:47,061 INFO  SwAddin.cs: 339 - Loading config tree
+2026-03-15 16:35:47,062 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
+<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>2.2062E-06</a:double><a:double>-0.089452</a:double><a:double>0.015312</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i6"/><XYZAttribute z:Ref="i5"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i7" i:type="Mass"><Attributes><Attribute z:Id="i8"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">1.0633</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i8"/></URDFElement><URDFElement z:Id="i9" i:type="Inertia"><Attributes><Attribute z:Id="i10"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.0031488</Value></Attribute><Attribute z:Id="i11"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">-7.846E-08</Value></Attribute><Attribute z:Id="i12"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">1.0021E-07</Value></Attribute><Attribute z:Id="i13"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.00202</Value></Attribute><Attribute z:Id="i14"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">-1.6521E-08</Value></Attribute><Attribute z:Id="i15"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.0051396</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i10"/><IxyAttribute z:Ref="i11"/><IxzAttribute z:Ref="i12"/><IyyAttribute z:Ref="i13"/><IyzAttribute z:Ref="i14"/><IzzAttribute z:Ref="i15"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i9"/><Mass z:Ref="i7"/><Origin z:Ref="i4"/></URDFElement><URDFElement z:Id="i16" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i17" i:type="Origin"><Attributes><Attribute z:Id="i18"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i19"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i19"/><XYZAttribute z:Ref="i18"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i20" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i21" i:type="Mesh"><Attributes><Attribute z:Id="i22"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i22"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i21"/></URDFElement><URDFElement z:Id="i23" i:type="Material"><Attributes><Attribute z:Id="i24"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i25" i:type="Color"><Attributes><Attribute z:Id="i26"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0.75294</a:double><a:double>0.75294</a:double><a:double>0.75294</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i26"/></URDFElement><URDFElement z:Id="i27" i:type="Texture"><Attributes><Attribute z:Id="i28"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i28"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i25"/><NameAttribute z:Ref="i24"/><Texture z:Ref="i27"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i20"/><Material z:Ref="i23"/><Origin z:Ref="i17"/></URDFElement><URDFElement z:Id="i29" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i30" i:type="Origin"><Attributes><Attribute z:Id="i31"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i32"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i32"/><XYZAttribute z:Ref="i31"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i33" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i34" i:type="Mesh"><Attributes><Attribute z:Id="i35"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i35"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i34"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i33"/><Origin z:Ref="i30"/></URDFElement><URDFElement z:Id="i36" i:type="Joint"><Attributes><Attribute z:Id="i37"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute><Attribute z:Id="i38"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i39" i:type="Origin"><Attributes><Attribute z:Id="i40"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i41"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i41"/><XYZAttribute z:Ref="i40"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i42" i:type="ParentLink"><Attributes><Attribute z:Id="i43"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i43"/></URDFElement><URDFElement z:Id="i44" i:type="ChildLink"><Attributes><Attribute z:Id="i45"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i45"/></URDFElement><URDFElement z:Id="i46" i:type="Axis"><Attributes><Attribute z:Id="i47"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i47"/></URDFElement><URDFElement z:Id="i48" i:type="Limit"><Attributes><Attribute z:Id="i49"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i50"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i51"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i52"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i51"/><LowerAttribute z:Ref="i49"/><UpperAttribute z:Ref="i50"/><VelocityAttribute z:Ref="i52"/></URDFElement><URDFElement z:Id="i53" i:type="Calibration"><Attributes><Attribute z:Id="i54"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i55"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i55"/><RisingAttribute z:Ref="i54"/></URDFElement><URDFElement z:Id="i56" i:type="Dynamics"><Attributes><Attribute z:Id="i57"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i58"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i57"/><FrictionAttribute z:Ref="i58"/></URDFElement><URDFElement z:Id="i59" i:type="SafetyController"><Attributes><Attribute z:Id="i60"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i61"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i62"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i63"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i62"/><KVelocityAttribute z:Ref="i63"/><SoftLowerAttribute z:Ref="i61"/><SoftUpperAttribute z:Ref="i60"/></URDFElement><URDFElement z:Id="i64" i:type="Mimic"><Attributes><Attribute z:Id="i65"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i66"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i67"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i65"/><MultiplierAttribute z:Ref="i66"/><OffsetAttribute z:Ref="i67"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i46"/><AxisName/><Calibration z:Ref="i53"/><Child z:Ref="i44"/><CoordinateSystemName>?????????base</CoordinateSystemName><Dynamics z:Ref="i56"/><Limit z:Ref="i48"/><Mimic z:Ref="i64"/><NameAttribute z:Ref="i37"/><Origin z:Ref="i39"/><Parent z:Ref="i42"/><Safety z:Ref="i59"/><TypeAttribute z:Ref="i38"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i68"><Attributes><Attribute 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z:Id="i437"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i437"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i436"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i435"/><Origin z:Ref="i432"/></URDFElement><URDFElement z:Id="i438" i:type="Joint"><Attributes><Attribute z:Id="i439"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">j6</Value></Attribute><Attribute z:Id="i440"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i441" i:type="Origin"><Attributes><Attribute z:Id="i442"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0.10473</a:double><a:double>0.0013347</a:double><a:double>0.0055086</a:double></Value></Attribute><Attribute z:Id="i443"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1.5708</a:double><a:double>0</a:double><a:double>1.5708</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i443"/><XYZAttribute z:Ref="i442"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i444" i:type="ParentLink"><Attributes><Attribute z:Id="i445"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" 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z:Ref="i449"/></URDFElement><URDFElement z:Id="i450" i:type="Limit"><Attributes><Attribute z:Id="i451"><AttributeType>lower</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i452"><AttributeType>upper</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">3.66</Value></Attribute><Attribute z:Id="i453"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">20</Value></Attribute><Attribute z:Id="i454"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">3.14</Value></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>true</required><EffortAttribute z:Ref="i453"/><LowerAttribute z:Ref="i451"/><UpperAttribute z:Ref="i452"/><VelocityAttribute z:Ref="i454"/></URDFElement><URDFElement z:Id="i455" i:type="Calibration"><Attributes><Attribute z:Id="i456"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i457"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i457"/><RisingAttribute z:Ref="i456"/></URDFElement><URDFElement z:Id="i458" i:type="Dynamics"><Attributes><Attribute z:Id="i459"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i460"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i459"/><FrictionAttribute z:Ref="i460"/></URDFElement><URDFElement z:Id="i461" i:type="SafetyController"><Attributes><Attribute z:Id="i462"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i463"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i464"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i465"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i464"/><KVelocityAttribute z:Ref="i465"/><SoftLowerAttribute z:Ref="i463"/><SoftUpperAttribute z:Ref="i462"/></URDFElement><URDFElement z:Id="i466" i:type="Mimic"><Attributes><Attribute z:Id="i467"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i468"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i469"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i467"/><MultiplierAttribute z:Ref="i468"/><OffsetAttribute z:Ref="i469"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i448"/><AxisName>?????????6</AxisName><Calibration z:Ref="i455"/><Child z:Ref="i446"/><CoordinateSystemName>?????????6</CoordinateSystemName><Dynamics z:Ref="i458"/><Limit z:Ref="i450"/><Mimic z:Ref="i466"/><NameAttribute z:Ref="i439"/><Origin z:Ref="i441"/><Parent z:Ref="i444"/><Safety z:Ref="i461"/><TypeAttribute z:Ref="i440"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i431"/><Inertial z:Ref="i405"/><Joint z:Ref="i438"/><NameAttribute z:Ref="i404"/><Parent z:Ref="i336"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8MOmewaCpyMwAuADEALQAyAEAAMwAuADIABAAAABAAAAABAAAAAQAAAMEFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i418"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i364"/><Inertial z:Ref="i338"/><Joint z:Ref="i371"/><NameAttribute z:Ref="i337"/><Parent z:Ref="i269"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8JCU73U8KBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAAGEEAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i351"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i297"/><Inertial z:Ref="i271"/><Joint z:Ref="i304"/><NameAttribute z:Ref="i270"/><Parent z:Ref="i202"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8QMwAuADEALQCMTvdTwoHeVmyPwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAOgUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i284"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i230"/><Inertial z:Ref="i204"/><Joint z:Ref="i237"/><NameAttribute z:Ref="i203"/><Parent z:Ref="i135"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8PMwAuADEALQCMTvdTwoE7TsKBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAADgFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i217"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i163"/><Inertial z:Ref="i137"/><Joint z:Ref="i170"/><NameAttribute z:Ref="i136"/><Parent z:Ref="i68"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NMwAuADEALQAATvdTwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAUAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i150"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i96"/><Inertial z:Ref="i70"/><Joint z:Ref="i103"/><NameAttribute z:Ref="i69"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NAE73U8KBcZqoUlVTQ1EtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAwgQAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8RMwAuADEALQCMTvdTwoFxmqhSVVNDUS0AMQBAADMALgAyAAQAAAAQAAAAAQAAAAEAAABMBQAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i83"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8KJ1lZACFqV1ctADIAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAJAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
+2026-03-15 16:35:47,069 INFO  LinkNode.cs: 35 - Building node base_link
+2026-03-15 16:35:47,069 INFO  LinkNode.cs: 35 - Building node Link1
+2026-03-15 16:35:47,069 INFO  LinkNode.cs: 35 - Building node Link2
+2026-03-15 16:35:47,070 INFO  LinkNode.cs: 35 - Building node Link3
+2026-03-15 16:35:47,070 INFO  LinkNode.cs: 35 - Building node Link4
+2026-03-15 16:35:47,070 INFO  LinkNode.cs: 35 - Building node Link5
+2026-03-15 16:35:47,070 INFO  LinkNode.cs: 35 - Building node Link6
+2026-03-15 16:35:47,071 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for base_link from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 16:35:47,071 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???
+'YY!jWW-2@3.2

$
+2026-03-15 16:35:47,071 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\��Yģ��.SLDASM
+2026-03-15 16:35:47,071 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link base_link
+2026-03-15 16:35:47,072 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link1 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 16:35:47,072 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???
N?S??q??RUSCQ-1@3.2

?
+2026-03-15 16:35:47,072 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\һ�ű�������Ԫ.SLDASM
+2026-03-15 16:35:47,072 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S??q??RUSCQ-1@3.2

L
+2026-03-15 16:35:47,072 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-���ű�������Ԫ.SLDASM
+2026-03-15 16:35:47,072 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link Link1
+2026-03-15 16:35:47,072 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link2 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 16:35:47,074 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???
3.1-N?S??-1@3.2

P
+2026-03-15 16:35:47,074 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-һ�ű�.SLDASM
+2026-03-15 16:35:47,074 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link2
+2026-03-15 16:35:47,074 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link3 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 16:35:47,075 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S??;N??-1@3.2

8
+2026-03-15 16:35:47,075 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-���ű�����.SLDASM
+2026-03-15 16:35:47,075 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link3
+2026-03-15 16:35:47,075 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link4 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 16:35:47,075 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S???Vl???-1@3.2

:
+2026-03-15 16:35:47,075 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-���űۻ�ת��.SLDASM
+2026-03-15 16:35:47,076 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link4
+2026-03-15 16:35:47,076 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link5 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 16:35:47,076 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???		N?S??-1@3.2

a
+2026-03-15 16:35:47,076 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\���ű�.SLDASM
+2026-03-15 16:35:47,077 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link5
+2026-03-15 16:35:47,077 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link6 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 16:35:47,077 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.2

?
+2026-03-15 16:35:47,077 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\��еצ3.0\��еצ3.1.SLDASM
+2026-03-15 16:35:47,077 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link6
+2026-03-15 16:35:47,239 INFO  SwAddin.cs: 344 - Showing property manager
+2026-03-15 16:40:17,811 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:41:09,229 INFO  ExportPropertyManager.cs: 1036 - OnListboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:41:11,897 INFO  ExportPropertyManager.cs: 1036 - OnListboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:41:14,846 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:41:16,073 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:41:22,422 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:41:26,976 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:41:33,584 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:41:34,762 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:41:47,436 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:41:50,431 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:41:51,606 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:41:51,697 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:41:54,022 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:41:58,297 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:41:59,622 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:42:02,713 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:42:03,695 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:42:06,064 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:42:08,503 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:42:12,795 INFO  ExportPropertyManager.cs: 422 - Configuration saved
+2026-03-15 16:42:12,796 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
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z:Ref="i405"/><Joint z:Ref="i438"/><NameAttribute z:Ref="i404"/><Parent z:Ref="i336"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8MOmewaCpyMwAuADEALQAyAEAAMwAuADIABAAAABAAAAABAAAAAQAAAMEFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i418"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i364"/><Inertial z:Ref="i338"/><Joint z:Ref="i371"/><NameAttribute z:Ref="i337"/><Parent z:Ref="i269"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8JCU73U8KBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAAGEEAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i351"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i297"/><Inertial z:Ref="i271"/><Joint z:Ref="i304"/><NameAttribute z:Ref="i270"/><Parent z:Ref="i202"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8QMwAuADEALQCMTvdTwoHeVmyPwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAOgUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i284"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i230"/><Inertial z:Ref="i204"/><Joint z:Ref="i237"/><NameAttribute z:Ref="i203"/><Parent z:Ref="i135"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8PMwAuADEALQCMTvdTwoE7TsKBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAADgFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i217"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i163"/><Inertial z:Ref="i137"/><Joint z:Ref="i170"/><NameAttribute z:Ref="i136"/><Parent z:Ref="i68"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NMwAuADEALQAATvdTwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAUAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i150"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i96"/><Inertial z:Ref="i70"/><Joint z:Ref="i103"/><NameAttribute z:Ref="i69"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NAE73U8KBcZqoUlVTQ1EtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAwgQAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8RMwAuADEALQCMTvdTwoFxmqhSVVNDUS0AMQBAADMALgAyAAQAAAAQAAAAAQAAAAEAAABMBQAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i83"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8KJ1lZACFqV1ctADIAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAJAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
+2026-03-15 16:42:13,712 INFO  ExportHelperExtension.cs: 347 - Creating joint Link1
+2026-03-15 16:42:13,838 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child Link1 failed
+2026-03-15 16:42:17,345 INFO  ExportHelperExtension.cs: 347 - Creating joint Link2
+2026-03-15 16:42:17,470 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link1 to child Link2 failed
+2026-03-15 16:42:18,041 INFO  ExportHelperExtension.cs: 347 - Creating joint Link3
+2026-03-15 16:42:18,143 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link2 to child Link3 failed
+2026-03-15 16:42:22,470 INFO  ExportHelperExtension.cs: 347 - Creating joint Link4
+2026-03-15 16:42:22,687 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link3 to child Link4 failed
+2026-03-15 16:42:27,531 INFO  ExportHelperExtension.cs: 347 - Creating joint Link5
+2026-03-15 16:42:27,682 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link4 to child Link5 failed
+2026-03-15 16:42:32,428 INFO  ExportHelperExtension.cs: 347 - Creating joint Link6
+2026-03-15 16:42:32,564 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link5 to child Link6 failed
+2026-03-15 16:42:34,004 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.2.SLDASM
+2026-03-15 16:42:34,005 INFO  ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
+2026-03-15 16:42:34,005 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in 3.2.SLDASM
+2026-03-15 16:42:34,005 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 16:42:34,006 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 16:42:34,006 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��Yģ��-2
+2026-03-15 16:42:34,006 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 16:42:34,007 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��Yģ��-2
+2026-03-15 16:42:34,007 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ�ű�������Ԫ-1
+2026-03-15 16:42:34,009 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 16:42:34,010 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ�ű�������Ԫ-1
+2026-03-15 16:42:34,010 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���ű�-1
+2026-03-15 16:42:34,011 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 16:42:34,011 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���ű�-1
+2026-03-15 16:42:34,011 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��еצ3.1-2
+2026-03-15 16:42:34,012 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 16:42:34,013 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��еצ3.1-2
+2026-03-15 16:42:34,014 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ�ű�-1
+2026-03-15 16:42:34,015 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 16:42:34,015 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ�ű�-1
+2026-03-15 16:42:34,016 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�����-1
+2026-03-15 16:42:34,016 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 16:42:34,019 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�����-1
+2026-03-15 16:42:34,019 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���űۻ�ת��-1
+2026-03-15 16:42:34,020 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 16:42:34,021 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���űۻ�ת��-1
+2026-03-15 16:42:34,029 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�������Ԫ-1
+2026-03-15 16:42:34,029 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 16:42:34,030 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�������Ԫ-1
+2026-03-15 16:42:34,030 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
+2026-03-15 16:42:34,030 INFO  ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
+2026-03-15 16:42:34,031 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
+2026-03-15 16:42:34,031 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 16:42:34,031 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 16:42:34,032 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��Yģ��-2
+2026-03-15 16:42:34,073 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 16:42:34,074 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��Yģ��-2
+2026-03-15 16:42:34,074 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ�ű�������Ԫ-1
+2026-03-15 16:42:34,075 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 16:42:34,075 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ�ű�������Ԫ-1
+2026-03-15 16:42:34,076 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���ű�-1
+2026-03-15 16:42:34,076 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 16:42:34,076 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���ű�-1
+2026-03-15 16:42:34,076 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��еצ3.1-2
+2026-03-15 16:42:34,078 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 16:42:34,078 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��еצ3.1-2
+2026-03-15 16:42:34,079 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ�ű�-1
+2026-03-15 16:42:34,079 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 16:42:34,080 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ�ű�-1
+2026-03-15 16:42:34,080 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�����-1
+2026-03-15 16:42:34,081 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 16:42:34,082 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�����-1
+2026-03-15 16:42:34,082 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���űۻ�ת��-1
+2026-03-15 16:42:34,083 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 16:42:34,083 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���űۻ�ת��-1
+2026-03-15 16:42:34,083 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�������Ԫ-1
+2026-03-15 16:42:34,084 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 16:42:34,084 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�������Ԫ-1
+2026-03-15 16:42:34,127 INFO  ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:47:16,505 INFO  SwAddin.cs: 294 - Assembly export called for file 3.2.SLDASM
+2026-03-15 16:47:16,505 INFO  SwAddin.cs: 299 - Save is required
+2026-03-15 16:47:16,505 INFO  SwAddin.cs: 313 - Saving assembly
+2026-03-15 16:47:18,901 INFO  SwAddin.cs: 316 - Opening property manager
+2026-03-15 16:47:18,901 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.2.SLDASM
+2026-03-15 16:47:18,902 INFO  ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
+2026-03-15 16:47:18,902 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in 3.2.SLDASM
+2026-03-15 16:47:18,902 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 16:47:18,903 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 16:47:18,903 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��Yģ��-2
+2026-03-15 16:47:18,903 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 16:47:18,904 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��Yģ��-2
+2026-03-15 16:47:18,904 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ�ű�������Ԫ-1
+2026-03-15 16:47:18,905 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 16:47:18,905 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ�ű�������Ԫ-1
+2026-03-15 16:47:18,905 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���ű�-1
+2026-03-15 16:47:18,905 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 16:47:18,906 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���ű�-1
+2026-03-15 16:47:18,906 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��еצ3.1-2
+2026-03-15 16:47:18,907 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 16:47:18,907 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��еצ3.1-2
+2026-03-15 16:47:18,907 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ�ű�-1
+2026-03-15 16:47:18,908 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 16:47:18,909 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ�ű�-1
+2026-03-15 16:47:18,909 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�����-1
+2026-03-15 16:47:18,909 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 16:47:18,910 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�����-1
+2026-03-15 16:47:18,911 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���űۻ�ת��-1
+2026-03-15 16:47:18,911 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 16:47:18,912 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���űۻ�ת��-1
+2026-03-15 16:47:18,913 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�������Ԫ-1
+2026-03-15 16:47:18,913 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 16:47:18,913 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�������Ԫ-1
+2026-03-15 16:47:18,914 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
+2026-03-15 16:47:18,914 INFO  ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
+2026-03-15 16:47:18,914 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
+2026-03-15 16:47:18,915 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 16:47:18,915 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 16:47:18,915 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��Yģ��-2
+2026-03-15 16:47:18,915 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 16:47:18,916 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��Yģ��-2
+2026-03-15 16:47:18,917 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ�ű�������Ԫ-1
+2026-03-15 16:47:18,917 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 16:47:18,917 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ�ű�������Ԫ-1
+2026-03-15 16:47:18,918 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���ű�-1
+2026-03-15 16:47:18,918 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 16:47:18,918 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���ű�-1
+2026-03-15 16:47:18,918 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��еצ3.1-2
+2026-03-15 16:47:18,919 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 16:47:18,920 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��еצ3.1-2
+2026-03-15 16:47:18,920 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ�ű�-1
+2026-03-15 16:47:18,920 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 16:47:18,921 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ�ű�-1
+2026-03-15 16:47:18,921 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�����-1
+2026-03-15 16:47:18,922 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 16:47:18,927 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�����-1
+2026-03-15 16:47:18,927 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���űۻ�ת��-1
+2026-03-15 16:47:18,927 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 16:47:18,929 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���űۻ�ת��-1
+2026-03-15 16:47:18,929 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�������Ԫ-1
+2026-03-15 16:47:18,944 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 16:47:18,944 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�������Ԫ-1
+2026-03-15 16:47:19,392 INFO  SwAddin.cs: 339 - Loading config tree
+2026-03-15 16:47:19,392 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
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z:Id="i11"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">-7.846E-08</Value></Attribute><Attribute z:Id="i12"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">1.0021E-07</Value></Attribute><Attribute z:Id="i13"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.00202</Value></Attribute><Attribute z:Id="i14"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">-1.6521E-08</Value></Attribute><Attribute z:Id="i15"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" 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z:Ref="i25"/><NameAttribute z:Ref="i24"/><Texture z:Ref="i27"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i20"/><Material z:Ref="i23"/><Origin z:Ref="i17"/></URDFElement><URDFElement z:Id="i29" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i30" i:type="Origin"><Attributes><Attribute z:Id="i31"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i32"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute 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z:Ref="i50"/><VelocityAttribute z:Ref="i52"/></URDFElement><URDFElement z:Id="i53" i:type="Calibration"><Attributes><Attribute z:Id="i54"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i55"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i55"/><RisingAttribute z:Ref="i54"/></URDFElement><URDFElement z:Id="i56" i:type="Dynamics"><Attributes><Attribute z:Id="i57"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i58"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i57"/><FrictionAttribute 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z:Ref="i73"/><XYZAttribute z:Ref="i72"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i74" i:type="Mass"><Attributes><Attribute z:Id="i75"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">2.2629</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i75"/></URDFElement><URDFElement z:Id="i76" i:type="Inertia"><Attributes><Attribute z:Id="i77"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.0035504</Value></Attribute><Attribute z:Id="i78"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">-5.6014E-05</Value></Attribute><Attribute z:Id="i79"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" 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xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i110"/></URDFElement><URDFElement z:Id="i111" i:type="ChildLink"><Attributes><Attribute z:Id="i112"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Link1</Value></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i112"/></URDFElement><URDFElement z:Id="i113" i:type="Axis"><Attributes><Attribute z:Id="i114"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute 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z:Ref="i405"/><Joint z:Ref="i438"/><NameAttribute z:Ref="i404"/><Parent z:Ref="i336"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8MOmewaCpyMwAuADEALQAyAEAAMwAuADIABAAAABAAAAABAAAAAQAAAMEFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i418"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i364"/><Inertial z:Ref="i338"/><Joint z:Ref="i371"/><NameAttribute z:Ref="i337"/><Parent z:Ref="i269"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8JCU73U8KBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAAGEEAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i351"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i297"/><Inertial z:Ref="i271"/><Joint z:Ref="i304"/><NameAttribute z:Ref="i270"/><Parent z:Ref="i202"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8QMwAuADEALQCMTvdTwoHeVmyPwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAOgUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i284"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i230"/><Inertial z:Ref="i204"/><Joint z:Ref="i237"/><NameAttribute z:Ref="i203"/><Parent z:Ref="i135"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8PMwAuADEALQCMTvdTwoE7TsKBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAADgFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i217"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i163"/><Inertial z:Ref="i137"/><Joint z:Ref="i170"/><NameAttribute z:Ref="i136"/><Parent z:Ref="i68"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NMwAuADEALQAATvdTwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAUAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i150"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i96"/><Inertial z:Ref="i70"/><Joint z:Ref="i103"/><NameAttribute z:Ref="i69"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NAE73U8KBcZqoUlVTQ1EtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAwgQAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8RMwAuADEALQCMTvdTwoFxmqhSVVNDUS0AMQBAADMALgAyAAQAAAAQAAAAAQAAAAEAAABMBQAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i83"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8KJ1lZACFqV1ctADIAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAJAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
+2026-03-15 16:47:19,394 INFO  LinkNode.cs: 35 - Building node base_link
+2026-03-15 16:47:19,395 INFO  LinkNode.cs: 35 - Building node Link1
+2026-03-15 16:47:19,395 INFO  LinkNode.cs: 35 - Building node Link2
+2026-03-15 16:47:19,395 INFO  LinkNode.cs: 35 - Building node Link3
+2026-03-15 16:47:19,395 INFO  LinkNode.cs: 35 - Building node Link4
+2026-03-15 16:47:19,395 INFO  LinkNode.cs: 35 - Building node Link5
+2026-03-15 16:47:19,395 INFO  LinkNode.cs: 35 - Building node Link6
+2026-03-15 16:47:19,395 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for base_link from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 16:47:19,397 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???
+'YY!jWW-2@3.2

$
+2026-03-15 16:47:19,397 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\��Yģ��.SLDASM
+2026-03-15 16:47:19,397 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link base_link
+2026-03-15 16:47:19,397 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link1 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 16:47:19,397 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???
N?S??q??RUSCQ-1@3.2

?
+2026-03-15 16:47:19,397 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\һ�ű�������Ԫ.SLDASM
+2026-03-15 16:47:19,398 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S??q??RUSCQ-1@3.2

L
+2026-03-15 16:47:19,398 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-���ű�������Ԫ.SLDASM
+2026-03-15 16:47:19,398 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link Link1
+2026-03-15 16:47:19,398 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link2 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 16:47:19,399 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???
3.1-N?S??-1@3.2

P
+2026-03-15 16:47:19,399 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-һ�ű�.SLDASM
+2026-03-15 16:47:19,399 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link2
+2026-03-15 16:47:19,399 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link3 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 16:47:19,400 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S??;N??-1@3.2

8
+2026-03-15 16:47:19,400 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-���ű�����.SLDASM
+2026-03-15 16:47:19,400 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link3
+2026-03-15 16:47:19,400 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link4 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 16:47:19,401 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S???Vl???-1@3.2

:
+2026-03-15 16:47:19,401 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-���űۻ�ת��.SLDASM
+2026-03-15 16:47:19,401 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link4
+2026-03-15 16:47:19,401 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link5 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 16:47:19,402 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???		N?S??-1@3.2

a
+2026-03-15 16:47:19,402 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\���ű�.SLDASM
+2026-03-15 16:47:19,402 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link5
+2026-03-15 16:47:19,402 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link6 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 16:47:19,403 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.2

?
+2026-03-15 16:47:19,403 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\��еצ3.0\��еצ3.1.SLDASM
+2026-03-15 16:47:19,403 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link6
+2026-03-15 16:47:19,424 INFO  SwAddin.cs: 344 - Showing property manager
+2026-03-15 16:47:26,702 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:47:34,953 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:47:36,918 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:47:42,837 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:47:44,155 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:47:52,592 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:48:18,039 INFO  ExportPropertyManager.cs: 416 - Configuration canceled
+2026-03-15 16:48:18,174 INFO  ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:48:31,667 INFO  SwAddin.cs: 294 - Assembly export called for file 3.2.SLDASM
+2026-03-15 16:48:31,667 INFO  SwAddin.cs: 299 - Save is required
+2026-03-15 16:48:31,667 INFO  SwAddin.cs: 313 - Saving assembly
+2026-03-15 16:48:33,979 INFO  SwAddin.cs: 316 - Opening property manager
+2026-03-15 16:48:33,979 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.2.SLDASM
+2026-03-15 16:48:33,980 INFO  ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
+2026-03-15 16:48:33,980 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in 3.2.SLDASM
+2026-03-15 16:48:33,980 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 16:48:33,981 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 16:48:33,981 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��Yģ��-2
+2026-03-15 16:48:33,981 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 16:48:33,982 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��Yģ��-2
+2026-03-15 16:48:33,982 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ�ű�������Ԫ-1
+2026-03-15 16:48:33,983 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 16:48:33,983 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ�ű�������Ԫ-1
+2026-03-15 16:48:33,984 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���ű�-1
+2026-03-15 16:48:33,984 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 16:48:33,984 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���ű�-1
+2026-03-15 16:48:33,985 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��еצ3.1-2
+2026-03-15 16:48:33,985 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 16:48:33,986 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��еצ3.1-2
+2026-03-15 16:48:33,987 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ�ű�-1
+2026-03-15 16:48:33,987 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 16:48:33,988 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ�ű�-1
+2026-03-15 16:48:33,988 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�����-1
+2026-03-15 16:48:33,988 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 16:48:33,989 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�����-1
+2026-03-15 16:48:33,990 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���űۻ�ת��-1
+2026-03-15 16:48:33,990 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 16:48:33,991 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���űۻ�ת��-1
+2026-03-15 16:48:33,991 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�������Ԫ-1
+2026-03-15 16:48:33,992 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 16:48:33,992 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�������Ԫ-1
+2026-03-15 16:48:33,992 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
+2026-03-15 16:48:33,993 INFO  ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
+2026-03-15 16:48:33,993 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
+2026-03-15 16:48:33,993 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 16:48:33,994 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 16:48:33,994 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��Yģ��-2
+2026-03-15 16:48:33,994 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 16:48:33,994 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��Yģ��-2
+2026-03-15 16:48:33,995 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ�ű�������Ԫ-1
+2026-03-15 16:48:33,995 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 16:48:33,997 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ�ű�������Ԫ-1
+2026-03-15 16:48:33,997 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���ű�-1
+2026-03-15 16:48:33,997 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 16:48:33,997 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���ű�-1
+2026-03-15 16:48:33,997 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��еצ3.1-2
+2026-03-15 16:48:33,998 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 16:48:33,998 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��еצ3.1-2
+2026-03-15 16:48:33,998 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ�ű�-1
+2026-03-15 16:48:33,999 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 16:48:34,000 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ�ű�-1
+2026-03-15 16:48:34,000 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�����-1
+2026-03-15 16:48:34,001 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 16:48:34,001 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�����-1
+2026-03-15 16:48:34,002 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���űۻ�ת��-1
+2026-03-15 16:48:34,002 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 16:48:34,003 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���űۻ�ת��-1
+2026-03-15 16:48:34,003 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�������Ԫ-1
+2026-03-15 16:48:34,004 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 16:48:34,004 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�������Ԫ-1
+2026-03-15 16:48:34,474 INFO  SwAddin.cs: 339 - Loading config tree
+2026-03-15 16:48:34,475 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
+<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>2.2062E-06</a:double><a:double>-0.089452</a:double><a:double>0.015312</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" 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xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NAE73U8KBcZqoUlVTQ1EtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAwgQAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8RMwAuADEALQCMTvdTwoFxmqhSVVNDUS0AMQBAADMALgAyAAQAAAAQAAAAAQAAAAEAAABMBQAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i83"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8KJ1lZACFqV1ctADIAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAJAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
+2026-03-15 16:48:34,478 INFO  LinkNode.cs: 35 - Building node base_link
+2026-03-15 16:48:34,478 INFO  LinkNode.cs: 35 - Building node Link1
+2026-03-15 16:48:34,478 INFO  LinkNode.cs: 35 - Building node Link2
+2026-03-15 16:48:34,478 INFO  LinkNode.cs: 35 - Building node Link3
+2026-03-15 16:48:34,479 INFO  LinkNode.cs: 35 - Building node Link4
+2026-03-15 16:48:34,479 INFO  LinkNode.cs: 35 - Building node Link5
+2026-03-15 16:48:34,479 INFO  LinkNode.cs: 35 - Building node Link6
+2026-03-15 16:48:34,479 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for base_link from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 16:48:34,480 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???
+'YY!jWW-2@3.2

$
+2026-03-15 16:48:34,480 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\��Yģ��.SLDASM
+2026-03-15 16:48:34,483 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link base_link
+2026-03-15 16:48:34,483 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link1 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 16:48:34,484 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???
N?S??q??RUSCQ-1@3.2

?
+2026-03-15 16:48:34,651 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\һ�ű�������Ԫ.SLDASM
+2026-03-15 16:48:34,652 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S??q??RUSCQ-1@3.2

L
+2026-03-15 16:48:34,652 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-���ű�������Ԫ.SLDASM
+2026-03-15 16:48:34,652 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link Link1
+2026-03-15 16:48:34,653 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link2 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 16:48:34,653 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???
3.1-N?S??-1@3.2

P
+2026-03-15 16:48:34,653 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-һ�ű�.SLDASM
+2026-03-15 16:48:34,653 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link2
+2026-03-15 16:48:34,654 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link3 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 16:48:34,654 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S??;N??-1@3.2

8
+2026-03-15 16:48:34,654 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-���ű�����.SLDASM
+2026-03-15 16:48:34,654 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link3
+2026-03-15 16:48:34,655 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link4 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 16:48:34,655 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S???Vl???-1@3.2

:
+2026-03-15 16:48:34,655 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-���űۻ�ת��.SLDASM
+2026-03-15 16:48:34,655 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link4
+2026-03-15 16:48:34,656 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link5 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 16:48:34,656 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???		N?S??-1@3.2

a
+2026-03-15 16:48:34,656 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\���ű�.SLDASM
+2026-03-15 16:48:34,656 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link5
+2026-03-15 16:48:34,656 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link6 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 16:48:34,656 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.2

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+2026-03-15 16:48:34,657 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\��еצ3.0\��еצ3.1.SLDASM
+2026-03-15 16:48:34,657 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link6
+2026-03-15 16:48:34,677 INFO  SwAddin.cs: 344 - Showing property manager
+2026-03-15 16:48:37,487 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:48:40,736 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:48:42,642 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:48:46,723 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:48:47,845 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:48:50,453 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:48:51,439 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:48:54,094 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:48:55,334 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:48:57,817 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:48:59,160 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:49:03,472 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:49:04,864 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:49:07,033 INFO  ExportPropertyManager.cs: 422 - Configuration saved
+2026-03-15 16:49:07,036 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
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z:Id="i415"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.00016718</Value></Attribute><Attribute z:Id="i416"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">3.8782E-06</Value></Attribute><Attribute z:Id="i417"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.00024213</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i412"/><IxyAttribute z:Ref="i413"/><IxzAttribute z:Ref="i414"/><IyyAttribute z:Ref="i415"/><IyzAttribute z:Ref="i416"/><IzzAttribute z:Ref="i417"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i411"/><Mass z:Ref="i409"/><Origin z:Ref="i406"/></URDFElement><URDFElement z:Id="i418" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i419" i:type="Origin"><Attributes><Attribute z:Id="i420"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i421"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i421"/><XYZAttribute z:Ref="i420"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i422" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i423" i:type="Mesh"><Attributes><Attribute z:Id="i424"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i424"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i423"/></URDFElement><URDFElement z:Id="i425" i:type="Material"><Attributes><Attribute z:Id="i426"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i427" i:type="Color"><Attributes><Attribute z:Id="i428"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0.75294</a:double><a:double>0.75294</a:double><a:double>0.75294</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i428"/></URDFElement><URDFElement z:Id="i429" i:type="Texture"><Attributes><Attribute z:Id="i430"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i430"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i427"/><NameAttribute z:Ref="i426"/><Texture z:Ref="i429"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i422"/><Material z:Ref="i425"/><Origin z:Ref="i419"/></URDFElement><URDFElement z:Id="i431" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i432" i:type="Origin"><Attributes><Attribute z:Id="i433"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i434"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i434"/><XYZAttribute z:Ref="i433"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i435" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i436" i:type="Mesh"><Attributes><Attribute z:Id="i437"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i437"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i436"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i435"/><Origin z:Ref="i432"/></URDFElement><URDFElement z:Id="i438" i:type="Joint"><Attributes><Attribute z:Id="i439"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">j6</Value></Attribute><Attribute z:Id="i440"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i441" i:type="Origin"><Attributes><Attribute z:Id="i442"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0.10473</a:double><a:double>0.0013347</a:double><a:double>0.0055086</a:double></Value></Attribute><Attribute z:Id="i443"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1.5708</a:double><a:double>0</a:double><a:double>1.5708</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i443"/><XYZAttribute z:Ref="i442"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i444" i:type="ParentLink"><Attributes><Attribute z:Id="i445"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Link5</Value></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i445"/></URDFElement><URDFElement z:Id="i446" i:type="ChildLink"><Attributes><Attribute z:Id="i447"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Link6</Value></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i447"/></URDFElement><URDFElement z:Id="i448" i:type="Axis"><Attributes><Attribute z:Id="i449"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>-0.05255</a:double><a:double>-0.99862</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i449"/></URDFElement><URDFElement z:Id="i450" i:type="Limit"><Attributes><Attribute z:Id="i451"><AttributeType>lower</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i452"><AttributeType>upper</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">3.66</Value></Attribute><Attribute z:Id="i453"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">20</Value></Attribute><Attribute z:Id="i454"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">3.14</Value></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>true</required><EffortAttribute z:Ref="i453"/><LowerAttribute z:Ref="i451"/><UpperAttribute z:Ref="i452"/><VelocityAttribute z:Ref="i454"/></URDFElement><URDFElement z:Id="i455" i:type="Calibration"><Attributes><Attribute z:Id="i456"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i457"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i457"/><RisingAttribute z:Ref="i456"/></URDFElement><URDFElement z:Id="i458" i:type="Dynamics"><Attributes><Attribute z:Id="i459"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i460"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i459"/><FrictionAttribute z:Ref="i460"/></URDFElement><URDFElement z:Id="i461" i:type="SafetyController"><Attributes><Attribute z:Id="i462"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i463"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i464"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i465"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i464"/><KVelocityAttribute z:Ref="i465"/><SoftLowerAttribute z:Ref="i463"/><SoftUpperAttribute z:Ref="i462"/></URDFElement><URDFElement z:Id="i466" i:type="Mimic"><Attributes><Attribute z:Id="i467"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i468"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i469"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i467"/><MultiplierAttribute z:Ref="i468"/><OffsetAttribute z:Ref="i469"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i448"/><AxisName>?????????6</AxisName><Calibration z:Ref="i455"/><Child z:Ref="i446"/><CoordinateSystemName>?????????6</CoordinateSystemName><Dynamics z:Ref="i458"/><Limit z:Ref="i450"/><Mimic z:Ref="i466"/><NameAttribute z:Ref="i439"/><Origin z:Ref="i441"/><Parent z:Ref="i444"/><Safety z:Ref="i461"/><TypeAttribute z:Ref="i440"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i431"/><Inertial z:Ref="i405"/><Joint z:Ref="i438"/><NameAttribute z:Ref="i404"/><Parent z:Ref="i336"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8MOmewaCpyMwAuADEALQAyAEAAMwAuADIABAAAABAAAAABAAAAAQAAAMEFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i418"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i364"/><Inertial z:Ref="i338"/><Joint z:Ref="i371"/><NameAttribute z:Ref="i337"/><Parent z:Ref="i269"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8JCU73U8KBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAAGEEAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i351"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i297"/><Inertial z:Ref="i271"/><Joint z:Ref="i304"/><NameAttribute z:Ref="i270"/><Parent z:Ref="i202"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8QMwAuADEALQCMTvdTwoHeVmyPwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAOgUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i284"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i230"/><Inertial z:Ref="i204"/><Joint z:Ref="i237"/><NameAttribute z:Ref="i203"/><Parent z:Ref="i135"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8PMwAuADEALQCMTvdTwoE7TsKBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAADgFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i217"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i163"/><Inertial z:Ref="i137"/><Joint z:Ref="i170"/><NameAttribute z:Ref="i136"/><Parent z:Ref="i68"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NMwAuADEALQAATvdTwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAUAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i150"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i96"/><Inertial z:Ref="i70"/><Joint z:Ref="i103"/><NameAttribute z:Ref="i69"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NAE73U8KBcZqoUlVTQ1EtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAwgQAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8RMwAuADEALQCMTvdTwoFxmqhSVVNDUS0AMQBAADMALgAyAAQAAAAQAAAAAQAAAAEAAABMBQAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i83"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8KJ1lZACFqV1ctADIAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAJAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
+2026-03-15 16:49:07,954 INFO  ExportHelperExtension.cs: 347 - Creating joint Link1
+2026-03-15 16:49:08,093 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child Link1 failed
+2026-03-15 16:49:11,641 INFO  ExportHelperExtension.cs: 347 - Creating joint Link2
+2026-03-15 16:49:11,787 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link1 to child Link2 failed
+2026-03-15 16:49:12,354 INFO  ExportHelperExtension.cs: 347 - Creating joint Link3
+2026-03-15 16:49:12,474 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link2 to child Link3 failed
+2026-03-15 16:49:16,529 INFO  ExportHelperExtension.cs: 347 - Creating joint Link4
+2026-03-15 16:49:16,699 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link3 to child Link4 failed
+2026-03-15 16:49:20,529 INFO  ExportHelperExtension.cs: 347 - Creating joint Link5
+2026-03-15 16:49:20,696 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link4 to child Link5 failed
+2026-03-15 16:49:24,807 INFO  ExportHelperExtension.cs: 347 - Creating joint Link6
+2026-03-15 16:49:24,987 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link5 to child Link6 failed
+2026-03-15 16:49:26,195 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.2.SLDASM
+2026-03-15 16:49:26,196 INFO  ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
+2026-03-15 16:49:26,197 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in 3.2.SLDASM
+2026-03-15 16:49:26,197 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 16:49:26,198 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 16:49:26,198 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��Yģ��-2
+2026-03-15 16:49:26,198 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 16:49:26,199 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��Yģ��-2
+2026-03-15 16:49:26,199 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ�ű�������Ԫ-1
+2026-03-15 16:49:26,200 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 16:49:26,201 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ�ű�������Ԫ-1
+2026-03-15 16:49:26,202 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���ű�-1
+2026-03-15 16:49:26,202 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 16:49:26,203 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���ű�-1
+2026-03-15 16:49:26,203 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��еצ3.1-2
+2026-03-15 16:49:26,204 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 16:49:26,205 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��еצ3.1-2
+2026-03-15 16:49:26,205 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ�ű�-1
+2026-03-15 16:49:26,207 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 16:49:26,208 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ�ű�-1
+2026-03-15 16:49:26,208 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�����-1
+2026-03-15 16:49:26,209 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 16:49:26,210 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�����-1
+2026-03-15 16:49:26,210 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���űۻ�ת��-1
+2026-03-15 16:49:26,211 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 16:49:26,212 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���űۻ�ת��-1
+2026-03-15 16:49:26,213 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�������Ԫ-1
+2026-03-15 16:49:26,213 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 16:49:26,214 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�������Ԫ-1
+2026-03-15 16:49:26,214 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
+2026-03-15 16:49:26,214 INFO  ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
+2026-03-15 16:49:26,215 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
+2026-03-15 16:49:26,215 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 16:49:26,215 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 16:49:26,215 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��Yģ��-2
+2026-03-15 16:49:26,217 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 16:49:26,217 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��Yģ��-2
+2026-03-15 16:49:26,217 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ�ű�������Ԫ-1
+2026-03-15 16:49:26,218 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 16:49:26,219 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ�ű�������Ԫ-1
+2026-03-15 16:49:26,219 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���ű�-1
+2026-03-15 16:49:26,219 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 16:49:26,220 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���ű�-1
+2026-03-15 16:49:26,220 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��еצ3.1-2
+2026-03-15 16:49:26,220 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 16:49:26,225 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��еצ3.1-2
+2026-03-15 16:49:26,225 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ�ű�-1
+2026-03-15 16:49:26,258 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 16:49:26,259 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ�ű�-1
+2026-03-15 16:49:26,260 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�����-1
+2026-03-15 16:49:26,260 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 16:49:26,261 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�����-1
+2026-03-15 16:49:26,262 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���űۻ�ת��-1
+2026-03-15 16:49:26,263 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 16:49:26,264 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���űۻ�ת��-1
+2026-03-15 16:49:26,264 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�������Ԫ-1
+2026-03-15 16:49:26,264 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 16:49:26,265 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�������Ԫ-1
+2026-03-15 16:49:26,304 INFO  ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 16:50:16,104 INFO  AssemblyExportForm.cs: 253 - Completing URDF export
+2026-03-15 16:50:16,106 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
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i:type="SafetyController"><Attributes><Attribute z:Id="i462"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i463"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i464"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i465"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i464"/><KVelocityAttribute z:Ref="i465"/><SoftLowerAttribute z:Ref="i463"/><SoftUpperAttribute z:Ref="i462"/></URDFElement><URDFElement z:Id="i466" i:type="Mimic"><Attributes><Attribute z:Id="i467"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i468"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i469"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i467"/><MultiplierAttribute z:Ref="i468"/><OffsetAttribute z:Ref="i469"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i448"/><AxisName>?????????6</AxisName><Calibration z:Ref="i455"/><Child z:Ref="i446"/><CoordinateSystemName>?????????6</CoordinateSystemName><Dynamics z:Ref="i458"/><Limit z:Ref="i450"/><Mimic z:Ref="i466"/><NameAttribute z:Ref="i439"/><Origin z:Ref="i441"/><Parent z:Ref="i444"/><Safety z:Ref="i461"/><TypeAttribute z:Ref="i440"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i431"/><Inertial z:Ref="i405"/><Joint z:Ref="i438"/><NameAttribute z:Ref="i404"/><Parent z:Ref="i336"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8MOmewaCpyMwAuADEALQAyAEAAMwAuADIABAAAABAAAAABAAAAAQAAAMEFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i418"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i364"/><Inertial z:Ref="i338"/><Joint z:Ref="i371"/><NameAttribute z:Ref="i337"/><Parent z:Ref="i269"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8JCU73U8KBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAAGEEAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i351"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i297"/><Inertial z:Ref="i271"/><Joint z:Ref="i304"/><NameAttribute z:Ref="i270"/><Parent z:Ref="i202"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8QMwAuADEALQCMTvdTwoHeVmyPwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAOgUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i284"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i230"/><Inertial z:Ref="i204"/><Joint z:Ref="i237"/><NameAttribute z:Ref="i203"/><Parent z:Ref="i135"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8PMwAuADEALQCMTvdTwoE7TsKBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAADgFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i217"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i163"/><Inertial z:Ref="i137"/><Joint z:Ref="i170"/><NameAttribute z:Ref="i136"/><Parent z:Ref="i68"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NMwAuADEALQAATvdTwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAUAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i150"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i96"/><Inertial z:Ref="i70"/><Joint z:Ref="i103"/><NameAttribute z:Ref="i69"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NAE73U8KBcZqoUlVTQ1EtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAwgQAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8RMwAuADEALQCMTvdTwoFxmqhSVVNDUS0AMQBAADMALgAyAAQAAAAQAAAAAQAAAAEAAABMBQAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i83"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8KJ1lZACFqV1ctADIAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAJAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
+2026-03-15 16:50:44,826 INFO  AssemblyExportForm.cs: 309 - Saving URDF package to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\new
+2026-03-15 16:50:44,827 INFO  ExportHelper.cs: 147 - Beginning the export process
+2026-03-15 16:50:44,827 INFO  ExportHelper.cs: 153 - Creating package directories with name new and save path D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315
+2026-03-15 16:50:46,022 INFO  ExportHelper.cs: 162 - Creating CMakeLists.txt at D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\new\CMakeLists.txt
+2026-03-15 16:50:46,022 INFO  ExportHelper.cs: 166 - Creating joint names config at D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\new\config\joint_names_new.yaml
+2026-03-15 16:50:46,024 INFO  ExportHelper.cs: 170 - Creating package.xml at D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\new\package.xml
+2026-03-15 16:50:46,024 INFO  PackageXMLWriter.cs: 21 - Creating package.xml at D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\new\package.xml
+2026-03-15 16:50:46,025 INFO  ExportHelper.cs: 177 - Creating RVIZ launch file in D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\new\launch\
+2026-03-15 16:50:46,025 INFO  ExportHelper.cs: 182 - Creating Gazebo launch file in D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\new\launch\
+2026-03-15 16:50:46,025 INFO  ExportHelper.cs: 187 - Saving existing STL preferences
+2026-03-15 16:50:46,025 INFO  ExportHelper.cs: 450 - Saving users preferences
+2026-03-15 16:50:46,026 INFO  ExportHelper.cs: 190 - Modifying STL preferences
+2026-03-15 16:50:46,026 INFO  ExportHelper.cs: 464 - Setting STL preferences
+2026-03-15 16:50:46,031 INFO  ExportHelper.cs: 196 - Found 0 hidden components 
+2026-03-15 16:50:46,032 INFO  ExportHelper.cs: 197 - Hiding all components
+2026-03-15 16:50:46,659 INFO  ExportHelper.cs: 204 - Beginning individual files export
+2026-03-15 16:50:46,685 INFO  ExportHelper.cs: 270 - Exporting link: base_link
+2026-03-15 16:50:46,686 INFO  ExportHelper.cs: 272 - Link base_link has 1 children
+2026-03-15 16:50:46,687 INFO  ExportHelper.cs: 270 - Exporting link: Link1
+2026-03-15 16:50:46,687 INFO  ExportHelper.cs: 272 - Link Link1 has 1 children
+2026-03-15 16:50:46,688 INFO  ExportHelper.cs: 270 - Exporting link: Link2
+2026-03-15 16:50:46,688 INFO  ExportHelper.cs: 272 - Link Link2 has 1 children
+2026-03-15 16:50:46,688 INFO  ExportHelper.cs: 270 - Exporting link: Link3
+2026-03-15 16:50:46,689 INFO  ExportHelper.cs: 272 - Link Link3 has 1 children
+2026-03-15 16:50:46,689 INFO  ExportHelper.cs: 270 - Exporting link: Link4
+2026-03-15 16:50:46,689 INFO  ExportHelper.cs: 272 - Link Link4 has 1 children
+2026-03-15 16:50:46,690 INFO  ExportHelper.cs: 270 - Exporting link: Link5
+2026-03-15 16:50:46,690 INFO  ExportHelper.cs: 272 - Link Link5 has 1 children
+2026-03-15 16:50:46,692 INFO  ExportHelper.cs: 270 - Exporting link: Link6
+2026-03-15 16:50:46,692 INFO  ExportHelper.cs: 272 - Link Link6 has 0 children
+2026-03-15 16:50:46,692 INFO  ExportHelper.cs: 317 - Link6: Exporting STL with coordinate frame ����ϵ6
+2026-03-15 16:50:46,692 INFO  ExportHelper.cs: 322 - Link6: Reference geometry name 
+2026-03-15 16:50:46,952 INFO  ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\new\meshes\Link6.STL
+2026-03-15 16:50:47,920 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-15 16:50:47,920 INFO  ExportHelper.cs: 317 - Link5: Exporting STL with coordinate frame ����ϵ5
+2026-03-15 16:50:47,921 INFO  ExportHelper.cs: 322 - Link5: Reference geometry name 
+2026-03-15 16:50:48,051 INFO  ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\new\meshes\Link5.STL
+2026-03-15 16:50:50,661 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-15 16:50:50,663 INFO  ExportHelper.cs: 317 - Link4: Exporting STL with coordinate frame ����ϵ4
+2026-03-15 16:50:50,663 INFO  ExportHelper.cs: 322 - Link4: Reference geometry name 
+2026-03-15 16:50:51,087 INFO  ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\new\meshes\Link4.STL
+2026-03-15 16:50:54,868 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-15 16:50:54,868 INFO  ExportHelper.cs: 317 - Link3: Exporting STL with coordinate frame ����ϵ3
+2026-03-15 16:50:54,869 INFO  ExportHelper.cs: 322 - Link3: Reference geometry name 
+2026-03-15 16:50:55,383 INFO  ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\new\meshes\Link3.STL
+2026-03-15 16:50:59,031 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-15 16:50:59,031 INFO  ExportHelper.cs: 317 - Link2: Exporting STL with coordinate frame ����ϵ2
+2026-03-15 16:50:59,032 INFO  ExportHelper.cs: 322 - Link2: Reference geometry name 
+2026-03-15 16:50:59,416 INFO  ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\new\meshes\Link2.STL
+2026-03-15 16:51:00,245 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-15 16:51:00,246 INFO  ExportHelper.cs: 317 - Link1: Exporting STL with coordinate frame ����ϵ1
+2026-03-15 16:51:00,246 INFO  ExportHelper.cs: 322 - Link1: Reference geometry name 
+2026-03-15 16:51:01,350 INFO  ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\new\meshes\Link1.STL
+2026-03-15 16:51:06,902 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-15 16:51:06,903 INFO  ExportHelper.cs: 317 - base_link: Exporting STL with coordinate frame ����ϵbase
+2026-03-15 16:51:06,904 INFO  ExportHelper.cs: 322 - base_link: Reference geometry name 
+2026-03-15 16:51:07,128 INFO  ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\new\meshes\base_link.STL
+2026-03-15 16:51:09,267 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-15 16:51:09,267 INFO  ExportHelper.cs: 145 - Showing all components except previously hidden components
+2026-03-15 16:51:20,208 INFO  ExportHelper.cs: 145 - Resetting STL preferences
+2026-03-15 16:51:20,209 INFO  ExportHelper.cs: 478 - Returning STL preferences to user preferences
+2026-03-15 16:51:20,209 INFO  ExportHelper.cs: 228 - Writing URDF file to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\new\urdf\new.urdf
+2026-03-15 16:51:20,213 INFO  CSVImportExport.cs: 32 - Writing CSV file D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\new\urdf\new.csv
+2026-03-15 16:51:20,214 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-15 16:51:20,215 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-15 16:51:20,215 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-15 16:51:20,215 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-15 16:51:20,215 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-15 16:51:20,216 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-15 16:51:20,217 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-15 16:51:20,217 INFO  ExportHelper.cs: 234 - Copying log file
+2026-03-15 16:51:20,218 INFO  ExportHelper.cs: 439 - Copying C:\Users\Lenovo\sw2urdf_logs\sw2urdf.log to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\new\export.log
+2026-03-15 16:51:20,219 INFO  ExportHelper.cs: 237 - Resetting STL preferences
+2026-03-15 16:51:20,220 INFO  ExportHelper.cs: 478 - Returning STL preferences to user preferences
+2026-03-15 17:03:11,476 INFO  SwAddin.cs: 294 - Assembly export called for file 3.2.SLDASM
+2026-03-15 17:03:11,477 INFO  SwAddin.cs: 299 - Save is required
+2026-03-15 17:03:11,477 INFO  SwAddin.cs: 313 - Saving assembly
+2026-03-15 17:03:13,791 INFO  SwAddin.cs: 316 - Opening property manager
+2026-03-15 17:03:13,792 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.2.SLDASM
+2026-03-15 17:03:13,792 INFO  ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
+2026-03-15 17:03:13,792 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in 3.2.SLDASM
+2026-03-15 17:03:13,794 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 17:03:13,794 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 17:03:13,794 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��Yģ��-2
+2026-03-15 17:03:13,794 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 17:03:13,795 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��Yģ��-2
+2026-03-15 17:03:13,795 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ�ű�������Ԫ-1
+2026-03-15 17:03:13,796 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 17:03:13,797 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ�ű�������Ԫ-1
+2026-03-15 17:03:13,797 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���ű�-1
+2026-03-15 17:03:13,797 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 17:03:13,798 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���ű�-1
+2026-03-15 17:03:13,798 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��еצ3.1-2
+2026-03-15 17:03:13,798 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 17:03:13,799 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��еצ3.1-2
+2026-03-15 17:03:13,799 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ�ű�-1
+2026-03-15 17:03:13,800 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 17:03:13,801 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ�ű�-1
+2026-03-15 17:03:13,801 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�����-1
+2026-03-15 17:03:13,802 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 17:03:13,803 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�����-1
+2026-03-15 17:03:13,804 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���űۻ�ת��-1
+2026-03-15 17:03:13,805 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 17:03:13,807 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���űۻ�ת��-1
+2026-03-15 17:03:13,807 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�������Ԫ-1
+2026-03-15 17:03:13,807 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 17:03:13,807 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�������Ԫ-1
+2026-03-15 17:03:13,808 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
+2026-03-15 17:03:13,808 INFO  ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
+2026-03-15 17:03:13,808 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
+2026-03-15 17:03:13,809 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 17:03:13,809 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 17:03:13,809 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��Yģ��-2
+2026-03-15 17:03:13,809 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 17:03:13,810 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��Yģ��-2
+2026-03-15 17:03:13,810 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ�ű�������Ԫ-1
+2026-03-15 17:03:13,811 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 17:03:13,811 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ�ű�������Ԫ-1
+2026-03-15 17:03:13,812 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���ű�-1
+2026-03-15 17:03:13,812 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 17:03:13,812 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���ű�-1
+2026-03-15 17:03:13,813 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��еצ3.1-2
+2026-03-15 17:03:13,813 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 17:03:13,814 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��еצ3.1-2
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+2026-03-15 17:03:13,815 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
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+2026-03-15 17:03:13,816 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�����-1
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+2026-03-15 17:03:13,817 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���űۻ�ת��-1
+2026-03-15 17:03:13,818 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
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+2026-03-15 17:03:13,820 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�������Ԫ-1
+2026-03-15 17:03:13,820 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
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+2026-03-15 17:03:14,285 INFO  SwAddin.cs: 339 - Loading config tree
+2026-03-15 17:03:14,285 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
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i:nil="true"/></Attribute><Attribute z:Id="i464"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i465"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i464"/><KVelocityAttribute z:Ref="i465"/><SoftLowerAttribute z:Ref="i463"/><SoftUpperAttribute z:Ref="i462"/></URDFElement><URDFElement z:Id="i466" i:type="Mimic"><Attributes><Attribute z:Id="i467"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i468"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i469"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value 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xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8MOmewaCpyMwAuADEALQAyAEAAMwAuADIABAAAABAAAAABAAAAAQAAAMEFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i418"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i364"/><Inertial z:Ref="i338"/><Joint z:Ref="i371"/><NameAttribute z:Ref="i337"/><Parent z:Ref="i269"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8JCU73U8KBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAAGEEAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i351"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i297"/><Inertial z:Ref="i271"/><Joint z:Ref="i304"/><NameAttribute z:Ref="i270"/><Parent 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z:Ref="i83"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8KJ1lZACFqV1ctADIAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAJAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
+2026-03-15 17:03:14,289 INFO  LinkNode.cs: 35 - Building node base_link
+2026-03-15 17:03:14,289 INFO  LinkNode.cs: 35 - Building node Link1
+2026-03-15 17:03:14,289 INFO  LinkNode.cs: 35 - Building node Link2
+2026-03-15 17:03:14,290 INFO  LinkNode.cs: 35 - Building node Link3
+2026-03-15 17:03:14,290 INFO  LinkNode.cs: 35 - Building node Link4
+2026-03-15 17:03:14,290 INFO  LinkNode.cs: 35 - Building node Link5
+2026-03-15 17:03:14,290 INFO  LinkNode.cs: 35 - Building node Link6
+2026-03-15 17:03:14,291 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for base_link from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 17:03:14,299 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???
+'YY!jWW-2@3.2

$
+2026-03-15 17:03:14,460 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\��Yģ��.SLDASM
+2026-03-15 17:03:14,462 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link base_link
+2026-03-15 17:03:14,462 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link1 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 17:03:14,462 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???
N?S??q??RUSCQ-1@3.2

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+2026-03-15 17:03:14,462 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\һ�ű�������Ԫ.SLDASM
+2026-03-15 17:03:14,463 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S??q??RUSCQ-1@3.2

L
+2026-03-15 17:03:14,463 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-���ű�������Ԫ.SLDASM
+2026-03-15 17:03:14,463 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link Link1
+2026-03-15 17:03:14,463 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link2 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 17:03:14,464 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???
3.1-N?S??-1@3.2

P
+2026-03-15 17:03:14,464 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-һ�ű�.SLDASM
+2026-03-15 17:03:14,464 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link2
+2026-03-15 17:03:14,464 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link3 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 17:03:14,465 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S??;N??-1@3.2

8
+2026-03-15 17:03:14,465 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-���ű�����.SLDASM
+2026-03-15 17:03:14,465 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link3
+2026-03-15 17:03:14,465 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link4 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 17:03:14,465 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S???Vl???-1@3.2

:
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+2026-03-15 17:03:14,465 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link4
+2026-03-15 17:03:14,466 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link5 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 17:03:14,466 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???		N?S??-1@3.2

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+2026-03-15 17:03:14,466 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link5
+2026-03-15 17:03:14,467 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link6 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 17:03:14,467 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.2

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+2026-03-15 17:03:14,468 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\��еצ3.0\��еצ3.1.SLDASM
+2026-03-15 17:03:14,468 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link6
+2026-03-15 17:03:14,489 INFO  SwAddin.cs: 344 - Showing property manager
+2026-03-15 17:03:18,870 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:03:22,955 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:03:26,424 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:03:29,642 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:03:32,156 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:03:34,581 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:03:37,179 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:03:38,434 INFO  ExportPropertyManager.cs: 422 - Configuration saved
+2026-03-15 17:03:38,435 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
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+2026-03-15 17:03:39,328 INFO  ExportHelperExtension.cs: 347 - Creating joint Link1
+2026-03-15 17:03:39,328 INFO  ExportHelperExtension.cs: 1397 - Fixing components for base_link
+2026-03-15 17:03:39,331 INFO  ExportHelperExtension.cs: 1402 - Fixing 1316
+2026-03-15 17:03:39,331 INFO  ExportHelperExtension.cs: 1409 - Component 1316 is already fixed
+2026-03-15 17:03:40,163 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2026-03-15 17:03:40,164 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2026-03-15 17:03:40,164 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2026-03-15 17:03:40,165 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2026-03-15 17:03:40,168 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child Link1 failed
+2026-03-15 17:03:43,793 INFO  ExportHelperExtension.cs: 347 - Creating joint Link2
+2026-03-15 17:03:43,793 INFO  ExportHelperExtension.cs: 1397 - Fixing components for Link1
+2026-03-15 17:03:43,794 INFO  ExportHelperExtension.cs: 1402 - Fixing 1218
+2026-03-15 17:03:43,794 INFO  ExportHelperExtension.cs: 1402 - Fixing 1356
+2026-03-15 17:03:43,794 INFO  ExportHelperExtension.cs: 1402 - Fixing 1316
+2026-03-15 17:03:43,795 INFO  ExportHelperExtension.cs: 1409 - Component 1316 is already fixed
+2026-03-15 17:03:44,869 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2026-03-15 17:03:44,870 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2026-03-15 17:03:44,870 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2026-03-15 17:03:44,870 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2026-03-15 17:03:44,871 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1218
+2026-03-15 17:03:44,871 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1356
+2026-03-15 17:03:45,835 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link1 to child Link2 failed
+2026-03-15 17:03:46,395 INFO  ExportHelperExtension.cs: 347 - Creating joint Link3
+2026-03-15 17:03:46,396 INFO  ExportHelperExtension.cs: 1397 - Fixing components for Link2
+2026-03-15 17:03:46,396 INFO  ExportHelperExtension.cs: 1402 - Fixing 1360
+2026-03-15 17:03:46,396 INFO  ExportHelperExtension.cs: 1402 - Fixing 1218
+2026-03-15 17:03:46,396 INFO  ExportHelperExtension.cs: 1402 - Fixing 1356
+2026-03-15 17:03:46,397 INFO  ExportHelperExtension.cs: 1402 - Fixing 1316
+2026-03-15 17:03:46,397 INFO  ExportHelperExtension.cs: 1409 - Component 1316 is already fixed
+2026-03-15 17:03:47,283 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2026-03-15 17:03:47,284 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2026-03-15 17:03:47,284 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2026-03-15 17:03:47,284 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2026-03-15 17:03:47,284 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1360
+2026-03-15 17:03:47,285 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1218
+2026-03-15 17:03:47,285 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1356
+2026-03-15 17:03:48,104 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link2 to child Link3 failed
+2026-03-15 17:03:52,252 INFO  ExportHelperExtension.cs: 347 - Creating joint Link4
+2026-03-15 17:03:52,252 INFO  ExportHelperExtension.cs: 1397 - Fixing components for Link3
+2026-03-15 17:03:52,253 INFO  ExportHelperExtension.cs: 1402 - Fixing 1336
+2026-03-15 17:03:52,253 INFO  ExportHelperExtension.cs: 1402 - Fixing 1360
+2026-03-15 17:03:52,253 INFO  ExportHelperExtension.cs: 1402 - Fixing 1218
+2026-03-15 17:03:52,254 INFO  ExportHelperExtension.cs: 1402 - Fixing 1356
+2026-03-15 17:03:52,254 INFO  ExportHelperExtension.cs: 1402 - Fixing 1316
+2026-03-15 17:03:52,254 INFO  ExportHelperExtension.cs: 1409 - Component 1316 is already fixed
+2026-03-15 17:03:53,195 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2026-03-15 17:03:53,196 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2026-03-15 17:03:53,196 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2026-03-15 17:03:53,196 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2026-03-15 17:03:53,196 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1336
+2026-03-15 17:03:53,197 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1360
+2026-03-15 17:03:53,197 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1218
+2026-03-15 17:03:53,197 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1356
+2026-03-15 17:03:54,396 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link3 to child Link4 failed
+2026-03-15 17:03:58,534 INFO  ExportHelperExtension.cs: 347 - Creating joint Link5
+2026-03-15 17:03:58,535 INFO  ExportHelperExtension.cs: 1397 - Fixing components for Link4
+2026-03-15 17:03:58,535 INFO  ExportHelperExtension.cs: 1402 - Fixing 1338
+2026-03-15 17:03:58,535 INFO  ExportHelperExtension.cs: 1402 - Fixing 1336
+2026-03-15 17:03:58,535 INFO  ExportHelperExtension.cs: 1402 - Fixing 1360
+2026-03-15 17:03:58,536 INFO  ExportHelperExtension.cs: 1402 - Fixing 1218
+2026-03-15 17:03:58,536 INFO  ExportHelperExtension.cs: 1402 - Fixing 1356
+2026-03-15 17:03:58,537 INFO  ExportHelperExtension.cs: 1402 - Fixing 1316
+2026-03-15 17:03:58,537 INFO  ExportHelperExtension.cs: 1409 - Component 1316 is already fixed
+2026-03-15 17:03:59,731 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2026-03-15 17:03:59,731 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2026-03-15 17:03:59,732 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2026-03-15 17:03:59,732 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2026-03-15 17:03:59,732 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1338
+2026-03-15 17:03:59,732 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1336
+2026-03-15 17:03:59,733 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1360
+2026-03-15 17:03:59,733 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1218
+2026-03-15 17:03:59,733 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1356
+2026-03-15 17:04:00,798 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link4 to child Link5 failed
+2026-03-15 17:04:04,958 INFO  ExportHelperExtension.cs: 347 - Creating joint Link6
+2026-03-15 17:04:04,960 INFO  ExportHelperExtension.cs: 1397 - Fixing components for Link5
+2026-03-15 17:04:04,960 INFO  ExportHelperExtension.cs: 1402 - Fixing 1121
+2026-03-15 17:04:04,960 INFO  ExportHelperExtension.cs: 1402 - Fixing 1338
+2026-03-15 17:04:04,960 INFO  ExportHelperExtension.cs: 1402 - Fixing 1336
+2026-03-15 17:04:04,961 INFO  ExportHelperExtension.cs: 1402 - Fixing 1360
+2026-03-15 17:04:04,961 INFO  ExportHelperExtension.cs: 1402 - Fixing 1218
+2026-03-15 17:04:04,961 INFO  ExportHelperExtension.cs: 1402 - Fixing 1356
+2026-03-15 17:04:04,962 INFO  ExportHelperExtension.cs: 1402 - Fixing 1316
+2026-03-15 17:04:04,962 INFO  ExportHelperExtension.cs: 1409 - Component 1316 is already fixed
+2026-03-15 17:04:06,746 INFO  ExportHelperExtension.cs: 832 - R1: 0, 0
+2026-03-15 17:04:06,748 INFO  ExportHelperExtension.cs: 841 - R2: 0, 0
+2026-03-15 17:04:06,748 INFO  ExportHelperExtension.cs: 849 - L1: 0
+2026-03-15 17:04:06,749 INFO  ExportHelperExtension.cs: 857 - L2: 0
+2026-03-15 17:04:06,749 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1121
+2026-03-15 17:04:06,749 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1338
+2026-03-15 17:04:06,749 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1336
+2026-03-15 17:04:06,749 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1360
+2026-03-15 17:04:06,750 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1218
+2026-03-15 17:04:06,750 INFO  ExportHelperExtension.cs: 1352 - Unfixing component 1356
+2026-03-15 17:04:07,743 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link5 to child Link6 failed
+2026-03-15 17:04:09,288 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.2.SLDASM
+2026-03-15 17:04:09,290 INFO  ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
+2026-03-15 17:04:09,291 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in 3.2.SLDASM
+2026-03-15 17:04:09,291 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 17:04:09,291 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 17:04:09,291 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��Yģ��-2
+2026-03-15 17:04:09,291 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 17:04:09,292 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��Yģ��-2
+2026-03-15 17:04:09,293 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ�ű�������Ԫ-1
+2026-03-15 17:04:09,294 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 17:04:09,295 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ�ű�������Ԫ-1
+2026-03-15 17:04:09,295 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���ű�-1
+2026-03-15 17:04:09,295 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 17:04:09,295 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���ű�-1
+2026-03-15 17:04:09,295 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��еצ3.1-2
+2026-03-15 17:04:09,296 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 17:04:09,297 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��еצ3.1-2
+2026-03-15 17:04:09,297 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ�ű�-1
+2026-03-15 17:04:09,298 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 17:04:09,300 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ�ű�-1
+2026-03-15 17:04:09,301 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�����-1
+2026-03-15 17:04:09,302 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 17:04:09,304 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�����-1
+2026-03-15 17:04:09,304 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���űۻ�ת��-1
+2026-03-15 17:04:09,305 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 17:04:09,306 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���űۻ�ת��-1
+2026-03-15 17:04:09,306 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�������Ԫ-1
+2026-03-15 17:04:09,306 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 17:04:09,307 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�������Ԫ-1
+2026-03-15 17:04:09,307 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
+2026-03-15 17:04:09,307 INFO  ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
+2026-03-15 17:04:09,309 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
+2026-03-15 17:04:09,309 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 17:04:09,309 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 17:04:09,309 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��Yģ��-2
+2026-03-15 17:04:09,310 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 17:04:09,310 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��Yģ��-2
+2026-03-15 17:04:09,311 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ�ű�������Ԫ-1
+2026-03-15 17:04:09,311 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 17:04:09,312 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ�ű�������Ԫ-1
+2026-03-15 17:04:09,313 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���ű�-1
+2026-03-15 17:04:09,313 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 17:04:09,313 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���ű�-1
+2026-03-15 17:04:09,314 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��еצ3.1-2
+2026-03-15 17:04:09,314 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 17:04:09,315 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��еצ3.1-2
+2026-03-15 17:04:09,315 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ�ű�-1
+2026-03-15 17:04:09,316 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 17:04:09,317 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ�ű�-1
+2026-03-15 17:04:09,317 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�����-1
+2026-03-15 17:04:09,317 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 17:04:09,318 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�����-1
+2026-03-15 17:04:09,319 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���űۻ�ת��-1
+2026-03-15 17:04:09,319 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 17:04:09,321 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���űۻ�ת��-1
+2026-03-15 17:04:09,321 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�������Ԫ-1
+2026-03-15 17:04:09,321 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 17:04:09,322 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�������Ԫ-1
+2026-03-15 17:04:09,364 INFO  ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:14:20,282 INFO  SwAddin.cs: 294 - Assembly export called for file 3.2.SLDASM
+2026-03-15 17:14:20,283 INFO  SwAddin.cs: 299 - Save is required
+2026-03-15 17:14:20,283 INFO  SwAddin.cs: 313 - Saving assembly
+2026-03-15 17:14:22,482 INFO  SwAddin.cs: 316 - Opening property manager
+2026-03-15 17:14:22,483 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.2.SLDASM
+2026-03-15 17:14:22,484 INFO  ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
+2026-03-15 17:14:22,484 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in 3.2.SLDASM
+2026-03-15 17:14:22,484 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 17:14:22,486 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 17:14:22,486 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��Yģ��-2
+2026-03-15 17:14:22,486 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 17:14:22,487 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��Yģ��-2
+2026-03-15 17:14:22,487 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ�ű�������Ԫ-1
+2026-03-15 17:14:22,488 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 17:14:22,489 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ�ű�������Ԫ-1
+2026-03-15 17:14:22,489 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���ű�-1
+2026-03-15 17:14:22,489 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 17:14:22,490 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���ű�-1
+2026-03-15 17:14:22,490 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��еצ3.1-2
+2026-03-15 17:14:22,491 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 17:14:22,492 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��еצ3.1-2
+2026-03-15 17:14:22,492 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ�ű�-1
+2026-03-15 17:14:22,493 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 17:14:22,494 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ�ű�-1
+2026-03-15 17:14:22,494 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�����-1
+2026-03-15 17:14:22,495 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 17:14:22,496 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�����-1
+2026-03-15 17:14:22,496 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���űۻ�ת��-1
+2026-03-15 17:14:22,498 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 17:14:22,499 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���űۻ�ת��-1
+2026-03-15 17:14:22,499 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�������Ԫ-1
+2026-03-15 17:14:22,499 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 17:14:22,500 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�������Ԫ-1
+2026-03-15 17:14:22,500 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
+2026-03-15 17:14:22,500 INFO  ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
+2026-03-15 17:14:22,501 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
+2026-03-15 17:14:22,501 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 17:14:22,501 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 17:14:22,501 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��Yģ��-2
+2026-03-15 17:14:22,502 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 17:14:22,502 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��Yģ��-2
+2026-03-15 17:14:22,503 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ�ű�������Ԫ-1
+2026-03-15 17:14:22,503 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 17:14:22,505 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ�ű�������Ԫ-1
+2026-03-15 17:14:22,505 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���ű�-1
+2026-03-15 17:14:22,506 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 17:14:22,506 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���ű�-1
+2026-03-15 17:14:22,506 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��еצ3.1-2
+2026-03-15 17:14:22,507 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 17:14:22,508 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��еצ3.1-2
+2026-03-15 17:14:22,508 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ�ű�-1
+2026-03-15 17:14:22,509 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 17:14:22,510 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ�ű�-1
+2026-03-15 17:14:22,510 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�����-1
+2026-03-15 17:14:22,511 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 17:14:22,511 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�����-1
+2026-03-15 17:14:22,512 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���űۻ�ת��-1
+2026-03-15 17:14:22,512 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 17:14:22,513 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���űۻ�ת��-1
+2026-03-15 17:14:22,513 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�������Ԫ-1
+2026-03-15 17:14:22,513 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 17:14:22,515 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�������Ԫ-1
+2026-03-15 17:14:22,821 INFO  SwAddin.cs: 339 - Loading config tree
+2026-03-15 17:14:22,822 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
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xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8MOmewaCpyMwAuADEALQAyAEAAMwAuADIABAAAABAAAAABAAAAAQAAAMEFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i418"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i364"/><Inertial z:Ref="i338"/><Joint z:Ref="i371"/><NameAttribute z:Ref="i337"/><Parent z:Ref="i269"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8JCU73U8KBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAAGEEAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i351"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i297"/><Inertial z:Ref="i271"/><Joint z:Ref="i304"/><NameAttribute z:Ref="i270"/><Parent z:Ref="i202"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8QMwAuADEALQCMTvdTwoHeVmyPwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAOgUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i284"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i230"/><Inertial z:Ref="i204"/><Joint z:Ref="i237"/><NameAttribute z:Ref="i203"/><Parent z:Ref="i135"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8PMwAuADEALQCMTvdTwoE7TsKBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAADgFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i217"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i163"/><Inertial z:Ref="i137"/><Joint z:Ref="i170"/><NameAttribute z:Ref="i136"/><Parent z:Ref="i68"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NMwAuADEALQAATvdTwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAUAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i150"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i96"/><Inertial z:Ref="i70"/><Joint z:Ref="i103"/><NameAttribute z:Ref="i69"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NAE73U8KBcZqoUlVTQ1EtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAwgQAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8RMwAuADEALQCMTvdTwoFxmqhSVVNDUS0AMQBAADMALgAyAAQAAAAQAAAAAQAAAAEAAABMBQAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i83"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8KJ1lZACFqV1ctADIAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAJAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
+2026-03-15 17:14:22,824 INFO  LinkNode.cs: 35 - Building node base_link
+2026-03-15 17:14:22,824 INFO  LinkNode.cs: 35 - Building node Link1
+2026-03-15 17:14:22,825 INFO  LinkNode.cs: 35 - Building node Link2
+2026-03-15 17:14:22,825 INFO  LinkNode.cs: 35 - Building node Link3
+2026-03-15 17:14:22,825 INFO  LinkNode.cs: 35 - Building node Link4
+2026-03-15 17:14:22,825 INFO  LinkNode.cs: 35 - Building node Link5
+2026-03-15 17:14:22,827 INFO  LinkNode.cs: 35 - Building node Link6
+2026-03-15 17:14:22,827 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for base_link from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 17:14:22,827 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???
+'YY!jWW-2@3.2

$
+2026-03-15 17:14:22,827 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\��Yģ��.SLDASM
+2026-03-15 17:14:22,827 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link base_link
+2026-03-15 17:14:22,828 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link1 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 17:14:22,828 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???
N?S??q??RUSCQ-1@3.2

?
+2026-03-15 17:14:22,828 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\һ�ű�������Ԫ.SLDASM
+2026-03-15 17:14:22,828 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S??q??RUSCQ-1@3.2

L
+2026-03-15 17:14:22,829 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-���ű�������Ԫ.SLDASM
+2026-03-15 17:14:22,829 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link Link1
+2026-03-15 17:14:22,829 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link2 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 17:14:22,829 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???
3.1-N?S??-1@3.2

P
+2026-03-15 17:14:22,830 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-һ�ű�.SLDASM
+2026-03-15 17:14:22,830 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link2
+2026-03-15 17:14:22,830 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link3 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 17:14:22,831 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S??;N??-1@3.2

8
+2026-03-15 17:14:22,831 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-���ű�����.SLDASM
+2026-03-15 17:14:22,831 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link3
+2026-03-15 17:14:22,831 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link4 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 17:14:22,832 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S???Vl???-1@3.2

:
+2026-03-15 17:14:22,832 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-���űۻ�ת��.SLDASM
+2026-03-15 17:14:22,832 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link4
+2026-03-15 17:14:22,833 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link5 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 17:14:22,833 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???		N?S??-1@3.2

a
+2026-03-15 17:14:22,833 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\���ű�.SLDASM
+2026-03-15 17:14:22,833 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link5
+2026-03-15 17:14:22,835 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link6 from D:\swProjects\3.2.1\3.2.SLDASM
+2026-03-15 17:14:22,835 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.2

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+2026-03-15 17:14:22,835 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\��еצ3.0\��еצ3.1.SLDASM
+2026-03-15 17:14:22,835 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link6
+2026-03-15 17:14:22,880 INFO  SwAddin.cs: 344 - Showing property manager
+2026-03-15 17:14:33,445 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:14:38,091 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:14:42,854 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:14:45,918 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:14:48,675 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:15:28,463 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:15:31,557 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:15:33,090 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:15:36,306 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:15:39,785 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:15:44,353 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:15:45,812 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:15:49,092 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:15:50,782 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:15:52,193 INFO  ExportPropertyManager.cs: 422 - Configuration saved
+2026-03-15 17:15:52,218 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
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z:Id="i401"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i402"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i400"/><MultiplierAttribute z:Ref="i401"/><OffsetAttribute z:Ref="i402"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i381"/><AxisName>Automatically Generate</AxisName><Calibration z:Ref="i388"/><Child z:Ref="i379"/><CoordinateSystemName>?????????5</CoordinateSystemName><Dynamics z:Ref="i391"/><Limit z:Ref="i383"/><Mimic z:Ref="i399"/><NameAttribute z:Ref="i372"/><Origin z:Ref="i374"/><Parent z:Ref="i377"/><Safety z:Ref="i394"/><TypeAttribute z:Ref="i373"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i403"><Attributes><Attribute z:Id="i404"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Link6</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i405" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i406" i:type="Origin"><Attributes><Attribute z:Id="i407"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>-7.7997129871998361E-06</a:double><a:double>1.2766796228413924E-05</a:double><a:double>0.10159494471453588</a:double></Value></Attribute><Attribute z:Id="i408"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" 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z:Id="i413"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">-1.8839580097712315E-06</Value></Attribute><Attribute z:Id="i414"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">-1.1046944332152173E-07</Value></Attribute><Attribute z:Id="i415"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.00016697905390864894</Value></Attribute><Attribute z:Id="i416"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">-7.6178850191381227E-08</Value></Attribute><Attribute z:Id="i417"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.00024232577904692909</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i412"/><IxyAttribute z:Ref="i413"/><IxzAttribute z:Ref="i414"/><IyyAttribute z:Ref="i415"/><IyzAttribute z:Ref="i416"/><IzzAttribute z:Ref="i417"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i411"/><Mass z:Ref="i409"/><Origin z:Ref="i406"/></URDFElement><URDFElement z:Id="i418" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i419" i:type="Origin"><Attributes><Attribute z:Id="i420"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i421"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i421"/><XYZAttribute z:Ref="i420"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i422" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i423" i:type="Mesh"><Attributes><Attribute z:Id="i424"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i424"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i423"/></URDFElement><URDFElement z:Id="i425" i:type="Material"><Attributes><Attribute z:Id="i426"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i427" i:type="Color"><Attributes><Attribute z:Id="i428"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0.75294117647058822</a:double><a:double>0.75294117647058822</a:double><a:double>0.75294117647058822</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i428"/></URDFElement><URDFElement z:Id="i429" i:type="Texture"><Attributes><Attribute z:Id="i430"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i430"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i427"/><NameAttribute z:Ref="i426"/><Texture z:Ref="i429"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i422"/><Material z:Ref="i425"/><Origin z:Ref="i419"/></URDFElement><URDFElement z:Id="i431" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i432" i:type="Origin"><Attributes><Attribute z:Id="i433"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i434"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i434"/><XYZAttribute z:Ref="i433"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i435" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i436" i:type="Mesh"><Attributes><Attribute z:Id="i437"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i437"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i436"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i435"/><Origin z:Ref="i432"/></URDFElement><URDFElement z:Id="i438" i:type="Joint"><Attributes><Attribute z:Id="i439"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">j6</Value></Attribute><Attribute z:Id="i440"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i441" i:type="Origin"><Attributes><Attribute z:Id="i442"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0.10487</a:double><a:double>0.0013347</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i443"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1.5708</a:double><a:double>0</a:double><a:double>1.5708</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i443"/><XYZAttribute z:Ref="i442"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i444" i:type="ParentLink"><Attributes><Attribute z:Id="i445"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Link5</Value></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i445"/></URDFElement><URDFElement z:Id="i446" i:type="ChildLink"><Attributes><Attribute z:Id="i447"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Link6</Value></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i447"/></URDFElement><URDFElement z:Id="i448" i:type="Axis"><Attributes><Attribute z:Id="i449"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>-1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i449"/></URDFElement><URDFElement z:Id="i450" i:type="Limit"><Attributes><Attribute z:Id="i451"><AttributeType>lower</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i452"><AttributeType>upper</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">3.66</Value></Attribute><Attribute z:Id="i453"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">20</Value></Attribute><Attribute z:Id="i454"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">3.14</Value></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>true</required><EffortAttribute z:Ref="i453"/><LowerAttribute z:Ref="i451"/><UpperAttribute z:Ref="i452"/><VelocityAttribute z:Ref="i454"/></URDFElement><URDFElement z:Id="i455" i:type="Calibration"><Attributes><Attribute z:Id="i456"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i457"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i457"/><RisingAttribute z:Ref="i456"/></URDFElement><URDFElement z:Id="i458" i:type="Dynamics"><Attributes><Attribute z:Id="i459"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i460"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i459"/><FrictionAttribute z:Ref="i460"/></URDFElement><URDFElement z:Id="i461" i:type="SafetyController"><Attributes><Attribute z:Id="i462"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i463"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i464"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i465"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i464"/><KVelocityAttribute z:Ref="i465"/><SoftLowerAttribute z:Ref="i463"/><SoftUpperAttribute z:Ref="i462"/></URDFElement><URDFElement z:Id="i466" i:type="Mimic"><Attributes><Attribute z:Id="i467"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i468"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i469"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i467"/><MultiplierAttribute z:Ref="i468"/><OffsetAttribute z:Ref="i469"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i448"/><AxisName>Automatically Generate</AxisName><Calibration z:Ref="i455"/><Child z:Ref="i446"/><CoordinateSystemName>?????????6</CoordinateSystemName><Dynamics z:Ref="i458"/><Limit z:Ref="i450"/><Mimic z:Ref="i466"/><NameAttribute z:Ref="i439"/><Origin z:Ref="i441"/><Parent z:Ref="i444"/><Safety z:Ref="i461"/><TypeAttribute z:Ref="i440"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i431"/><Inertial z:Ref="i405"/><Joint z:Ref="i438"/><NameAttribute z:Ref="i404"/><Parent z:Ref="i336"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8MOmewaCpyMwAuADEALQAyAEAAMwAuADIABAAAABAAAAABAAAAAQAAAMEFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i418"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i364"/><Inertial z:Ref="i338"/><Joint z:Ref="i371"/><NameAttribute z:Ref="i337"/><Parent z:Ref="i269"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8JCU73U8KBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAAGEEAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i351"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i297"/><Inertial z:Ref="i271"/><Joint z:Ref="i304"/><NameAttribute z:Ref="i270"/><Parent z:Ref="i202"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8QMwAuADEALQCMTvdTwoHeVmyPwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAOgUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i284"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i230"/><Inertial z:Ref="i204"/><Joint z:Ref="i237"/><NameAttribute z:Ref="i203"/><Parent z:Ref="i135"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8PMwAuADEALQCMTvdTwoE7TsKBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAADgFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i217"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i163"/><Inertial z:Ref="i137"/><Joint z:Ref="i170"/><NameAttribute z:Ref="i136"/><Parent z:Ref="i68"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NMwAuADEALQAATvdTwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAUAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i150"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i96"/><Inertial z:Ref="i70"/><Joint z:Ref="i103"/><NameAttribute z:Ref="i69"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NAE73U8KBcZqoUlVTQ1EtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAwgQAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8RMwAuADEALQCMTvdTwoFxmqhSVVNDUS0AMQBAADMALgAyAAQAAAAQAAAAAQAAAAEAAABMBQAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i83"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8KJ1lZACFqV1ctADIAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAJAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
+2026-03-15 17:15:53,130 INFO  ExportHelperExtension.cs: 347 - Creating joint Link1
+2026-03-15 17:15:53,310 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child Link1 failed
+2026-03-15 17:15:57,913 INFO  ExportHelperExtension.cs: 347 - Creating joint Link2
+2026-03-15 17:15:58,067 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link1 to child Link2 failed
+2026-03-15 17:15:58,705 INFO  ExportHelperExtension.cs: 347 - Creating joint Link3
+2026-03-15 17:15:58,833 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link2 to child Link3 failed
+2026-03-15 17:16:03,994 INFO  ExportHelperExtension.cs: 347 - Creating joint Link4
+2026-03-15 17:16:04,142 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link3 to child Link4 failed
+2026-03-15 17:16:08,989 INFO  ExportHelperExtension.cs: 347 - Creating joint Link5
+2026-03-15 17:16:09,147 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link4 to child Link5 failed
+2026-03-15 17:16:14,198 INFO  ExportHelperExtension.cs: 347 - Creating joint Link6
+2026-03-15 17:16:14,338 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link5 to child Link6 failed
+2026-03-15 17:16:15,736 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.2.SLDASM
+2026-03-15 17:16:15,736 INFO  ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
+2026-03-15 17:16:15,736 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in 3.2.SLDASM
+2026-03-15 17:16:15,736 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 17:16:15,738 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 17:16:15,738 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��Yģ��-2
+2026-03-15 17:16:15,739 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 17:16:15,739 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��Yģ��-2
+2026-03-15 17:16:15,739 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ�ű�������Ԫ-1
+2026-03-15 17:16:15,740 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 17:16:15,741 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ�ű�������Ԫ-1
+2026-03-15 17:16:15,741 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���ű�-1
+2026-03-15 17:16:15,742 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 17:16:15,742 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���ű�-1
+2026-03-15 17:16:15,743 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��еצ3.1-2
+2026-03-15 17:16:15,743 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 17:16:15,744 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��еצ3.1-2
+2026-03-15 17:16:15,744 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ�ű�-1
+2026-03-15 17:16:15,745 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 17:16:15,746 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ�ű�-1
+2026-03-15 17:16:15,746 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�����-1
+2026-03-15 17:16:15,747 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 17:16:15,750 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�����-1
+2026-03-15 17:16:15,750 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���űۻ�ת��-1
+2026-03-15 17:16:15,751 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 17:16:15,753 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���űۻ�ת��-1
+2026-03-15 17:16:15,753 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�������Ԫ-1
+2026-03-15 17:16:15,753 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 17:16:15,754 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�������Ԫ-1
+2026-03-15 17:16:15,754 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
+2026-03-15 17:16:15,754 INFO  ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
+2026-03-15 17:16:15,755 INFO  ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
+2026-03-15 17:16:15,755 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-15 17:16:15,755 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-03-15 17:16:15,756 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��Yģ��-2
+2026-03-15 17:16:15,756 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-03-15 17:16:15,757 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��Yģ��-2
+2026-03-15 17:16:15,757 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ�ű�������Ԫ-1
+2026-03-15 17:16:15,757 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-03-15 17:16:15,759 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ�ű�������Ԫ-1
+2026-03-15 17:16:15,759 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���ű�-1
+2026-03-15 17:16:15,759 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-03-15 17:16:15,760 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���ű�-1
+2026-03-15 17:16:15,760 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��еצ3.1-2
+2026-03-15 17:16:15,760 INFO  ExportHelperExtension.cs: 1136 - Found 279 in ��еצ3.1-2
+2026-03-15 17:16:15,761 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��еצ3.1-2
+2026-03-15 17:16:15,761 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ�ű�-1
+2026-03-15 17:16:15,762 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ�ű�-1
+2026-03-15 17:16:15,762 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ�ű�-1
+2026-03-15 17:16:15,763 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�����-1
+2026-03-15 17:16:15,763 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-03-15 17:16:15,764 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�����-1
+2026-03-15 17:16:15,764 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���űۻ�ת��-1
+2026-03-15 17:16:15,765 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-���űۻ�ת��-1
+2026-03-15 17:16:15,766 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���űۻ�ת��-1
+2026-03-15 17:16:15,766 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�������Ԫ-1
+2026-03-15 17:16:15,767 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-03-15 17:16:15,767 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�������Ԫ-1
+2026-03-15 17:16:15,849 INFO  ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-15 17:18:06,445 INFO  AssemblyExportForm.cs: 253 - Completing URDF export
+2026-03-15 17:18:06,447 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
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xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1.5708</a:double><a:double>0</a:double><a:double>1.5708</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i443"/><XYZAttribute z:Ref="i442"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i444" i:type="ParentLink"><Attributes><Attribute z:Id="i445"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Link5</Value></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i445"/></URDFElement><URDFElement z:Id="i446" i:type="ChildLink"><Attributes><Attribute z:Id="i447"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Link6</Value></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i447"/></URDFElement><URDFElement z:Id="i448" i:type="Axis"><Attributes><Attribute z:Id="i449"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>-1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i449"/></URDFElement><URDFElement z:Id="i450" i:type="Limit"><Attributes><Attribute z:Id="i451"><AttributeType>lower</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i452"><AttributeType>upper</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">3.66</Value></Attribute><Attribute z:Id="i453"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">20</Value></Attribute><Attribute z:Id="i454"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">3.14</Value></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>true</required><EffortAttribute z:Ref="i453"/><LowerAttribute z:Ref="i451"/><UpperAttribute z:Ref="i452"/><VelocityAttribute z:Ref="i454"/></URDFElement><URDFElement z:Id="i455" i:type="Calibration"><Attributes><Attribute z:Id="i456"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i457"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i457"/><RisingAttribute z:Ref="i456"/></URDFElement><URDFElement z:Id="i458" i:type="Dynamics"><Attributes><Attribute z:Id="i459"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i460"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i459"/><FrictionAttribute z:Ref="i460"/></URDFElement><URDFElement z:Id="i461" i:type="SafetyController"><Attributes><Attribute z:Id="i462"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i463"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i464"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i465"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i464"/><KVelocityAttribute z:Ref="i465"/><SoftLowerAttribute z:Ref="i463"/><SoftUpperAttribute z:Ref="i462"/></URDFElement><URDFElement z:Id="i466" i:type="Mimic"><Attributes><Attribute z:Id="i467"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i468"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i469"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i467"/><MultiplierAttribute z:Ref="i468"/><OffsetAttribute z:Ref="i469"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i448"/><AxisName>?????????6</AxisName><Calibration z:Ref="i455"/><Child z:Ref="i446"/><CoordinateSystemName>?????????6</CoordinateSystemName><Dynamics z:Ref="i458"/><Limit z:Ref="i450"/><Mimic z:Ref="i466"/><NameAttribute z:Ref="i439"/><Origin z:Ref="i441"/><Parent z:Ref="i444"/><Safety z:Ref="i461"/><TypeAttribute z:Ref="i440"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i431"/><Inertial z:Ref="i405"/><Joint z:Ref="i438"/><NameAttribute z:Ref="i404"/><Parent z:Ref="i336"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8MOmewaCpyMwAuADEALQAyAEAAMwAuADIABAAAABAAAAABAAAAAQAAAMEFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i418"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i364"/><Inertial z:Ref="i338"/><Joint z:Ref="i371"/><NameAttribute z:Ref="i337"/><Parent z:Ref="i269"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8JCU73U8KBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAAGEEAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i351"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i297"/><Inertial z:Ref="i271"/><Joint z:Ref="i304"/><NameAttribute z:Ref="i270"/><Parent z:Ref="i202"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8QMwAuADEALQCMTvdTwoHeVmyPwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAOgUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i284"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i230"/><Inertial z:Ref="i204"/><Joint z:Ref="i237"/><NameAttribute z:Ref="i203"/><Parent z:Ref="i135"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8PMwAuADEALQCMTvdTwoE7TsKBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAADgFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i217"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i163"/><Inertial z:Ref="i137"/><Joint z:Ref="i170"/><NameAttribute z:Ref="i136"/><Parent z:Ref="i68"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NMwAuADEALQAATvdTwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAUAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i150"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i96"/><Inertial z:Ref="i70"/><Joint z:Ref="i103"/><NameAttribute z:Ref="i69"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NAE73U8KBcZqoUlVTQ1EtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAwgQAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8RMwAuADEALQCMTvdTwoFxmqhSVVNDUS0AMQBAADMALgAyAAQAAAAQAAAAAQAAAAEAAABMBQAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i83"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8KJ1lZACFqV1ctADIAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAJAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
+2026-03-15 17:18:21,627 INFO  AssemblyExportForm.cs: 309 - Saving URDF package to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\xin
+2026-03-15 17:18:21,628 INFO  ExportHelper.cs: 147 - Beginning the export process
+2026-03-15 17:18:21,628 INFO  ExportHelper.cs: 153 - Creating package directories with name xin and save path D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315
+2026-03-15 17:18:22,690 INFO  ExportHelper.cs: 162 - Creating CMakeLists.txt at D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\xin\CMakeLists.txt
+2026-03-15 17:18:22,691 INFO  ExportHelper.cs: 166 - Creating joint names config at D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\xin\config\joint_names_xin.yaml
+2026-03-15 17:18:22,691 INFO  ExportHelper.cs: 170 - Creating package.xml at D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\xin\package.xml
+2026-03-15 17:18:22,692 INFO  PackageXMLWriter.cs: 21 - Creating package.xml at D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\xin\package.xml
+2026-03-15 17:18:22,692 INFO  ExportHelper.cs: 177 - Creating RVIZ launch file in D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\xin\launch\
+2026-03-15 17:18:22,693 INFO  ExportHelper.cs: 182 - Creating Gazebo launch file in D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\xin\launch\
+2026-03-15 17:18:22,693 INFO  ExportHelper.cs: 187 - Saving existing STL preferences
+2026-03-15 17:18:22,693 INFO  ExportHelper.cs: 450 - Saving users preferences
+2026-03-15 17:18:22,693 INFO  ExportHelper.cs: 190 - Modifying STL preferences
+2026-03-15 17:18:22,693 INFO  ExportHelper.cs: 464 - Setting STL preferences
+2026-03-15 17:18:22,700 INFO  ExportHelper.cs: 196 - Found 0 hidden components 
+2026-03-15 17:18:22,701 INFO  ExportHelper.cs: 197 - Hiding all components
+2026-03-15 17:18:23,313 INFO  ExportHelper.cs: 204 - Beginning individual files export
+2026-03-15 17:18:23,322 INFO  ExportHelper.cs: 270 - Exporting link: base_link
+2026-03-15 17:18:23,322 INFO  ExportHelper.cs: 272 - Link base_link has 1 children
+2026-03-15 17:18:23,323 INFO  ExportHelper.cs: 270 - Exporting link: Link1
+2026-03-15 17:18:23,324 INFO  ExportHelper.cs: 272 - Link Link1 has 1 children
+2026-03-15 17:18:23,325 INFO  ExportHelper.cs: 270 - Exporting link: Link2
+2026-03-15 17:18:23,325 INFO  ExportHelper.cs: 272 - Link Link2 has 1 children
+2026-03-15 17:18:23,325 INFO  ExportHelper.cs: 270 - Exporting link: Link3
+2026-03-15 17:18:23,325 INFO  ExportHelper.cs: 272 - Link Link3 has 1 children
+2026-03-15 17:18:23,326 INFO  ExportHelper.cs: 270 - Exporting link: Link4
+2026-03-15 17:18:23,326 INFO  ExportHelper.cs: 272 - Link Link4 has 1 children
+2026-03-15 17:18:23,327 INFO  ExportHelper.cs: 270 - Exporting link: Link5
+2026-03-15 17:18:23,327 INFO  ExportHelper.cs: 272 - Link Link5 has 1 children
+2026-03-15 17:18:23,328 INFO  ExportHelper.cs: 270 - Exporting link: Link6
+2026-03-15 17:18:23,328 INFO  ExportHelper.cs: 272 - Link Link6 has 0 children
+2026-03-15 17:18:23,328 INFO  ExportHelper.cs: 317 - Link6: Exporting STL with coordinate frame ����ϵ6
+2026-03-15 17:18:23,329 INFO  ExportHelper.cs: 322 - Link6: Reference geometry name 
+2026-03-15 17:18:23,653 INFO  ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\xin\meshes\Link6.STL
+2026-03-15 17:18:24,605 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-15 17:18:24,606 INFO  ExportHelper.cs: 317 - Link5: Exporting STL with coordinate frame ����ϵ5
+2026-03-15 17:18:24,606 INFO  ExportHelper.cs: 322 - Link5: Reference geometry name 
+2026-03-15 17:18:24,727 INFO  ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\xin\meshes\Link5.STL
+2026-03-15 17:18:27,933 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-15 17:18:27,934 INFO  ExportHelper.cs: 317 - Link4: Exporting STL with coordinate frame ����ϵ4
+2026-03-15 17:18:27,934 INFO  ExportHelper.cs: 322 - Link4: Reference geometry name 
+2026-03-15 17:18:28,507 INFO  ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\xin\meshes\Link4.STL
+2026-03-15 17:18:32,483 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-15 17:18:32,484 INFO  ExportHelper.cs: 317 - Link3: Exporting STL with coordinate frame ����ϵ3
+2026-03-15 17:18:32,484 INFO  ExportHelper.cs: 322 - Link3: Reference geometry name 
+2026-03-15 17:18:33,027 INFO  ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\xin\meshes\Link3.STL
+2026-03-15 17:18:37,132 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-15 17:18:37,133 INFO  ExportHelper.cs: 317 - Link2: Exporting STL with coordinate frame ����ϵ2
+2026-03-15 17:18:37,133 INFO  ExportHelper.cs: 322 - Link2: Reference geometry name 
+2026-03-15 17:18:37,594 INFO  ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\xin\meshes\Link2.STL
+2026-03-15 17:18:38,408 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-15 17:18:38,409 INFO  ExportHelper.cs: 317 - Link1: Exporting STL with coordinate frame ����ϵ1
+2026-03-15 17:18:38,410 INFO  ExportHelper.cs: 322 - Link1: Reference geometry name 
+2026-03-15 17:18:39,142 INFO  ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\xin\meshes\Link1.STL
+2026-03-15 17:18:45,156 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-15 17:18:45,157 INFO  ExportHelper.cs: 317 - base_link: Exporting STL with coordinate frame ����ϵbase
+2026-03-15 17:18:45,157 INFO  ExportHelper.cs: 322 - base_link: Reference geometry name 
+2026-03-15 17:18:45,345 INFO  ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\xin\meshes\base_link.STL
+2026-03-15 17:18:47,354 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-15 17:18:47,355 INFO  ExportHelper.cs: 145 - Showing all components except previously hidden components
+2026-03-15 17:19:01,295 INFO  ExportHelper.cs: 145 - Resetting STL preferences
+2026-03-15 17:19:01,296 INFO  ExportHelper.cs: 478 - Returning STL preferences to user preferences
+2026-03-15 17:19:01,296 INFO  ExportHelper.cs: 228 - Writing URDF file to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\xin\urdf\xin.urdf
+2026-03-15 17:19:01,297 INFO  CSVImportExport.cs: 32 - Writing CSV file D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\xin\urdf\xin.csv
+2026-03-15 17:19:01,298 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-15 17:19:01,298 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-15 17:19:01,299 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-15 17:19:01,299 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-15 17:19:01,299 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-15 17:19:01,300 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-15 17:19:01,300 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-15 17:19:01,300 INFO  ExportHelper.cs: 234 - Copying log file
+2026-03-15 17:19:01,301 INFO  ExportHelper.cs: 439 - Copying C:\Users\Lenovo\sw2urdf_logs\sw2urdf.log to D:\STM32Projects_HAL\board-F4\arm\arm_model\��е��URDF������ϵ������צ\��С��2026315\xin\export.log
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/launch/display.launch b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/launch/display.launch
new file mode 100644
index 0000000..f8f964a
--- /dev/null
+++ b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/launch/display.launch
@@ -0,0 +1,20 @@
+<launch>
+  <arg
+    name="model" />
+  <param
+    name="robot_description"
+    textfile="$(find xin)/urdf/xin.urdf" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find xin)/urdf.rviz" />
+</launch>
\ No newline at end of file
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/launch/gazebo.launch b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/launch/gazebo.launch
new file mode 100644
index 0000000..d331b12
--- /dev/null
+++ b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/launch/gazebo.launch
@@ -0,0 +1,20 @@
+<launch>
+  <include
+    file="$(find gazebo_ros)/launch/empty_world.launch" />
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 base_link base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find xin)/urdf/xin.urdf -urdf -model xin"
+    output="screen" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>
\ No newline at end of file
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/meshes/Link1.STL b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/meshes/Link1.STL
new file mode 100644
index 0000000..1960165
Binary files /dev/null and b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/meshes/Link1.STL differ
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/meshes/Link2.STL b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/meshes/Link2.STL
new file mode 100644
index 0000000..0f2dae2
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diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/meshes/Link3.STL b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/meshes/Link3.STL
new file mode 100644
index 0000000..590bbaf
Binary files /dev/null and b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/meshes/Link3.STL differ
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/meshes/Link4.STL b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/meshes/Link4.STL
new file mode 100644
index 0000000..8ed6f51
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diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/meshes/Link5.STL b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/meshes/Link5.STL
new file mode 100644
index 0000000..b51963c
Binary files /dev/null and b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/meshes/Link5.STL differ
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/meshes/Link6.STL b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/meshes/Link6.STL
new file mode 100644
index 0000000..7dc88c9
Binary files /dev/null and b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/meshes/Link6.STL differ
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/meshes/base_link.STL b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/meshes/base_link.STL
new file mode 100644
index 0000000..0d54254
Binary files /dev/null and b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/meshes/base_link.STL differ
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/package.xml b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/package.xml
new file mode 100644
index 0000000..ff36b78
--- /dev/null
+++ b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/package.xml
@@ -0,0 +1,21 @@
+<package format="2">
+  <name>xin</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for xin</p>
+    <p>This package contains configuration data, 3D models and launch files
+for xin robot</p>
+  </description>
+  <author>TODO</author>
+  <maintainer email="TODO@email.com" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roslaunch</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>gazebo</depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>
\ No newline at end of file
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/urdf/xin.csv b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/urdf/xin.csv
new file mode 100644
index 0000000..98d3a7c
--- /dev/null
+++ b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/urdf/xin.csv
@@ -0,0 +1,8 @@
+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
+base_link,2.2062E-06,-0.089452,0.015312,0,0,0,1.0633,0.0031488,-7.846E-08,1.0021E-07,0.00202,-1.6521E-08,0.0051396,0,0,0,0,0,0,package://xin/meshes/base_link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://xin/meshes/base_link.STL,,大Y模块-2,坐标系base,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+Link1,-0.0071819,0.00031034,0.061598,0,0,0,2.2629,0.0035533,1.4877E-06,-3.269E-05,0.0024578,-1.066E-06,0.0036303,0,0,0,0,0,0,package://xin/meshes/Link1.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://xin/meshes/Link1.STL,,一号臂驱动单元-1;3.1-二号臂驱动单元-1,坐标系1,基准轴1,j1,continuous,0,0,0.024,0,0,0,base_link,0,0,1,60,3.14,,,,,,,,,,
+Link2,0.22947,-0.0031632,-0.0022707,0,0,0,0.97482,0.00042566,0.00027677,-1.1303E-15,0.0043535,-6.9832E-13,0.0047666,0,0,0,0,0,0,package://xin/meshes/Link2.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://xin/meshes/Link2.STL,,3.1-一号臂-1,坐标系2,基准轴2,j2,revolute,-0.001395,0,0.1015,1.5708,0,-1.5708,Link1,0,0,1,60,3.14,0,3.14,,,,,,,,
+Link3,0.086963,0.0016734,-0.017806,0,0,0,0.72964,0.00028636,1.1866E-05,-4.7151E-08,0.00040609,8.3967E-07,0.00030158,0,0,0,0,0,0,package://xin/meshes/Link3.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://xin/meshes/Link3.STL,,3.1-二号臂主臂-1,坐标系3,基准轴3,j3,revolute,0.3265,0,-0.0071975,0,0,0,Link2,0,0,1,20,3.14,0,1.57,,,,,,,,
+Link4,5.52951427810755E-05,-0.00230270444841696,0.109727165961792,0,0,0,0.541483189887007,0.000263059603979983,1.23868002229671E-08,-1.24134280810698E-08,0.000284201134854818,1.12515113310631E-06,0.000145605109171895,0,0,0,0,0,0,package://xin/meshes/Link4.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://xin/meshes/Link4.STL,,3.1-二号臂回转臂-1,坐标系4,基准轴4,j4,continuous,0.0905,0.052775,0.0058025,1.5708,0,3.1416,Link3,0,0,1,20,3.14,,,,,,,,,,
+Link5,0.056542,0.0013106,0.0010268,0,0,0,0.21817,8.1275E-05,1.143E-08,5.0118E-07,8.1233E-05,1.1372E-08,8.3976E-05,0,0,0,0,0,0,package://xin/meshes/Link5.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://xin/meshes/Link5.STL,,三号臂-1,坐标系5,基准轴5,j5,revolute,0.001627,0,0.18467,1.5708,0,0,Link4,0,0,1,20,3.14,0,3.14,,,,,,,,
+Link6,-7.7997E-06,1.2767E-05,0.10159,0,0,0,0.56255,0.00025673,-1.884E-06,-1.1047E-07,0.00016698,-7.6179E-08,0.00024233,0,0,0,0,0,0,package://xin/meshes/Link6.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://xin/meshes/Link6.STL,,机械爪3.1-2,坐标系6,基准轴6,j6,revolute,0.10487,0.0013347,0,1.5708,0,1.5708,Link5,0,0,1,20,3.14,0,3.66,,,,,,,,
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/urdf/xin.urdf b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/urdf/xin.urdf
new file mode 100644
index 0000000..d38f200
--- /dev/null
+++ b/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/urdf/xin.urdf
@@ -0,0 +1,391 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="xin">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="2.2062E-06 -0.089452 0.015312"
+        rpy="0 0 0" />
+      <mass
+        value="1.0633" />
+      <inertia
+        ixx="0.0031488"
+        ixy="-7.846E-08"
+        ixz="1.0021E-07"
+        iyy="0.00202"
+        iyz="-1.6521E-08"
+        izz="0.0051396" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xin/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xin/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="Link1">
+    <inertial>
+      <origin
+        xyz="-0.0071819 0.00031034 0.061598"
+        rpy="0 0 0" />
+      <mass
+        value="2.2629" />
+      <inertia
+        ixx="0.0035533"
+        ixy="1.4877E-06"
+        ixz="-3.269E-05"
+        iyy="0.0024578"
+        iyz="-1.066E-06"
+        izz="0.0036303" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xin/meshes/Link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xin/meshes/Link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="j1"
+    type="continuous">
+    <origin
+      xyz="0 0 0.024"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="Link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="Link2">
+    <inertial>
+      <origin
+        xyz="0.22947 -0.0031632 -0.0022707"
+        rpy="0 0 0" />
+      <mass
+        value="0.97482" />
+      <inertia
+        ixx="0.00042566"
+        ixy="0.00027677"
+        ixz="-1.1303E-15"
+        iyy="0.0043535"
+        iyz="-6.9832E-13"
+        izz="0.0047666" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xin/meshes/Link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xin/meshes/Link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="j2"
+    type="revolute">
+    <origin
+      xyz="-0.001395 0 0.1015"
+      rpy="1.5708 0 -1.5708" />
+    <parent
+      link="Link1" />
+    <child
+      link="Link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="Link3">
+    <inertial>
+      <origin
+        xyz="0.086963 0.0016734 -0.017806"
+        rpy="0 0 0" />
+      <mass
+        value="0.72964" />
+      <inertia
+        ixx="0.00028636"
+        ixy="1.1866E-05"
+        ixz="-4.7151E-08"
+        iyy="0.00040609"
+        iyz="8.3967E-07"
+        izz="0.00030158" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xin/meshes/Link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xin/meshes/Link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="j3"
+    type="revolute">
+    <origin
+      xyz="0.3265 0 -0.0071975"
+      rpy="0 0 0" />
+    <parent
+      link="Link2" />
+    <child
+      link="Link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="20"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="Link4">
+    <inertial>
+      <origin
+        xyz="5.52951427810755E-05 -0.00230270444841696 0.109727165961792"
+        rpy="0 0 0" />
+      <mass
+        value="0.541483189887007" />
+      <inertia
+        ixx="0.000263059603979983"
+        ixy="1.23868002229671E-08"
+        ixz="-1.24134280810698E-08"
+        iyy="0.000284201134854818"
+        iyz="1.12515113310631E-06"
+        izz="0.000145605109171895" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xin/meshes/Link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xin/meshes/Link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="j4"
+    type="continuous">
+    <origin
+      xyz="0.0905 0.052775 0.0058025"
+      rpy="1.5708 0 3.1416" />
+    <parent
+      link="Link3" />
+    <child
+      link="Link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      effort="20"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="Link5">
+    <inertial>
+      <origin
+        xyz="0.056542 0.0013106 0.0010268"
+        rpy="0 0 0" />
+      <mass
+        value="0.21817" />
+      <inertia
+        ixx="8.1275E-05"
+        ixy="1.143E-08"
+        ixz="5.0118E-07"
+        iyy="8.1233E-05"
+        iyz="1.1372E-08"
+        izz="8.3976E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xin/meshes/Link5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xin/meshes/Link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="j5"
+    type="revolute">
+    <origin
+      xyz="0.001627 0 0.18467"
+      rpy="1.5708 0 0" />
+    <parent
+      link="Link4" />
+    <child
+      link="Link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="20"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="Link6">
+    <inertial>
+      <origin
+        xyz="-7.7997E-06 1.2767E-05 0.10159"
+        rpy="0 0 0" />
+      <mass
+        value="0.56255" />
+      <inertia
+        ixx="0.00025673"
+        ixy="-1.884E-06"
+        ixz="-1.1047E-07"
+        iyy="0.00016698"
+        iyz="-7.6179E-08"
+        izz="0.00024233" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xin/meshes/Link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xin/meshes/Link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="j6"
+    type="revolute">
+    <origin
+      xyz="0.10487 0.0013347 0"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="Link5" />
+    <child
+      link="Link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.66"
+      effort="20"
+      velocity="3.14" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/ozone/arm.jdebug.user b/ozone/arm.jdebug.user
index 71d3bf1..49635e0 100644
--- a/ozone/arm.jdebug.user
+++ b/ozone/arm.jdebug.user
@@ -1,18 +1,18 @@
 
 
-
-Breakpoint=D:/STM32Projects_HAL/board-F4/arm/User/module/arm_oop.hpp:290, State=BP_STATE_ON
 GraphedExpression="ik_test_ret", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#e56a6f, Show=0
-OpenDocument="robotics.h", FilePath="D:/STM32Projects_HAL/board-F4/arm/User/component/toolbox/robotics.h", Line=309
+GraphedExpression="((robot_arm)->traj_).t", Color=#35792b, Show=0
+GraphedExpression="(((robot_arm)->end_effector_).target).z", Color=#769dda, Show=0
+GraphedExpression="((arm_cmd).target_pose).z", Color=#b14f0d
+OpenDocument="main.c", FilePath="D:/STM32Projects_HAL/board-F4/arm/Core/Src/main.c", Line=45
 OpenDocument="arm_main.cpp", FilePath="D:/STM32Projects_HAL/board-F4/arm/User/task/arm_main.cpp", Line=265
-OpenDocument="memcpy.c", FilePath="/build/gnu-tools-for-stm32_13.3.rel1.20250523-0900/src/newlib/newlib/libc/string/memcpy.c", Line=0
 OpenDocument="stm32f4xx_it.c", FilePath="D:/STM32Projects_HAL/board-F4/arm/Core/Src/stm32f4xx_it.c", Line=77
 OpenDocument="init.c", FilePath="D:/STM32Projects_HAL/board-F4/arm/User/task/init.c", Line=6
 OpenDocument="ctrl_chassis.c", FilePath="D:/STM32Projects_HAL/board-F4/arm/User/task/ctrl_chassis.c", Line=6
 OpenDocument="cmd.cpp", FilePath="D:/STM32Projects_HAL/board-F4/arm/User/task/cmd.cpp", Line=22
 OpenDocument="cmd.c", FilePath="D:/STM32Projects_HAL/board-F4/arm/User/module/cmd/cmd.c", Line=278
 OpenDocument="startup_stm32f407xx.s", FilePath="D:/STM32Projects_HAL/board-F4/arm/startup_stm32f407xx.s", Line=48
-OpenDocument="arm_oop.hpp", FilePath="D:/STM32Projects_HAL/board-F4/arm/User/module/arm_oop.hpp", Line=266
+OpenDocument="arm_oop.hpp", FilePath="D:/STM32Projects_HAL/board-F4/arm/User/module/arm_oop.hpp", Line=256
 OpenDocument="motor_base.hpp", FilePath="D:/STM32Projects_HAL/board-F4/arm/User/module/motor_base.hpp", Line=121
 OpenDocument="joint.hpp", FilePath="D:/STM32Projects_HAL/board-F4/arm/User/module/joint.hpp", Line=29
 OpenDocument="robotics.cpp", FilePath="D:/STM32Projects_HAL/board-F4/arm/User/component/toolbox/robotics.cpp", Line=251
@@ -20,7 +20,7 @@ OpenDocument="arm6dof.h", FilePath="D:/STM32Projects_HAL/board-F4/arm/User/compo
 OpenDocument="can.c", FilePath="D:/STM32Projects_HAL/board-F4/arm/Core/Src/can.c", Line=0
 OpenDocument="arm6dof.cpp", FilePath="D:/STM32Projects_HAL/board-F4/arm/User/component/arm_kinematics/arm6dof.cpp", Line=175
 OpenDocument="matrix.h", FilePath="D:/STM32Projects_HAL/board-F4/arm/User/component/toolbox/matrix.h", Line=24
-OpenDocument="main.c", FilePath="D:/STM32Projects_HAL/board-F4/arm/Core/Src/main.c", Line=45
+OpenDocument="robotics.h", FilePath="D:/STM32Projects_HAL/board-F4/arm/User/component/toolbox/robotics.h", Line=309
 OpenDocument="rc.c", FilePath="D:/STM32Projects_HAL/board-F4/arm/User/task/rc.c", Line=20
 OpenToolbar="Debug", Floating=0, x=0, y=0
 OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=0, w=903, h=930, TabPos=2, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
@@ -30,17 +30,17 @@ OpenWindow="Memory 1", DockArea=BOTTOM, x=0, y=0, w=463, h=544, FilterBarShown=0
 OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=0, w=903, h=930, TabPos=1, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=322, h=930, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=725, h=525, TabPos=1, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
-OpenWindow="Timeline", DockArea=BOTTOM, x=1, y=0, w=1370, h=544, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="5 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="201;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1143;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1164;0"
+OpenWindow="Timeline", DockArea=BOTTOM, x=1, y=0, w=1370, h=544, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="5 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="201;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1148;-71", CodeGraphLegendShown=0, CodeGraphLegendPosition="1164;0"
 OpenWindow="Console", DockArea=BOTTOM, x=2, y=0, w=725, h=525, TabPos=0, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
 TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[120;144;639]
-TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh";"Access"], ColWidths=[250;229;145;279;100]
 TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Class";"Source"], ColWidths=[1594;104;100;100;27;100]
 TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
 TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
 TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[215;100;100;100;1334]
-TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" ik_test_ret"], ColWidths=[100;100;100]
-TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;100;100;100;100;100;110;126;126]
+TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh";"Access"], ColWidths=[250;229;145;279;100]
+TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" ik_test_ret";" ((robot_arm)->traj_).t";" (((robot_arm)->end_effector_).target).z";" ((arm_cmd).target_pose).z"], ColWidths=[100;100;100;100;100;100]
+TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;100;144;144;124;154;110;144;126]
 TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;340]
 WatchedExpression="robot_arm", RefreshRate=5, Window=Watched Data 1
 WatchedExpression="ik_from_fk_result", RefreshRate=5, Window=Watched Data 1
@@ -53,4 +53,5 @@ WatchedExpression="sync_tool_to_current", RefreshRate=5, Window=Watched Data 1
 WatchedExpression="cmd", RefreshRate=5, Window=Watched Data 1
 WatchedExpression="ik_test_enable", RefreshRate=1, Window=Watched Data 1
 WatchedExpression="ik_test_result", RefreshRate=5, Window=Watched Data 1
-WatchedExpression="ik_test_ret", RefreshRate=5, Window=Watched Data 1
\ No newline at end of file
+WatchedExpression="ik_test_ret", RefreshRate=5, Window=Watched Data 1
+WatchedExpression="arm_cmd", RefreshRate=5, Window=Watched Data 1
\ No newline at end of file