diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/CMakeLists.txt b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/CMakeLists.txt
new file mode 100644
index 0000000..7d0d4b4
--- /dev/null
+++ b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/CMakeLists.txt
@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(newURDF)
+
+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/newURDF/config/joint_names_newURDF.yaml b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/config/joint_names_newURDF.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/newURDF/config/joint_names_newURDF.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/newURDF/export.log b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/export.log
new file mode 100644
index 0000000..d0b5b26
--- /dev/null
+++ b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/export.log
@@ -0,0 +1,350 @@
+2026-01-20 21:38:24,407 INFO  Logger.cs: 70 - 
+--------------------------------------------------------------------------------
+2026-01-20 21:38:24,469 INFO  Logger.cs: 71 - Logging commencing for SW2URDF exporter
+2026-01-20 21:38:24,472 INFO  Logger.cs: 73 - Commit version 1.6.0-4-g7f85cfe
+2026-01-20 21:38:24,473 INFO  Logger.cs: 74 - Build version 1.6.7995.38578
+2026-01-20 21:38:24,477 INFO  SwAddin.cs: 192 - Attempting to connect to SW
+2026-01-20 21:38:24,480 INFO  SwAddin.cs: 197 - Setting up callbacks
+2026-01-20 21:38:24,481 INFO  SwAddin.cs: 201 - Setting up command manager
+2026-01-20 21:38:24,483 INFO  SwAddin.cs: 204 - Adding command manager
+2026-01-20 21:38:24,489 INFO  SwAddin.cs: 263 - Adding Assembly export to file menu
+2026-01-20 21:38:24,495 INFO  SwAddin.cs: 272 - Adding Part export to file menu
+2026-01-20 21:38:24,495 INFO  SwAddin.cs: 210 - Adding event handlers
+2026-01-20 21:38:25,009 INFO  SwAddin.cs: 217 - Connecting plugin to SolidWorks
+2026-01-20 21:59:06,435 INFO  SwAddin.cs: 294 - Assembly export called for file 3.1.SLDASM
+2026-01-20 21:59:06,439 INFO  SwAddin.cs: 299 - Save is required
+2026-01-20 21:59:06,442 INFO  SwAddin.cs: 313 - Saving assembly
+2026-01-20 21:59:08,315 INFO  SwAddin.cs: 316 - Opening property manager
+2026-01-20 21:59:08,325 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1.SLDASM
+2026-01-20 21:59:08,356 INFO  ExportHelperExtension.cs: 1136 - Found 92 in 3.1.SLDASM
+2026-01-20 21:59:08,358 INFO  ExportHelperExtension.cs: 1145 - Found 8 features of type [CoordSys] in 3.1.SLDASM
+2026-01-20 21:59:08,358 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-01-20 21:59:08,360 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-01-20 21:59:08,361 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1.SLDASM
+2026-01-20 21:59:08,361 INFO  ExportHelperExtension.cs: 1136 - Found 92 in 3.1.SLDASM
+2026-01-20 21:59:08,362 INFO  ExportHelperExtension.cs: 1145 - Found 10 features of type [RefAxis] in 3.1.SLDASM
+2026-01-20 21:59:08,362 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-01-20 21:59:08,362 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-01-20 21:59:08,798 INFO  SwAddin.cs: 339 - Loading config tree
+2026-01-20 21:59:08,804 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>0.097666</a:double><a:double>-1.0602</a:double><a:double>0.016983</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">1.0623</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">0.00202</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">-1.6521E-08</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">0.0031488</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">-1.0021E-07</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>Origin_global</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 z:Id="i69"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Link1</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i70" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i71" i:type="Origin"><Attributes><Attribute z:Id="i72"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0.0070301</a:double><a:double>-0.00030378</a:double><a:double>0.044333</a:double></Value></Attribute><Attribute z:Id="i73"><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="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">2.3117</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">0.0035548</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">1.4877E-06</Value></Attribute><Attribute z:Id="i79"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">3.269E-05</Value></Attribute><Attribute z:Id="i80"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.0024594</Value></Attribute><Attribute z:Id="i81"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">1.066E-06</Value></Attribute><Attribute z:Id="i82"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.0036305</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i77"/><IxyAttribute z:Ref="i78"/><IxzAttribute z:Ref="i79"/><IyyAttribute z:Ref="i80"/><IyzAttribute z:Ref="i81"/><IzzAttribute z:Ref="i82"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i76"/><Mass z:Ref="i74"/><Origin z:Ref="i71"/></URDFElement><URDFElement z:Id="i83" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i84" i:type="Origin"><Attributes><Attribute z:Id="i85"><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="i86"><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="i86"/><XYZAttribute z:Ref="i85"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i87" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i88" i:type="Mesh"><Attributes><Attribute z:Id="i89"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i89"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i88"/></URDFElement><URDFElement z:Id="i90" i:type="Material"><Attributes><Attribute z:Id="i91"><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="i92" i:type="Color"><Attributes><Attribute z:Id="i93"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" 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+2026-01-20 21:59:08,883 INFO  LinkNode.cs: 35 - Building node Link3
+2026-01-20 21:59:08,883 INFO  LinkNode.cs: 35 - Building node Link4
+2026-01-20 21:59:08,884 INFO  LinkNode.cs: 35 - Building node Link5
+2026-01-20 21:59:08,884 INFO  LinkNode.cs: 35 - Building node Link6
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+2026-01-20 21:59:08,891 INFO  CommonSwOperations.cs: 230 - Loaded 2 components for link Link1
+2026-01-20 21:59:08,891 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link2 from D:\AAAAA\3.1.SLDASM
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3.1-N?S??-1@3.1

P
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+2026-01-20 21:59:08,892 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link2
+2026-01-20 21:59:08,892 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link3 from D:\AAAAA\3.1.SLDASM
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+2026-01-20 21:59:08,893 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link4 from D:\AAAAA\3.1.SLDASM
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+2026-01-20 21:59:08,894 INFO  CommonSwOperations.cs: 230 - Loaded 1 components for link Link4
+2026-01-20 21:59:08,894 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link5 from D:\AAAAA\3.1.SLDASM
+2026-01-20 21:59:08,894 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???	N?S??-1@3.1/	N?S??Y5u:g?[??g-1@	N?S??
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a1
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+2026-01-20 21:59:08,896 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???	N?S??-1@3.1/	N?S??Pt?t?b?Q?V?[
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a
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a!
+2026-01-20 21:59:08,897 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\���ű�Y�����ӹ̰�.SLDPRT
+2026-01-20 21:59:08,897 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF????	N?S??-1@3.1/4310 ?Q?:g-rau 3505 3d-20250718.stp-1@	N?S??/4310_-RAU_3505_3D_0001.stp-1@4310 ?Q?:g-rau 3505 3d-20250718.stp/4310_-RAU_3505_3D0001.stp-1@4310_-RAU_3505_3D_0001.stp
a5
+2026-01-20 21:59:08,899 INFO  CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ASUS\AppData\Local\Temp\swx32764\IC~~\4310_-RAU_3505_3D0001.stp.SLDPRT
+2026-01-20 21:59:08,899 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF????	N?S??-1@3.1/4310 ?Q?:g-rau 3505 3d-20250718.stp-1@	N?S??/4310_-RAU_3505_3D_0001.stp-1@4310 ?Q?:g-rau 3505 3d-20250718.stp/4310__VER_B0001.stp-1@4310_-RAU_3505_3D_0001.stp
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+2026-01-20 21:59:08,899 INFO  CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ASUS\AppData\Local\Temp\swx32764\IC~~\4310__VER_B0001.stp.SLDPRT
+2026-01-20 21:59:08,900 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF????	N?S??-1@3.1/4310 ?Q?:g-rau 3505 3d-20250718.stp-1@	N?S??/4310_-RAU_3505_3D_0001.stp-1@4310 ?Q?:g-rau 3505 3d-20250718.stp/G43_V1_1_220606A.stp-1@4310_-RAU_3505_3D_0001.stp
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+2026-01-20 21:59:08,900 INFO  CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ASUS\AppData\Local\Temp\swx32764\IC~~\G43_V1_1_220606A.stp.SLDPRT
+2026-01-20 21:59:08,900 INFO  CommonSwOperations.cs: 230 - Loaded 8 components for link Link5
+2026-01-20 21:59:08,900 INFO  CommonSwOperations.cs: 221 - Loading SolidWorks components for Link6 from D:\AAAAA\3.1.SLDASM
+2026-01-20 21:59:08,900 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???":g?h*r3.1-2@3.1/C6205u?_h?N_01-1@:g?h*r3.1
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+2026-01-20 21:59:08,900 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\C620���_���_01.SLDPRT
+2026-01-20 21:59:08,901 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/9Y*r?V?[g-1@:g?h*r3.1
??

+2026-01-20 21:59:08,901 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\��צ�̶���.SLDPRT
+2026-01-20 21:59:08,901 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/?nh?YP?MO-2@:g?h*r3.1
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+2026-01-20 21:59:08,901 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\��������λ.SLDPRT
+2026-01-20 21:59:08,901 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/9Y*r?V?[g-2@:g?h*r3.1
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+2026-01-20 21:59:08,903 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\��צ�̶���.SLDPRT
+2026-01-20 21:59:08,903 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/6-6-40M3-6@:g?h*r3.1
??

+2026-01-20 21:59:08,951 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\6-6-40M3.SLDPRT
+2026-01-20 21:59:08,952 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/?nh?YP?MO-1@:g?h*r3.1
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?R

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+2026-01-20 21:59:08,955 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/6-6-40M3-5@:g?h*r3.1
??

+2026-01-20 21:59:08,955 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\6-6-40M3.SLDPRT
+2026-01-20 21:59:08,956 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/6-6-21M3-11@:g?h*r3.1
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+2026-01-20 21:59:08,956 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\6-6-21M3.SLDPRT
+2026-01-20 21:59:08,956 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/6-6-21M3-10@:g?h*r3.1
?F

+2026-01-20 21:59:08,956 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\6-6-21M3.SLDPRT
+2026-01-20 21:59:08,956 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/b}??g-4@:g?h*r3.1
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+2026-01-20 21:59:08,958 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\6-6-40M3.SLDPRT
+2026-01-20 21:59:08,958 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/6-6-21M3-9@:g?h*r3.1
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+2026-01-20 21:59:08,958 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\6-6-21M3.SLDPRT
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+2026-01-20 21:59:08,960 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\6-6-40M3.SLDPRT
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+2026-01-20 21:59:08,962 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\6-6-40M3.SLDPRT
+2026-01-20 21:59:08,962 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/b}??g-3@:g?h*r3.1
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??
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+2026-01-20 21:59:08,963 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\6-6-21M3.SLDPRT
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??
+2026-01-20 21:59:08,964 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\6-6-21M3.SLDPRT
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??
+2026-01-20 21:59:08,965 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\6-6-21M3.SLDPRT
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??
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+2026-01-20 21:59:08,968 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/6-6-21M3-3@:g?h*r3.1
??
+2026-01-20 21:59:08,968 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\6-6-21M3.SLDPRT
+2026-01-20 21:59:08,968 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/?N?RFg-3@:g?h*r3.1
??
+2026-01-20 21:59:08,969 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\�Ӷ���.SLDPRT
+2026-01-20 21:59:08,969 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/?nh??QP?MO-1@:g?h*r3.1
??
+2026-01-20 21:59:08,969 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\��������λ.SLDPRT
+2026-01-20 21:59:08,970 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/q??RFg?vg-1@:g?h*r3.1
??
+2026-01-20 21:59:08,970 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\�����˸ǰ�.SLDPRT
+2026-01-20 21:59:08,970 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/*r?vg-4@:g?h*r3.1
??
+2026-01-20 21:59:08,971 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\צ�ǰ�.SLDPRT
+2026-01-20 21:59:08,971 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/6-6-21M3-2@:g?h*r3.1
??
+2026-01-20 21:59:08,972 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\6-6-21M3.SLDPRT
+2026-01-20 21:59:08,972 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/b}??g-1@:g?h*r3.1
??
+2026-01-20 21:59:08,974 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\��������.SLDPRT
+2026-01-20 21:59:08,974 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/6-6-21M3-7@:g?h*r3.1
??
+2026-01-20 21:59:08,974 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\6-6-21M3.SLDPRT
+2026-01-20 21:59:08,974 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/6-6-21M3-1@:g?h*r3.1
??
+2026-01-20 21:59:08,975 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\6-6-21M3.SLDPRT
+2026-01-20 21:59:08,975 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/*r?vg-3@:g?h*r3.1
??
+2026-01-20 21:59:08,975 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\צ�ǰ�.SLDPRT
+2026-01-20 21:59:08,975 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/q??RFgN-1@:g?h*r3.1
??
+2026-01-20 21:59:08,976 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\��������.SLDPRT
+2026-01-20 21:59:08,976 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/*r?V?[WW
+N-2@:g?h*r3.1
?M
+2026-01-20 21:59:08,977 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\צ�̶�����.SLDPRT
+2026-01-20 21:59:08,977 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/*r?V?[WWN-2@:g?h*r3.1
?L
+2026-01-20 21:59:08,978 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\צ�̶�����.SLDPRT
+2026-01-20 21:59:08,978 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/?nWWMGN9C-3@:g?h*r3.1
?J
+2026-01-20 21:59:08,979 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\����MGN9C.SLDPRT
+2026-01-20 21:59:08,979 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/*r?V?[WW
+N-1@:g?h*r3.1
??
+2026-01-20 21:59:08,980 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\צ�̶�����.SLDPRT
+2026-01-20 21:59:08,980 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/?g'`*r-1@:g?h*r3.1
?8
+2026-01-20 21:59:08,980 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\����צ.SLDPRT
+2026-01-20 21:59:08,981 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/?nWWMGN9C-2@:g?h*r3.1
?5
+2026-01-20 21:59:08,981 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\����MGN9C.SLDPRT
+2026-01-20 21:59:08,981 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/*r???cWW-1@:g?h*r3.1
?C
+2026-01-20 21:59:08,982 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\צ���ӿ�.SLDPRT
+2026-01-20 21:59:08,982 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/?g'`*r-2@:g?h*r3.1
?N
+2026-01-20 21:59:08,983 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\����צ.SLDPRT
+2026-01-20 21:59:08,983 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/*r?V?[WWN-1@:g?h*r3.1
?:
+2026-01-20 21:59:08,983 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\צ�̶�����.SLDPRT
+2026-01-20 21:59:08,984 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/?N?RFg-2@:g?h*r3.1
??
+2026-01-20 21:59:08,984 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\�Ӷ���.SLDPRT
+2026-01-20 21:59:08,984 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/q??RFg
+N-1@:g?h*r3.1
??
+2026-01-20 21:59:08,985 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\��������.SLDPRT
+2026-01-20 21:59:08,985 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/*r???cWW-2@:g?h*r3.1
?K
+2026-01-20 21:59:08,987 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\צ���ӿ�.SLDPRT
+2026-01-20 21:59:08,987 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/?~h?MGN9-1@:g?h*r3.1
?(
+2026-01-20 21:59:08,987 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\�߹�MGN9.SLDPRT
+2026-01-20 21:59:08,988 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/35085u:g-1@:g?h*r3.1
?
+2026-01-20 21:59:08,988 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\3508���.SLDPRT
+2026-01-20 21:59:08,988 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/b}?g-1@:g?h*r3.1
?
+2026-01-20 21:59:08,988 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\���ذ�.SLDPRT
+2026-01-20 21:59:08,990 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/?~h?MGN9-2@:g?h*r3.1
?-
+2026-01-20 21:59:08,990 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\�߹�MGN9.SLDPRT
+2026-01-20 21:59:08,991 INFO  CommonSwOperations.cs: 245 - Loading component with PID PF???:g?h*r3.1-2@3.1/5u:gl??cg-1@:g?h*r3.1
??

+2026-01-20 21:59:08,991 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\AAAAA\���ת�Ӱ�.SLDPRT
+2026-01-20 21:59:08,991 INFO  CommonSwOperations.cs: 230 - Loaded 52 components for link Link6
+2026-01-20 21:59:09,079 INFO  SwAddin.cs: 344 - Showing property manager
+2026-01-20 21:59:26,932 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-01-20 21:59:30,626 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-01-20 21:59:53,554 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-01-20 21:59:59,274 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-01-20 22:00:04,914 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-01-20 22:00:07,234 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-01-20 22:00:12,361 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-01-20 22:00:13,961 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-01-20 22:00:20,386 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-01-20 22:00:22,818 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-01-20 22:00:36,025 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-01-20 22:00:38,340 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-01-20 22:00:41,648 INFO  ExportPropertyManager.cs: 422 - Configuration saved
+2026-01-20 22:00:41,656 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
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+2026-01-20 22:00:41,898 INFO  ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-01-20 22:00:52,543 INFO  ExportHelperExtension.cs: 347 - Creating joint Link1
+2026-01-20 22:00:54,063 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child Link1 failed
+2026-01-20 22:00:58,436 INFO  ExportHelperExtension.cs: 347 - Creating joint Link2
+2026-01-20 22:00:58,553 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link1 to child Link2 failed
+2026-01-20 22:00:59,173 INFO  ExportHelperExtension.cs: 347 - Creating joint Link3
+2026-01-20 22:00:59,285 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link2 to child Link3 failed
+2026-01-20 22:01:04,399 INFO  ExportHelperExtension.cs: 347 - Creating joint Link4
+2026-01-20 22:01:04,509 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link3 to child Link4 failed
+2026-01-20 22:01:09,572 INFO  ExportHelperExtension.cs: 347 - Creating joint Link5
+2026-01-20 22:01:09,678 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link4 to child Link5 failed
+2026-01-20 22:01:14,526 INFO  ExportHelperExtension.cs: 347 - Creating joint Link6
+2026-01-20 22:01:14,637 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent Link5 to child Link6 failed
+2026-01-20 22:01:16,298 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1.SLDASM
+2026-01-20 22:01:16,301 INFO  ExportHelperExtension.cs: 1136 - Found 92 in 3.1.SLDASM
+2026-01-20 22:01:16,303 INFO  ExportHelperExtension.cs: 1145 - Found 8 features of type [CoordSys] in 3.1.SLDASM
+2026-01-20 22:01:16,303 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-01-20 22:01:16,304 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-01-20 22:01:16,304 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ���ű�-1
+2026-01-20 22:01:16,305 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-01-20 22:01:16,305 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ���ű�-1
+2026-01-20 22:01:16,305 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��еצ3.1-2
+2026-01-20 22:01:16,305 INFO  ExportHelperExtension.cs: 1136 - Found 280 in ��еצ3.1-2
+2026-01-20 22:01:16,307 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��еצ3.1-2
+2026-01-20 22:01:16,307 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�������Ԫ-1
+2026-01-20 22:01:16,307 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-01-20 22:01:16,307 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�������Ԫ-1
+2026-01-20 22:01:16,308 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ��Yģ��-2
+2026-01-20 22:01:16,308 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-01-20 22:01:16,308 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ��Yģ��-2
+2026-01-20 22:01:16,309 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ�ű�������Ԫ-1
+2026-01-20 22:01:16,310 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-01-20 22:01:16,311 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ�ű�������Ԫ-1
+2026-01-20 22:01:16,311 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���ű�����-1
+2026-01-20 22:01:16,311 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-01-20 22:01:16,312 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���ű�����-1
+2026-01-20 22:01:16,313 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-���űۻ�ת��-1
+2026-01-20 22:01:16,313 INFO  ExportHelperExtension.cs: 1136 - Found 456 in 3.1-���űۻ�ת��-1
+2026-01-20 22:01:16,315 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-���űۻ�ת��-1
+2026-01-20 22:01:16,315 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ�ű�-1
+2026-01-20 22:01:16,316 INFO  ExportHelperExtension.cs: 1136 - Found 308 in 3.1-һ�ű�-1
+2026-01-20 22:01:16,317 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ�ű�-1
+2026-01-20 22:01:16,317 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1.SLDASM
+2026-01-20 22:01:16,317 INFO  ExportHelperExtension.cs: 1136 - Found 92 in 3.1.SLDASM
+2026-01-20 22:01:16,317 INFO  ExportHelperExtension.cs: 1145 - Found 10 features of type [RefAxis] in 3.1.SLDASM
+2026-01-20 22:01:16,317 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-01-20 22:01:16,317 INFO  ExportHelperExtension.cs: 1160 - 8 components to check
+2026-01-20 22:01:16,317 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ���ű�-1
+2026-01-20 22:01:16,318 INFO  ExportHelperExtension.cs: 1136 - Found 43 in ���ű�-1
+2026-01-20 22:01:16,318 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ���ű�-1
+2026-01-20 22:01:16,318 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��еצ3.1-2
+2026-01-20 22:01:16,318 INFO  ExportHelperExtension.cs: 1136 - Found 280 in ��еצ3.1-2
+2026-01-20 22:01:16,319 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��еצ3.1-2
+2026-01-20 22:01:16,319 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�������Ԫ-1
+2026-01-20 22:01:16,320 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-���ű�������Ԫ-1
+2026-01-20 22:01:16,320 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�������Ԫ-1
+2026-01-20 22:01:16,320 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ��Yģ��-2
+2026-01-20 22:01:16,321 INFO  ExportHelperExtension.cs: 1136 - Found 68 in ��Yģ��-2
+2026-01-20 22:01:16,321 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ��Yģ��-2
+2026-01-20 22:01:16,321 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ�ű�������Ԫ-1
+2026-01-20 22:01:16,322 INFO  ExportHelperExtension.cs: 1136 - Found 346 in һ�ű�������Ԫ-1
+2026-01-20 22:01:16,324 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ�ű�������Ԫ-1
+2026-01-20 22:01:16,324 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���ű�����-1
+2026-01-20 22:01:16,324 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-���ű�����-1
+2026-01-20 22:01:16,329 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���ű�����-1
+2026-01-20 22:01:16,329 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-���űۻ�ת��-1
+2026-01-20 22:01:16,342 INFO  ExportHelperExtension.cs: 1136 - Found 456 in 3.1-���űۻ�ת��-1
+2026-01-20 22:01:16,344 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-���űۻ�ת��-1
+2026-01-20 22:01:16,344 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ�ű�-1
+2026-01-20 22:01:16,344 INFO  ExportHelperExtension.cs: 1136 - Found 308 in 3.1-һ�ű�-1
+2026-01-20 22:01:16,345 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ�ű�-1
+2026-01-20 22:07:07,229 INFO  AssemblyExportForm.cs: 253 - Completing URDF export
+2026-01-20 22:07:07,244 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
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z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
+2026-01-20 22:07:57,124 INFO  AssemblyExportForm.cs: 309 - Saving URDF package to D:\app\URDF\newURDF
+2026-01-20 22:07:57,127 INFO  ExportHelper.cs: 147 - Beginning the export process
+2026-01-20 22:07:57,128 INFO  ExportHelper.cs: 153 - Creating package directories with name newURDF and save path D:\app\URDF
+2026-01-20 22:08:01,531 INFO  ExportHelper.cs: 162 - Creating CMakeLists.txt at D:\app\URDF\newURDF\CMakeLists.txt
+2026-01-20 22:08:01,532 INFO  ExportHelper.cs: 166 - Creating joint names config at D:\app\URDF\newURDF\config\joint_names_newURDF.yaml
+2026-01-20 22:08:01,533 INFO  ExportHelper.cs: 170 - Creating package.xml at D:\app\URDF\newURDF\package.xml
+2026-01-20 22:08:01,534 INFO  PackageXMLWriter.cs: 21 - Creating package.xml at D:\app\URDF\newURDF\package.xml
+2026-01-20 22:08:01,537 INFO  ExportHelper.cs: 177 - Creating RVIZ launch file in D:\app\URDF\newURDF\launch\
+2026-01-20 22:08:01,540 INFO  ExportHelper.cs: 182 - Creating Gazebo launch file in D:\app\URDF\newURDF\launch\
+2026-01-20 22:08:01,541 INFO  ExportHelper.cs: 187 - Saving existing STL preferences
+2026-01-20 22:08:01,541 INFO  ExportHelper.cs: 450 - Saving users preferences
+2026-01-20 22:08:01,541 INFO  ExportHelper.cs: 190 - Modifying STL preferences
+2026-01-20 22:08:01,542 INFO  ExportHelper.cs: 464 - Setting STL preferences
+2026-01-20 22:08:01,552 INFO  ExportHelper.cs: 196 - Found 3 hidden components 3.1-���ű�������Ԫ-1/dm-j10010l-240726.STEP-1/ZHUTI_D��faut.STEP-1, 3.1-���űۻ�ת��-1/���ű�P����λ����Ϲ̶���-1, 3.1-һ�ű�-1/��������05b19-1
+2026-01-20 22:08:01,553 INFO  ExportHelper.cs: 197 - Hiding all components
+2026-01-20 22:08:02,104 INFO  ExportHelper.cs: 204 - Beginning individual files export
+2026-01-20 22:08:02,107 INFO  ExportHelper.cs: 270 - Exporting link: base_link
+2026-01-20 22:08:02,108 INFO  ExportHelper.cs: 272 - Link base_link has 1 children
+2026-01-20 22:08:02,109 INFO  ExportHelper.cs: 270 - Exporting link: Link1
+2026-01-20 22:08:02,109 INFO  ExportHelper.cs: 272 - Link Link1 has 1 children
+2026-01-20 22:08:02,109 INFO  ExportHelper.cs: 270 - Exporting link: Link2
+2026-01-20 22:08:02,110 INFO  ExportHelper.cs: 272 - Link Link2 has 1 children
+2026-01-20 22:08:02,110 INFO  ExportHelper.cs: 270 - Exporting link: Link3
+2026-01-20 22:08:02,110 INFO  ExportHelper.cs: 272 - Link Link3 has 1 children
+2026-01-20 22:08:02,112 INFO  ExportHelper.cs: 270 - Exporting link: Link4
+2026-01-20 22:08:02,112 INFO  ExportHelper.cs: 272 - Link Link4 has 1 children
+2026-01-20 22:08:02,112 INFO  ExportHelper.cs: 270 - Exporting link: Link5
+2026-01-20 22:08:02,113 INFO  ExportHelper.cs: 272 - Link Link5 has 1 children
+2026-01-20 22:08:02,113 INFO  ExportHelper.cs: 270 - Exporting link: Link6
+2026-01-20 22:08:02,113 INFO  ExportHelper.cs: 272 - Link Link6 has 0 children
+2026-01-20 22:08:02,113 INFO  ExportHelper.cs: 317 - Link6: Exporting STL with coordinate frame ����ϵ6
+2026-01-20 22:08:02,114 INFO  ExportHelper.cs: 322 - Link6: Reference geometry name 
+2026-01-20 22:08:02,986 INFO  ExportHelper.cs: 330 - Saving STL to D:\app\URDF\newURDF\meshes\Link6.STL
+2026-01-20 22:08:05,810 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-01-20 22:08:05,811 INFO  ExportHelper.cs: 317 - Link5: Exporting STL with coordinate frame ����ϵ5
+2026-01-20 22:08:05,811 INFO  ExportHelper.cs: 322 - Link5: Reference geometry name 
+2026-01-20 22:08:06,104 INFO  ExportHelper.cs: 330 - Saving STL to D:\app\URDF\newURDF\meshes\Link5.STL
+2026-01-20 22:08:09,229 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-01-20 22:08:09,230 INFO  ExportHelper.cs: 317 - Link4: Exporting STL with coordinate frame ����ϵ4
+2026-01-20 22:08:09,230 INFO  ExportHelper.cs: 322 - Link4: Reference geometry name 
+2026-01-20 22:08:09,797 INFO  ExportHelper.cs: 330 - Saving STL to D:\app\URDF\newURDF\meshes\Link4.STL
+2026-01-20 22:08:13,798 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-01-20 22:08:13,798 INFO  ExportHelper.cs: 317 - Link3: Exporting STL with coordinate frame ����ϵ3
+2026-01-20 22:08:13,799 INFO  ExportHelper.cs: 322 - Link3: Reference geometry name 
+2026-01-20 22:08:14,133 INFO  ExportHelper.cs: 330 - Saving STL to D:\app\URDF\newURDF\meshes\Link3.STL
+2026-01-20 22:08:17,692 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-01-20 22:08:17,692 INFO  ExportHelper.cs: 317 - Link2: Exporting STL with coordinate frame ����ϵ2
+2026-01-20 22:08:17,693 INFO  ExportHelper.cs: 322 - Link2: Reference geometry name 
+2026-01-20 22:08:18,114 INFO  ExportHelper.cs: 330 - Saving STL to D:\app\URDF\newURDF\meshes\Link2.STL
+2026-01-20 22:08:18,995 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-01-20 22:08:19,001 INFO  ExportHelper.cs: 317 - Link1: Exporting STL with coordinate frame ����ϵbase
+2026-01-20 22:08:19,001 INFO  ExportHelper.cs: 322 - Link1: Reference geometry name 
+2026-01-20 22:08:19,085 INFO  ExportHelper.cs: 330 - Saving STL to D:\app\URDF\newURDF\meshes\Link1.STL
+2026-01-20 22:08:24,309 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-01-20 22:08:24,310 INFO  ExportHelper.cs: 317 - base_link: Exporting STL with coordinate frame Origin_global
+2026-01-20 22:08:24,310 INFO  ExportHelper.cs: 322 - base_link: Reference geometry name 
+2026-01-20 22:08:24,362 INFO  ExportHelper.cs: 330 - Saving STL to D:\app\URDF\newURDF\meshes\base_link.STL
+2026-01-20 22:08:26,330 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
+2026-01-20 22:08:26,331 INFO  ExportHelper.cs: 145 - Showing all components except previously hidden components
+2026-01-20 22:08:38,703 INFO  ExportHelper.cs: 145 - Resetting STL preferences
+2026-01-20 22:08:38,704 INFO  ExportHelper.cs: 478 - Returning STL preferences to user preferences
+2026-01-20 22:08:38,704 INFO  ExportHelper.cs: 228 - Writing URDF file to D:\app\URDF\newURDF\urdf\newURDF.urdf
+2026-01-20 22:08:38,959 INFO  CSVImportExport.cs: 32 - Writing CSV file D:\app\URDF\newURDF\urdf\newURDF.csv
+2026-01-20 22:08:38,981 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-01-20 22:08:38,982 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-01-20 22:08:38,982 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-01-20 22:08:38,982 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-01-20 22:08:38,983 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-01-20 22:08:38,983 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-01-20 22:08:38,983 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-01-20 22:08:38,983 INFO  ExportHelper.cs: 234 - Copying log file
+2026-01-20 22:08:38,986 INFO  ExportHelper.cs: 439 - Copying C:\Users\ASUS\sw2urdf_logs\sw2urdf.log to D:\app\URDF\newURDF\export.log
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/launch/display.launch b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/launch/display.launch
new file mode 100644
index 0000000..060f47b
--- /dev/null
+++ b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/launch/display.launch
@@ -0,0 +1,20 @@
+<launch>
+  <arg
+    name="model" />
+  <param
+    name="robot_description"
+    textfile="$(find newURDF)/urdf/newURDF.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 $(find newURDF)/urdf.rviz" />
+</launch>
\ No newline at end of file
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/launch/gazebo.launch b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/launch/gazebo.launch
new file mode 100644
index 0000000..4f10aef
--- /dev/null
+++ b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/launch/gazebo.launch
@@ -0,0 +1,20 @@
+<launch>
+  <include
+    file="$(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 newURDF)/urdf/newURDF.urdf -urdf -model newURDF"
+    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/newURDF/meshes/Link1.STL b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/meshes/Link1.STL
new file mode 100644
index 0000000..be18eaf
Binary files /dev/null and b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/meshes/Link1.STL differ
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/meshes/Link2.STL b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/meshes/Link2.STL
new file mode 100644
index 0000000..b356949
Binary files /dev/null and b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/meshes/Link2.STL differ
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/meshes/Link3.STL b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/meshes/Link3.STL
new file mode 100644
index 0000000..d742172
Binary files /dev/null and b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/meshes/Link3.STL differ
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/meshes/Link4.STL b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/meshes/Link4.STL
new file mode 100644
index 0000000..889d050
Binary files /dev/null and b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/meshes/Link4.STL differ
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/meshes/Link5.STL b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/meshes/Link5.STL
new file mode 100644
index 0000000..4e24789
Binary files /dev/null and b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/meshes/Link5.STL differ
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/meshes/Link6.STL b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/meshes/Link6.STL
new file mode 100644
index 0000000..6ff935b
Binary files /dev/null and b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/meshes/Link6.STL differ
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/meshes/base_link.STL b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/meshes/base_link.STL
new file mode 100644
index 0000000..21a1b6f
Binary files /dev/null and b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/meshes/base_link.STL differ
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/package.xml b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/package.xml
new file mode 100644
index 0000000..2ad30cc
--- /dev/null
+++ b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/package.xml
@@ -0,0 +1,21 @@
+<package format="2">
+  <name>newURDF</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for newURDF</p>
+    <p>This package contains configuration data, 3D models and launch files
+for newURDF 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/newURDF/urdf/newURDF.csv b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/urdf/newURDF.csv
new file mode 100644
index 0000000..6a1fec1
--- /dev/null
+++ b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/urdf/newURDF.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,0.097666,-1.0602,0.016983,0,0,0,1.0623,0.00202,7.846E-08,-1.6521E-08,0.0031488,-1.0021E-07,0.0051396,0,0,0,0,0,0,package://newURDF/meshes/base_link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://newURDF/meshes/base_link.STL,,大Y模块-2,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+Link1,0.0070301,-0.00030378,0.044333,0,0,0,2.3117,0.0035548,1.4877E-06,3.269E-05,0.0024594,1.066E-06,0.0036305,0,0,0,0,0,0,package://newURDF/meshes/Link1.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://newURDF/meshes/Link1.STL,,一号臂驱动单元-1;3.1-二号臂驱动单元-1,坐标系base,基准轴base,j1,revolute,0.18701,-1.0602,0.042134,0,0,1.5708,base_link,0,0,1,60,3.14,-15.7,15.7,,,,,,,,
+Link2,-9.2767E-06,-0.27664,0.019763,0,0,0,0.9007,0.0057226,-1.0789E-05,-6.9854E-13,0.00032946,-2.0483E-16,0.0060392,0,0,0,0,0,0,package://newURDF/meshes/Link2.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://newURDF/meshes/Link2.STL,,3.1-一号臂-1,坐标系2,基准轴URDF2,j2,revolute,-0.0208,0,0.085,-1.5708,0,-1.5708,Link1,0,0,1,60,3.14,-1.57,1.57,,,,,,,,
+Link3,0.0016734,-0.086963,-0.059109,0,0,0,0.72964,0.00040609,-1.1866E-05,8.3967E-07,0.00028636,4.7151E-08,0.00030158,0,0,0,0,0,0,package://newURDF/meshes/Link3.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://newURDF/meshes/Link3.STL,,3.1-二号臂主臂-1,坐标系3,基准轴URDF3,j3,revolute,0,-0.404,0.0563,0,0,-1.5708,Link2,0,0,1,3,3.14,0,3,,,,,,,,
+Link4,4.9724306803875E-05,-0.00207071321291896,0.143599808817138,0,0,0,0.60214796640085,0.000525809010016783,1.23868002227642E-08,-1.24134280805566E-08,0.000546950540891618,1.12515113310339E-06,0.000149799542930966,0,0,0,0,0,0,package://newURDF/meshes/Link4.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://newURDF/meshes/Link4.STL,,3.1-二号臂回转臂-1,坐标系4,基准轴URDF4,j4,revolute,0.047775,-0.0905,-0.0355,-1.5708,0,-1.5708,Link3,0,0,1,3,3.14,-12.56,12.56,,,,,,,,
+Link5,-1.00614222916379E-05,0.0581666861440572,-0.0240267717595721,0,0,0,0.218165546730634,8.12333089853061E-05,1.14300936029607E-08,-1.13719114058548E-08,8.12745528093048E-05,-5.01183167153332E-07,8.39758674297567E-05,0,0,0,0,0,0,package://newURDF/meshes/Link5.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://newURDF/meshes/Link5.STL,,三号臂-1/三号臂Y电机安装板-1;三号臂-1/三号臂Y电机固定板-1;三号臂-1/三号臂Y电机侧加固板-2;三号臂-1/三号臂P轴轴承内固定上板-1;三号臂-1/三号臂Y电机侧加固板-1;三号臂-1/4310 减速机-rau 3505 3d-20250718.stp-1/4310_-RAU_3505_3D_0001.stp-1/4310_-RAU_3505_3D0001.stp-1;三号臂-1/4310 减速机-rau 3505 3d-20250718.stp-1/4310_-RAU_3505_3D_0001.stp-1/4310__VER_B0001.stp-1;三号臂-1/4310 减速机-rau 3505 3d-20250718.stp-1/4310_-RAU_3505_3D_0001.stp-1/G43_V1_1_220606A.stp-1,坐标系5,基准轴URDF5,j5,revolute,0,0.023,0.241,1.5708,0,3.1416,Link4,0,0,1,3,3.14,-1.75,1.75,,,,,,,,
+Link6,2.13317252848316E-05,0.000538972898537438,0.0999352955724812,0,0,0,0.575128999928036,0.00025728868876434,-1.85839768859793E-06,1.14575058864561E-07,0.000169254451988166,5.60715028730914E-08,0.000243919065707014,0,0,0,0,0,0,package://newURDF/meshes/Link6.STL,0.749019607843137,0.749019607843137,0.749019607843137,1,0,0,0,0,0,0,package://newURDF/meshes/Link6.STL,,机械爪3.1-2/C620电调_标件_01-1;机械爪3.1-2/夹爪固定板-1;机械爪3.1-2/滑轨外限位-2;机械爪3.1-2/夹爪固定板-2;机械爪3.1-2/6-6-40M3-6;机械爪3.1-2/滑轨外限位-1;机械爪3.1-2/爪侧盖板-2;机械爪3.1-2/爪侧盖板-1;机械爪3.1-2/6-6-40M3-5;机械爪3.1-2/6-6-21M3-11;机械爪3.1-2/6-6-21M3-10;机械爪3.1-2/承载翼板-4;机械爪3.1-2/6-6-40M3-4;机械爪3.1-2/6-6-21M3-9;机械爪3.1-2/6-6-40M3-3;机械爪3.1-2/6-6-40M3-2;机械爪3.1-2/6-6-40M3-1;机械爪3.1-2/承载翼板-3;机械爪3.1-2/承载翼板-2;机械爪3.1-2/6-6-21M3-12;机械爪3.1-2/6-6-21M3-8;机械爪3.1-2/6-6-21M3-6;机械爪3.1-2/6-6-21M3-5;机械爪3.1-2/6-6-21M3-4;机械爪3.1-2/6-6-21M3-3;机械爪3.1-2/从动杆-3;机械爪3.1-2/滑轨内限位-1;机械爪3.1-2/驱动杆盖板-1;机械爪3.1-2/爪盖板-4;机械爪3.1-2/6-6-21M3-2;机械爪3.1-2/承载翼板-1;机械爪3.1-2/6-6-21M3-7;机械爪3.1-2/6-6-21M3-1;机械爪3.1-2/爪盖板-3;机械爪3.1-2/驱动杆下-1;机械爪3.1-2/爪固定块上-2;机械爪3.1-2/爪固定块下-2;机械爪3.1-2/滑块MGN9C-3;机械爪3.1-2/爪固定块上-1;机械爪3.1-2/柔性爪-1;机械爪3.1-2/滑块MGN9C-2;机械爪3.1-2/爪连接块-1;机械爪3.1-2/柔性爪-2;机械爪3.1-2/爪固定块下-1;机械爪3.1-2/从动杆-2;机械爪3.1-2/驱动杆上-1;机械爪3.1-2/爪连接块-2;机械爪3.1-2/线轨MGN9-1;机械爪3.1-2/3508电机-1;机械爪3.1-2/承载板-1;机械爪3.1-2/线轨MGN9-2;机械爪3.1-2/电机转接板-1,坐标系6,基准轴URDF6,j6,revolute,1.4024E-05,0.1065,-0.022997,1.5708,0,3.1416,Link5,0,0,1,3,3.14,-12.56,12.56,,,,,,,,
diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/urdf/newURDF.urdf b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/urdf/newURDF.urdf
new file mode 100644
index 0000000..31a9553
--- /dev/null
+++ b/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/urdf/newURDF.urdf
@@ -0,0 +1,395 @@
+<?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="newURDF">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.097666 -1.0602 0.016983"
+        rpy="0 0 0" />
+      <mass
+        value="1.0623" />
+      <inertia
+        ixx="0.00202"
+        ixy="7.846E-08"
+        ixz="-1.6521E-08"
+        iyy="0.0031488"
+        iyz="-1.0021E-07"
+        izz="0.0051396" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://newURDF/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://newURDF/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="Link1">
+    <inertial>
+      <origin
+        xyz="0.0070301 -0.00030378 0.044333"
+        rpy="0 0 0" />
+      <mass
+        value="2.3117" />
+      <inertia
+        ixx="0.0035548"
+        ixy="1.4877E-06"
+        ixz="3.269E-05"
+        iyy="0.0024594"
+        iyz="1.066E-06"
+        izz="0.0036305" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://newURDF/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://newURDF/meshes/Link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="j1"
+    type="revolute">
+    <origin
+      xyz="0.18701 -1.0602 0.042134"
+      rpy="0 0 1.5708" />
+    <parent
+      link="base_link" />
+    <child
+      link="Link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-15.7"
+      upper="15.7"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="Link2">
+    <inertial>
+      <origin
+        xyz="-9.2767E-06 -0.27664 0.019763"
+        rpy="0 0 0" />
+      <mass
+        value="0.9007" />
+      <inertia
+        ixx="0.0057226"
+        ixy="-1.0789E-05"
+        ixz="-6.9854E-13"
+        iyy="0.00032946"
+        iyz="-2.0483E-16"
+        izz="0.0060392" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://newURDF/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://newURDF/meshes/Link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="j2"
+    type="revolute">
+    <origin
+      xyz="-0.0208 0 0.085"
+      rpy="-1.5708 0 -1.5708" />
+    <parent
+      link="Link1" />
+    <child
+      link="Link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="Link3">
+    <inertial>
+      <origin
+        xyz="0.0016734 -0.086963 -0.059109"
+        rpy="0 0 0" />
+      <mass
+        value="0.72964" />
+      <inertia
+        ixx="0.00040609"
+        ixy="-1.1866E-05"
+        ixz="8.3967E-07"
+        iyy="0.00028636"
+        iyz="4.7151E-08"
+        izz="0.00030158" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://newURDF/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://newURDF/meshes/Link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="j3"
+    type="revolute">
+    <origin
+      xyz="0 -0.404 0.0563"
+      rpy="0 0 -1.5708" />
+    <parent
+      link="Link2" />
+    <child
+      link="Link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3"
+      effort="3"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="Link4">
+    <inertial>
+      <origin
+        xyz="4.9724306803875E-05 -0.00207071321291896 0.143599808817138"
+        rpy="0 0 0" />
+      <mass
+        value="0.60214796640085" />
+      <inertia
+        ixx="0.000525809010016783"
+        ixy="1.23868002227642E-08"
+        ixz="-1.24134280805566E-08"
+        iyy="0.000546950540891618"
+        iyz="1.12515113310339E-06"
+        izz="0.000149799542930966" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://newURDF/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://newURDF/meshes/Link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="j4"
+    type="revolute">
+    <origin
+      xyz="0.047775 -0.0905 -0.0355"
+      rpy="-1.5708 0 -1.5708" />
+    <parent
+      link="Link3" />
+    <child
+      link="Link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="6.3"
+      effort="3"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="Link5">
+    <inertial>
+      <origin
+        xyz="-1.00614222916379E-05 0.0581666861440572 -0.0240267717595721"
+        rpy="0 0 0" />
+      <mass
+        value="0.218165546730634" />
+      <inertia
+        ixx="8.12333089853061E-05"
+        ixy="1.14300936029607E-08"
+        ixz="-1.13719114058548E-08"
+        iyy="8.12745528093048E-05"
+        iyz="-5.01183167153332E-07"
+        izz="8.39758674297567E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://newURDF/meshes/Link5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://newURDF/meshes/Link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="j5"
+    type="revolute">
+    <origin
+      xyz="0 0.023 0.241"
+      rpy="1.5708 0 3.1416" />
+    <parent
+      link="Link4" />
+    <child
+      link="Link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.75"
+      upper="1.75"
+      effort="3"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="Link6">
+    <inertial>
+      <origin
+        xyz="2.13317252848316E-05 0.000538972898537438 0.0999352955724812"
+        rpy="0 0 0" />
+      <mass
+        value="0.575128999928036" />
+      <inertia
+        ixx="0.00025728868876434"
+        ixy="-1.85839768859793E-06"
+        ixz="1.14575058864561E-07"
+        iyy="0.000169254451988166"
+        iyz="5.60715028730914E-08"
+        izz="0.000243919065707014" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://newURDF/meshes/Link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.749019607843137 0.749019607843137 0.749019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://newURDF/meshes/Link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="j6"
+    type="revolute">
+    <origin
+      xyz="1.4024E-05 0.1065 -0.022997"
+      rpy="1.5708 0 3.1416" />
+    <parent
+      link="Link5" />
+    <child
+      link="Link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="6.3"
+      effort="3"
+      velocity="3.14" />
+  </joint>
+</robot>
\ No newline at end of file