2026-03-15 13:58:46,076 INFO  Logger.cs: 70 - 
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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
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i:type="Mass"><Attributes><Attribute z:Id="i477"><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="i477"/></URDFElement><URDFElement z:Id="i478" i:type="Inertia"><Attributes><Attribute z:Id="i479"><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="i480"><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="i481"><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="i482"><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="i483"><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="i484"><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="i479"/><IxyAttribute z:Ref="i480"/><IxzAttribute z:Ref="i481"/><IyyAttribute z:Ref="i482"/><IyzAttribute z:Ref="i483"/><IzzAttribute z:Ref="i484"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i478"/><Mass z:Ref="i476"/><Origin z:Ref="i473"/></URDFElement><URDFElement z:Id="i485" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i486" i:type="Origin"><Attributes><Attribute z:Id="i487"><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="i488"><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="i488"/><XYZAttribute z:Ref="i487"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i489" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i490" i:type="Mesh"><Attributes><Attribute z:Id="i491"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i491"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i490"/></URDFElement><URDFElement z:Id="i492" i:type="Material"><Attributes><Attribute z:Id="i493"><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="i494" i:type="Color"><Attributes><Attribute z:Id="i495"><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="i495"/></URDFElement><URDFElement z:Id="i496" i:type="Texture"><Attributes><Attribute z:Id="i497"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i497"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i494"/><NameAttribute z:Ref="i493"/><Texture z:Ref="i496"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i489"/><Material z:Ref="i492"/><Origin z:Ref="i486"/></URDFElement><URDFElement z:Id="i498" 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 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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 14:00:37,053 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\大Y模块.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\一号臂驱动单元.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\3.1-二号臂驱动单元.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\3.1-一号臂.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\3.1-二号臂主臂.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\3.1-二号臂回转臂.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\三号臂.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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z:Id="i491"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i491"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i490"/></URDFElement><URDFElement z:Id="i492" i:type="Material"><Attributes><Attribute z:Id="i493"><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="i494" i:type="Color"><Attributes><Attribute z:Id="i495"><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="i495"/></URDFElement><URDFElement z:Id="i496" i:type="Texture"><Attributes><Attribute z:Id="i497"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i497"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i494"/><NameAttribute z:Ref="i493"/><Texture z:Ref="i496"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i489"/><Material z:Ref="i492"/><Origin z:Ref="i486"/></URDFElement><URDFElement z:Id="i498" 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 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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 大Y模块-2
2026-03-15 14:01:50,230 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 14:01:50,230 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 大Y模块-2
2026-03-15 14:01:50,231 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 一号臂驱动单元-1
2026-03-15 14:01:50,231 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 14:01:50,232 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 一号臂驱动单元-1
2026-03-15 14:01:50,233 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 三号臂-1
2026-03-15 14:01:50,233 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 14:01:50,233 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 三号臂-1
2026-03-15 14:01:50,233 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 机械爪3.1-2
2026-03-15 14:01:50,235 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 14:01:50,236 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 机械爪3.1-2
2026-03-15 14:01:50,242 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-一号臂-1
2026-03-15 14:01:50,294 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 14:01:50,296 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-一号臂-1
2026-03-15 14:01:50,296 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂主臂-1
2026-03-15 14:01:50,296 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 14:01:50,298 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂主臂-1
2026-03-15 14:01:50,298 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂回转臂-1
2026-03-15 14:01:50,299 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 14:01:50,300 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂回转臂-1
2026-03-15 14:01:50,300 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂驱动单元-1
2026-03-15 14:01:50,300 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 14:01:50,301 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂驱动单元-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 大Y模块-2
2026-03-15 14:01:50,303 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 14:01:50,303 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 大Y模块-2
2026-03-15 14:01:50,303 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 一号臂驱动单元-1
2026-03-15 14:01:50,304 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 14:01:50,305 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 一号臂驱动单元-1
2026-03-15 14:01:50,305 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 三号臂-1
2026-03-15 14:01:50,305 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 14:01:50,306 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 三号臂-1
2026-03-15 14:01:50,306 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 机械爪3.1-2
2026-03-15 14:01:50,306 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 14:01:50,308 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 机械爪3.1-2
2026-03-15 14:01:50,308 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-一号臂-1
2026-03-15 14:01:50,308 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 14:01:50,309 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-一号臂-1
2026-03-15 14:01:50,309 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂主臂-1
2026-03-15 14:01:50,310 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 14:01:50,310 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂主臂-1
2026-03-15 14:01:50,311 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂回转臂-1
2026-03-15 14:01:50,311 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 14:01:50,312 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂回转臂-1
2026-03-15 14:01:50,312 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂驱动单元-1
2026-03-15 14:01:50,312 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 14:01:50,313 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂驱动单元-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 大Y模块-2
2026-03-15 15:34:44,691 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 15:34:44,692 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 大Y模块-2
2026-03-15 15:34:44,692 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 一号臂驱动单元-1
2026-03-15 15:34:44,693 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 15:34:44,694 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 一号臂驱动单元-1
2026-03-15 15:34:44,694 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 三号臂-1
2026-03-15 15:34:44,695 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 15:34:44,695 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 三号臂-1
2026-03-15 15:34:44,695 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 机械爪3.1-2
2026-03-15 15:34:44,696 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 15:34:44,697 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 机械爪3.1-2
2026-03-15 15:34:44,697 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-一号臂-1
2026-03-15 15:34:44,698 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 15:34:44,699 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-一号臂-1
2026-03-15 15:34:44,699 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂主臂-1
2026-03-15 15:34:44,700 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 15:34:44,701 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂主臂-1
2026-03-15 15:34:44,702 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂回转臂-1
2026-03-15 15:34:44,703 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 15:34:44,703 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂回转臂-1
2026-03-15 15:34:44,705 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂驱动单元-1
2026-03-15 15:34:44,705 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 15:34:44,705 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂驱动单元-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 大Y模块-2
2026-03-15 15:34:44,708 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 15:34:44,708 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 大Y模块-2
2026-03-15 15:34:44,709 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 一号臂驱动单元-1
2026-03-15 15:34:44,709 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 15:34:44,710 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 一号臂驱动单元-1
2026-03-15 15:34:44,710 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 三号臂-1
2026-03-15 15:34:44,710 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 15:34:44,710 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 三号臂-1
2026-03-15 15:34:44,710 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 机械爪3.1-2
2026-03-15 15:34:44,712 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 15:34:44,712 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 机械爪3.1-2
2026-03-15 15:34:44,713 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-一号臂-1
2026-03-15 15:34:44,713 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 15:34:44,714 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-一号臂-1
2026-03-15 15:34:44,714 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂主臂-1
2026-03-15 15:34:44,714 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 15:34:44,715 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂主臂-1
2026-03-15 15:34:44,715 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂回转臂-1
2026-03-15 15:34:44,717 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 15:34:44,717 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂回转臂-1
2026-03-15 15:34:44,718 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂驱动单元-1
2026-03-15 15:34:44,718 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 15:34:44,718 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂驱动单元-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 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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" 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="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" 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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" 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>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 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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 15:34:45,320 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

$
2026-03-15 15:34:45,324 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\大Y模块.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

?
2026-03-15 15:34:45,326 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\一号臂驱动单元.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

L
2026-03-15 15:34:45,326 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-二号臂驱动单元.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\3.1-一号臂.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\3.1-二号臂主臂.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\3.1-二号臂回转臂.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

a
2026-03-15 15:34:45,331 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\三号臂.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

?
2026-03-15 15:34:45,332 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\机械爪3.0\机械爪3.1.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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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 15:37:40,600 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 大Y模块-2
2026-03-15 15:38:02,725 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 15:38:02,725 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 大Y模块-2
2026-03-15 15:38:02,725 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 一号臂驱动单元-1
2026-03-15 15:38:02,727 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 15:38:02,728 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 一号臂驱动单元-1
2026-03-15 15:38:02,729 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 三号臂-1
2026-03-15 15:38:02,729 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 15:38:02,730 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 三号臂-1
2026-03-15 15:38:02,730 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 机械爪3.1-2
2026-03-15 15:38:02,731 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 15:38:02,732 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 机械爪3.1-2
2026-03-15 15:38:02,732 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-一号臂-1
2026-03-15 15:38:02,734 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 15:38:02,735 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-一号臂-1
2026-03-15 15:38:02,735 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂主臂-1
2026-03-15 15:38:02,738 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 15:38:02,739 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂主臂-1
2026-03-15 15:38:02,744 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂回转臂-1
2026-03-15 15:38:02,854 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 15:38:02,856 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂回转臂-1
2026-03-15 15:38:02,857 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂驱动单元-1
2026-03-15 15:38:02,858 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 15:38:02,859 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂驱动单元-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 大Y模块-2
2026-03-15 15:38:02,861 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 15:38:02,862 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 大Y模块-2
2026-03-15 15:38:02,862 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 一号臂驱动单元-1
2026-03-15 15:38:02,863 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 15:38:02,864 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 一号臂驱动单元-1
2026-03-15 15:38:02,864 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 三号臂-1
2026-03-15 15:38:02,865 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 15:38:02,865 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 三号臂-1
2026-03-15 15:38:02,866 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 机械爪3.1-2
2026-03-15 15:38:02,866 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 15:38:02,867 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 机械爪3.1-2
2026-03-15 15:38:02,867 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-一号臂-1
2026-03-15 15:38:02,868 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 15:38:02,869 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-一号臂-1
2026-03-15 15:38:02,870 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂主臂-1
2026-03-15 15:38:02,871 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 15:38:02,872 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂主臂-1
2026-03-15 15:38:02,872 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂回转臂-1
2026-03-15 15:38:02,873 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 15:38:02,874 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂回转臂-1
2026-03-15 15:38:02,874 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂驱动单元-1
2026-03-15 15:38:02,875 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 15:38:02,875 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂驱动单元-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 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2026-03-15 15:43:14,915 INFO  AssemblyExportForm.cs: 309 - Saving URDF package to D:\STM32Projects_HAL\board-F4\arm\arm_model\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版2026315
2026-03-15 15:43:16,982 INFO  ExportHelper.cs: 162 - Creating CMakeLists.txt at D:\STM32Projects_HAL\board-F4\arm\arm_model\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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 坐标系6
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\机械臂URDF六坐标系不带夹爪\缩小版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 坐标系5
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\机械臂URDF六坐标系不带夹爪\缩小版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 坐标系4
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\机械臂URDF六坐标系不带夹爪\缩小版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 坐标系3
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\机械臂URDF六坐标系不带夹爪\缩小版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 坐标系2
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\机械臂URDF六坐标系不带夹爪\缩小版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 坐标系1
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\机械臂URDF六坐标系不带夹爪\缩小版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 坐标系base
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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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 大Y模块-2
2026-03-15 16:35:46,555 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 16:35:46,555 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 大Y模块-2
2026-03-15 16:35:46,556 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 一号臂驱动单元-1
2026-03-15 16:35:46,556 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 16:35:46,557 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 一号臂驱动单元-1
2026-03-15 16:35:46,557 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 三号臂-1
2026-03-15 16:35:46,557 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 16:35:46,558 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 三号臂-1
2026-03-15 16:35:46,558 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 机械爪3.1-2
2026-03-15 16:35:46,559 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 16:35:46,559 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 机械爪3.1-2
2026-03-15 16:35:46,559 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-一号臂-1
2026-03-15 16:35:46,560 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 16:35:46,561 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-一号臂-1
2026-03-15 16:35:46,561 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂主臂-1
2026-03-15 16:35:46,562 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 16:35:46,562 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂主臂-1
2026-03-15 16:35:46,564 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂回转臂-1
2026-03-15 16:35:46,565 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 16:35:46,565 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂回转臂-1
2026-03-15 16:35:46,566 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂驱动单元-1
2026-03-15 16:35:46,566 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 16:35:46,566 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂驱动单元-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 大Y模块-2
2026-03-15 16:35:46,569 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 16:35:46,569 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 大Y模块-2
2026-03-15 16:35:46,569 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 一号臂驱动单元-1
2026-03-15 16:35:46,570 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 16:35:46,570 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 一号臂驱动单元-1
2026-03-15 16:35:46,571 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 三号臂-1
2026-03-15 16:35:46,571 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 16:35:46,571 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 三号臂-1
2026-03-15 16:35:46,572 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 机械爪3.1-2
2026-03-15 16:35:46,572 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 16:35:46,572 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 机械爪3.1-2
2026-03-15 16:35:46,574 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-一号臂-1
2026-03-15 16:35:46,575 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 16:35:46,575 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-一号臂-1
2026-03-15 16:35:46,576 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂主臂-1
2026-03-15 16:35:46,576 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 16:35:46,577 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂主臂-1
2026-03-15 16:35:46,577 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂回转臂-1
2026-03-15 16:35:46,578 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 16:35:46,579 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂回转臂-1
2026-03-15 16:35:46,579 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂驱动单元-1
2026-03-15 16:35:46,580 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 16:35:46,580 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂驱动单元-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 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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" 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 16:35:47,069 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\大Y模块.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\一号臂驱动单元.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\3.1-二号臂驱动单元.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\3.1-一号臂.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\3.1-二号臂主臂.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\3.1-二号臂回转臂.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\三号臂.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\机械爪3.0\机械爪3.1.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: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 16:42:13,712 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 大Y模块-2
2026-03-15 16:42:34,006 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 16:42:34,007 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 大Y模块-2
2026-03-15 16:42:34,007 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 一号臂驱动单元-1
2026-03-15 16:42:34,009 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 16:42:34,010 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 一号臂驱动单元-1
2026-03-15 16:42:34,010 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 三号臂-1
2026-03-15 16:42:34,011 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 16:42:34,011 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 三号臂-1
2026-03-15 16:42:34,011 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 机械爪3.1-2
2026-03-15 16:42:34,012 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 16:42:34,013 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 机械爪3.1-2
2026-03-15 16:42:34,014 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-一号臂-1
2026-03-15 16:42:34,015 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 16:42:34,015 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-一号臂-1
2026-03-15 16:42:34,016 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂主臂-1
2026-03-15 16:42:34,016 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 16:42:34,019 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂主臂-1
2026-03-15 16:42:34,019 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂回转臂-1
2026-03-15 16:42:34,020 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 16:42:34,021 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂回转臂-1
2026-03-15 16:42:34,029 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂驱动单元-1
2026-03-15 16:42:34,029 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 16:42:34,030 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂驱动单元-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 大Y模块-2
2026-03-15 16:42:34,073 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 16:42:34,074 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 大Y模块-2
2026-03-15 16:42:34,074 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 一号臂驱动单元-1
2026-03-15 16:42:34,075 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 16:42:34,075 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 一号臂驱动单元-1
2026-03-15 16:42:34,076 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 三号臂-1
2026-03-15 16:42:34,076 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 16:42:34,076 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 三号臂-1
2026-03-15 16:42:34,076 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 机械爪3.1-2
2026-03-15 16:42:34,078 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 16:42:34,078 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 机械爪3.1-2
2026-03-15 16:42:34,079 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-一号臂-1
2026-03-15 16:42:34,079 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 16:42:34,080 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-一号臂-1
2026-03-15 16:42:34,080 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂主臂-1
2026-03-15 16:42:34,081 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 16:42:34,082 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂主臂-1
2026-03-15 16:42:34,082 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂回转臂-1
2026-03-15 16:42:34,083 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 16:42:34,083 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂回转臂-1
2026-03-15 16:42:34,083 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂驱动单元-1
2026-03-15 16:42:34,084 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 16:42:34,084 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂驱动单元-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 大Y模块-2
2026-03-15 16:47:18,903 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 16:47:18,904 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 大Y模块-2
2026-03-15 16:47:18,904 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 一号臂驱动单元-1
2026-03-15 16:47:18,905 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 16:47:18,905 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 一号臂驱动单元-1
2026-03-15 16:47:18,905 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 三号臂-1
2026-03-15 16:47:18,905 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 16:47:18,906 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 三号臂-1
2026-03-15 16:47:18,906 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 机械爪3.1-2
2026-03-15 16:47:18,907 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 16:47:18,907 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 机械爪3.1-2
2026-03-15 16:47:18,907 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-一号臂-1
2026-03-15 16:47:18,908 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 16:47:18,909 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-一号臂-1
2026-03-15 16:47:18,909 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂主臂-1
2026-03-15 16:47:18,909 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 16:47:18,910 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂主臂-1
2026-03-15 16:47:18,911 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂回转臂-1
2026-03-15 16:47:18,911 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 16:47:18,912 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂回转臂-1
2026-03-15 16:47:18,913 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂驱动单元-1
2026-03-15 16:47:18,913 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 16:47:18,913 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂驱动单元-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 大Y模块-2
2026-03-15 16:47:18,915 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 16:47:18,916 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 大Y模块-2
2026-03-15 16:47:18,917 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 一号臂驱动单元-1
2026-03-15 16:47:18,917 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 16:47:18,917 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 一号臂驱动单元-1
2026-03-15 16:47:18,918 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 三号臂-1
2026-03-15 16:47:18,918 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 16:47:18,918 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 三号臂-1
2026-03-15 16:47:18,918 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 机械爪3.1-2
2026-03-15 16:47:18,919 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 16:47:18,920 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 机械爪3.1-2
2026-03-15 16:47:18,920 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-一号臂-1
2026-03-15 16:47:18,920 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 16:47:18,921 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-一号臂-1
2026-03-15 16:47:18,921 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂主臂-1
2026-03-15 16:47:18,922 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 16:47:18,927 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂主臂-1
2026-03-15 16:47:18,927 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂回转臂-1
2026-03-15 16:47:18,927 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 16:47:18,929 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂回转臂-1
2026-03-15 16:47:18,929 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂驱动单元-1
2026-03-15 16:47:18,944 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 16:47:18,944 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂驱动单元-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
<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 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>-0.0071558</a:double><a:double>0.00068719</a:double><a:double>0.061598</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">2.2629</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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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" 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="i93"/></URDFElement><URDFElement z:Id="i94" i:type="Texture"><Attributes><Attribute z:Id="i95"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i95"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i92"/><NameAttribute z:Ref="i91"/><Texture z:Ref="i94"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i87"/><Material z:Ref="i90"/><Origin z:Ref="i84"/></URDFElement><URDFElement z:Id="i96" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i97" i:type="Origin"><Attributes><Attribute z:Id="i98"><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="i99"><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="i99"/><XYZAttribute z:Ref="i98"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i100" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i101" i:type="Mesh"><Attributes><Attribute z:Id="i102"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i102"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i101"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i100"/><Origin z:Ref="i97"/></URDFElement><URDFElement z:Id="i103" i:type="Joint"><Attributes><Attribute z:Id="i104"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">j1</Value></Attribute><Attribute z:Id="i105"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">continuous</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i106" i:type="Origin"><Attributes><Attribute 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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\大Y模块.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\一号臂驱动单元.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\3.1-二号臂驱动单元.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\3.1-一号臂.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\3.1-二号臂主臂.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\3.1-二号臂回转臂.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\三号臂.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\机械爪3.0\机械爪3.1.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 大Y模块-2
2026-03-15 16:48:33,981 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 16:48:33,982 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 大Y模块-2
2026-03-15 16:48:33,982 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 一号臂驱动单元-1
2026-03-15 16:48:33,983 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 16:48:33,983 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 一号臂驱动单元-1
2026-03-15 16:48:33,984 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 三号臂-1
2026-03-15 16:48:33,984 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 16:48:33,984 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 三号臂-1
2026-03-15 16:48:33,985 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 机械爪3.1-2
2026-03-15 16:48:33,985 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 16:48:33,986 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 机械爪3.1-2
2026-03-15 16:48:33,987 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-一号臂-1
2026-03-15 16:48:33,987 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 16:48:33,988 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-一号臂-1
2026-03-15 16:48:33,988 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂主臂-1
2026-03-15 16:48:33,988 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 16:48:33,989 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂主臂-1
2026-03-15 16:48:33,990 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂回转臂-1
2026-03-15 16:48:33,990 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 16:48:33,991 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂回转臂-1
2026-03-15 16:48:33,991 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂驱动单元-1
2026-03-15 16:48:33,992 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 16:48:33,992 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂驱动单元-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 大Y模块-2
2026-03-15 16:48:33,994 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 16:48:33,994 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 大Y模块-2
2026-03-15 16:48:33,995 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 一号臂驱动单元-1
2026-03-15 16:48:33,995 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 16:48:33,997 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 一号臂驱动单元-1
2026-03-15 16:48:33,997 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 三号臂-1
2026-03-15 16:48:33,997 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 16:48:33,997 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 三号臂-1
2026-03-15 16:48:33,997 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 机械爪3.1-2
2026-03-15 16:48:33,998 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 16:48:33,998 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 机械爪3.1-2
2026-03-15 16:48:33,998 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-一号臂-1
2026-03-15 16:48:33,999 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 16:48:34,000 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-一号臂-1
2026-03-15 16:48:34,000 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂主臂-1
2026-03-15 16:48:34,001 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 16:48:34,001 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂主臂-1
2026-03-15 16:48:34,002 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂回转臂-1
2026-03-15 16:48:34,002 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 16:48:34,003 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂回转臂-1
2026-03-15 16:48:34,003 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂驱动单元-1
2026-03-15 16:48:34,004 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 16:48:34,004 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂驱动单元-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" 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 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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 16:48:34,478 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\大Y模块.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\一号臂驱动单元.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\3.1-二号臂驱动单元.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\3.1-一号臂.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\3.1-二号臂主臂.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\3.1-二号臂回转臂.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\三号臂.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

?
2026-03-15 16:48:34,657 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\机械爪3.0\机械爪3.1.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
<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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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 大Y模块-2
2026-03-15 16:49:26,198 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 16:49:26,199 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 大Y模块-2
2026-03-15 16:49:26,199 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 一号臂驱动单元-1
2026-03-15 16:49:26,200 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 16:49:26,201 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 一号臂驱动单元-1
2026-03-15 16:49:26,202 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 三号臂-1
2026-03-15 16:49:26,202 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 16:49:26,203 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 三号臂-1
2026-03-15 16:49:26,203 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 机械爪3.1-2
2026-03-15 16:49:26,204 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 16:49:26,205 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 机械爪3.1-2
2026-03-15 16:49:26,205 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-一号臂-1
2026-03-15 16:49:26,207 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 16:49:26,208 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-一号臂-1
2026-03-15 16:49:26,208 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂主臂-1
2026-03-15 16:49:26,209 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 16:49:26,210 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂主臂-1
2026-03-15 16:49:26,210 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂回转臂-1
2026-03-15 16:49:26,211 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 16:49:26,212 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂回转臂-1
2026-03-15 16:49:26,213 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂驱动单元-1
2026-03-15 16:49:26,213 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 16:49:26,214 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂驱动单元-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 大Y模块-2
2026-03-15 16:49:26,217 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 16:49:26,217 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 大Y模块-2
2026-03-15 16:49:26,217 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 一号臂驱动单元-1
2026-03-15 16:49:26,218 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 16:49:26,219 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 一号臂驱动单元-1
2026-03-15 16:49:26,219 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 三号臂-1
2026-03-15 16:49:26,219 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 16:49:26,220 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 三号臂-1
2026-03-15 16:49:26,220 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 机械爪3.1-2
2026-03-15 16:49:26,220 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 16:49:26,225 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 机械爪3.1-2
2026-03-15 16:49:26,225 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-一号臂-1
2026-03-15 16:49:26,258 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 16:49:26,259 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-一号臂-1
2026-03-15 16:49:26,260 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂主臂-1
2026-03-15 16:49:26,260 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 16:49:26,261 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂主臂-1
2026-03-15 16:49:26,262 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂回转臂-1
2026-03-15 16:49:26,263 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 16:49:26,264 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂回转臂-1
2026-03-15 16:49:26,264 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂驱动单元-1
2026-03-15 16:49:26,264 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 16:49:26,265 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂驱动单元-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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版2026315
2026-03-15 16:50:46,022 INFO  ExportHelper.cs: 162 - Creating CMakeLists.txt at D:\STM32Projects_HAL\board-F4\arm\arm_model\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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 坐标系6
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\机械臂URDF六坐标系不带夹爪\缩小版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 坐标系5
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\机械臂URDF六坐标系不带夹爪\缩小版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 坐标系4
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\机械臂URDF六坐标系不带夹爪\缩小版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 坐标系3
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\机械臂URDF六坐标系不带夹爪\缩小版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 坐标系2
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\机械臂URDF六坐标系不带夹爪\缩小版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 坐标系1
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\机械臂URDF六坐标系不带夹爪\缩小版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 坐标系base
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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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 大Y模块-2
2026-03-15 17:03:13,794 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 17:03:13,795 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 大Y模块-2
2026-03-15 17:03:13,795 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 一号臂驱动单元-1
2026-03-15 17:03:13,796 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 17:03:13,797 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 一号臂驱动单元-1
2026-03-15 17:03:13,797 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 三号臂-1
2026-03-15 17:03:13,797 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 17:03:13,798 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 三号臂-1
2026-03-15 17:03:13,798 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 机械爪3.1-2
2026-03-15 17:03:13,798 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 17:03:13,799 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 机械爪3.1-2
2026-03-15 17:03:13,799 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-一号臂-1
2026-03-15 17:03:13,800 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 17:03:13,801 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-一号臂-1
2026-03-15 17:03:13,801 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂主臂-1
2026-03-15 17:03:13,802 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 17:03:13,803 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂主臂-1
2026-03-15 17:03:13,804 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂回转臂-1
2026-03-15 17:03:13,805 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 17:03:13,807 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂回转臂-1
2026-03-15 17:03:13,807 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂驱动单元-1
2026-03-15 17:03:13,807 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 17:03:13,807 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂驱动单元-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 大Y模块-2
2026-03-15 17:03:13,809 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 17:03:13,810 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 大Y模块-2
2026-03-15 17:03:13,810 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 一号臂驱动单元-1
2026-03-15 17:03:13,811 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 17:03:13,811 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 一号臂驱动单元-1
2026-03-15 17:03:13,812 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 三号臂-1
2026-03-15 17:03:13,812 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 17:03:13,812 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 三号臂-1
2026-03-15 17:03:13,813 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 机械爪3.1-2
2026-03-15 17:03:13,813 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 17:03:13,814 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 机械爪3.1-2
2026-03-15 17:03:13,814 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-一号臂-1
2026-03-15 17:03:13,815 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 17:03:13,816 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-一号臂-1
2026-03-15 17:03:13,816 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂主臂-1
2026-03-15 17:03:13,816 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 17:03:13,817 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂主臂-1
2026-03-15 17:03:13,817 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂回转臂-1
2026-03-15 17:03:13,818 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 17:03:13,820 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂回转臂-1
2026-03-15 17:03:13,820 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂驱动单元-1
2026-03-15 17:03:13,820 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 17:03:13,820 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂驱动单元-1
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></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 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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 17:03:14,289 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\大Y模块.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

?
2026-03-15 17:03:14,462 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\一号臂驱动单元.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\3.1-二号臂驱动单元.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\3.1-一号臂.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\3.1-二号臂主臂.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

:
2026-03-15 17:03:14,465 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-二号臂回转臂.SLDASM
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

a
2026-03-15 17:03:14,466 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\三号臂.SLDASM
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

?
2026-03-15 17:03:14,468 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\机械爪3.0\机械爪3.1.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
<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>2.2061895286196176E-06</a:double><a:double>-0.089451501578594481</a:double><a:double>0.01531211665420977</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" 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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 大Y模块-2
2026-03-15 17:04:09,291 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 17:04:09,292 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 大Y模块-2
2026-03-15 17:04:09,293 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 一号臂驱动单元-1
2026-03-15 17:04:09,294 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 17:04:09,295 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 一号臂驱动单元-1
2026-03-15 17:04:09,295 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 三号臂-1
2026-03-15 17:04:09,295 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 17:04:09,295 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 三号臂-1
2026-03-15 17:04:09,295 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 机械爪3.1-2
2026-03-15 17:04:09,296 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 17:04:09,297 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 机械爪3.1-2
2026-03-15 17:04:09,297 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-一号臂-1
2026-03-15 17:04:09,298 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 17:04:09,300 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-一号臂-1
2026-03-15 17:04:09,301 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂主臂-1
2026-03-15 17:04:09,302 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 17:04:09,304 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂主臂-1
2026-03-15 17:04:09,304 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂回转臂-1
2026-03-15 17:04:09,305 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 17:04:09,306 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂回转臂-1
2026-03-15 17:04:09,306 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂驱动单元-1
2026-03-15 17:04:09,306 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 17:04:09,307 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂驱动单元-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 大Y模块-2
2026-03-15 17:04:09,310 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 17:04:09,310 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 大Y模块-2
2026-03-15 17:04:09,311 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 一号臂驱动单元-1
2026-03-15 17:04:09,311 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 17:04:09,312 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 一号臂驱动单元-1
2026-03-15 17:04:09,313 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 三号臂-1
2026-03-15 17:04:09,313 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 17:04:09,313 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 三号臂-1
2026-03-15 17:04:09,314 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 机械爪3.1-2
2026-03-15 17:04:09,314 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 17:04:09,315 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 机械爪3.1-2
2026-03-15 17:04:09,315 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-一号臂-1
2026-03-15 17:04:09,316 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 17:04:09,317 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-一号臂-1
2026-03-15 17:04:09,317 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂主臂-1
2026-03-15 17:04:09,317 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 17:04:09,318 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂主臂-1
2026-03-15 17:04:09,319 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂回转臂-1
2026-03-15 17:04:09,319 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 17:04:09,321 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂回转臂-1
2026-03-15 17:04:09,321 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂驱动单元-1
2026-03-15 17:04:09,321 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 17:04:09,322 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂驱动单元-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 大Y模块-2
2026-03-15 17:14:22,486 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 17:14:22,487 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 大Y模块-2
2026-03-15 17:14:22,487 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 一号臂驱动单元-1
2026-03-15 17:14:22,488 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 17:14:22,489 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 一号臂驱动单元-1
2026-03-15 17:14:22,489 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 三号臂-1
2026-03-15 17:14:22,489 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 17:14:22,490 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 三号臂-1
2026-03-15 17:14:22,490 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 机械爪3.1-2
2026-03-15 17:14:22,491 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 17:14:22,492 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 机械爪3.1-2
2026-03-15 17:14:22,492 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-一号臂-1
2026-03-15 17:14:22,493 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 17:14:22,494 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-一号臂-1
2026-03-15 17:14:22,494 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂主臂-1
2026-03-15 17:14:22,495 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 17:14:22,496 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂主臂-1
2026-03-15 17:14:22,496 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂回转臂-1
2026-03-15 17:14:22,498 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 17:14:22,499 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂回转臂-1
2026-03-15 17:14:22,499 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂驱动单元-1
2026-03-15 17:14:22,499 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 17:14:22,500 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂驱动单元-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 大Y模块-2
2026-03-15 17:14:22,502 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 17:14:22,502 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 大Y模块-2
2026-03-15 17:14:22,503 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 一号臂驱动单元-1
2026-03-15 17:14:22,503 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 17:14:22,505 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 一号臂驱动单元-1
2026-03-15 17:14:22,505 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 三号臂-1
2026-03-15 17:14:22,506 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 17:14:22,506 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 三号臂-1
2026-03-15 17:14:22,506 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 机械爪3.1-2
2026-03-15 17:14:22,507 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 17:14:22,508 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 机械爪3.1-2
2026-03-15 17:14:22,508 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-一号臂-1
2026-03-15 17:14:22,509 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 17:14:22,510 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-一号臂-1
2026-03-15 17:14:22,510 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂主臂-1
2026-03-15 17:14:22,511 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 17:14:22,511 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂主臂-1
2026-03-15 17:14:22,512 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂回转臂-1
2026-03-15 17:14:22,512 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 17:14:22,513 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂回转臂-1
2026-03-15 17:14:22,513 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂驱动单元-1
2026-03-15 17:14:22,513 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 17:14:22,515 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂驱动单元-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
<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>2.2061895286196176E-06</a:double><a:double>-0.089451501578594481</a:double><a:double>0.01531211665420977</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" 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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\大Y模块.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\一号臂驱动单元.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\3.1-二号臂驱动单元.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\3.1-一号臂.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\3.1-二号臂主臂.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\3.1-二号臂回转臂.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\三号臂.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

?
2026-03-15 17:14:22,835 INFO  CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\机械爪3.0\机械爪3.1.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
<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>2.2061895286196176E-06</a:double><a:double>-0.089451501578594481</a:double><a:double>0.01531211665420977</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: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="i408"/><XYZAttribute z:Ref="i407"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i409" i:type="Mass"><Attributes><Attribute z:Id="i410"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.5625520684851697</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i410"/></URDFElement><URDFElement z:Id="i411" i:type="Inertia"><Attributes><Attribute z:Id="i412"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.00025673157816848423</Value></Attribute><Attribute 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 大Y模块-2
2026-03-15 17:16:15,739 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 17:16:15,739 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 大Y模块-2
2026-03-15 17:16:15,739 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 一号臂驱动单元-1
2026-03-15 17:16:15,740 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 17:16:15,741 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 一号臂驱动单元-1
2026-03-15 17:16:15,741 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 三号臂-1
2026-03-15 17:16:15,742 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 17:16:15,742 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 三号臂-1
2026-03-15 17:16:15,743 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 机械爪3.1-2
2026-03-15 17:16:15,743 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 17:16:15,744 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 机械爪3.1-2
2026-03-15 17:16:15,744 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-一号臂-1
2026-03-15 17:16:15,745 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 17:16:15,746 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-一号臂-1
2026-03-15 17:16:15,746 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂主臂-1
2026-03-15 17:16:15,747 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 17:16:15,750 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂主臂-1
2026-03-15 17:16:15,750 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂回转臂-1
2026-03-15 17:16:15,751 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 17:16:15,753 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂回转臂-1
2026-03-15 17:16:15,753 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-二号臂驱动单元-1
2026-03-15 17:16:15,753 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 17:16:15,754 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-二号臂驱动单元-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 大Y模块-2
2026-03-15 17:16:15,756 INFO  ExportHelperExtension.cs: 1136 - Found 68 in 大Y模块-2
2026-03-15 17:16:15,757 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 大Y模块-2
2026-03-15 17:16:15,757 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 一号臂驱动单元-1
2026-03-15 17:16:15,757 INFO  ExportHelperExtension.cs: 1136 - Found 346 in 一号臂驱动单元-1
2026-03-15 17:16:15,759 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 一号臂驱动单元-1
2026-03-15 17:16:15,759 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 三号臂-1
2026-03-15 17:16:15,759 INFO  ExportHelperExtension.cs: 1136 - Found 43 in 三号臂-1
2026-03-15 17:16:15,760 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 三号臂-1
2026-03-15 17:16:15,760 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 机械爪3.1-2
2026-03-15 17:16:15,760 INFO  ExportHelperExtension.cs: 1136 - Found 279 in 机械爪3.1-2
2026-03-15 17:16:15,761 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 机械爪3.1-2
2026-03-15 17:16:15,761 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-一号臂-1
2026-03-15 17:16:15,762 INFO  ExportHelperExtension.cs: 1136 - Found 300 in 3.1-一号臂-1
2026-03-15 17:16:15,762 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-一号臂-1
2026-03-15 17:16:15,763 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂主臂-1
2026-03-15 17:16:15,763 INFO  ExportHelperExtension.cs: 1136 - Found 449 in 3.1-二号臂主臂-1
2026-03-15 17:16:15,764 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂主臂-1
2026-03-15 17:16:15,764 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂回转臂-1
2026-03-15 17:16:15,765 INFO  ExportHelperExtension.cs: 1136 - Found 450 in 3.1-二号臂回转臂-1
2026-03-15 17:16:15,766 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂回转臂-1
2026-03-15 17:16:15,766 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-二号臂驱动单元-1
2026-03-15 17:16:15,767 INFO  ExportHelperExtension.cs: 1136 - Found 90 in 3.1-二号臂驱动单元-1
2026-03-15 17:16:15,767 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-二号臂驱动单元-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://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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版2026315
2026-03-15 17:18:22,690 INFO  ExportHelper.cs: 162 - Creating CMakeLists.txt at D:\STM32Projects_HAL\board-F4\arm\arm_model\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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 坐标系6
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\机械臂URDF六坐标系不带夹爪\缩小版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 坐标系5
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\机械臂URDF六坐标系不带夹爪\缩小版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 坐标系4
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\机械臂URDF六坐标系不带夹爪\缩小版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 坐标系3
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\机械臂URDF六坐标系不带夹爪\缩小版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 坐标系2
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\机械臂URDF六坐标系不带夹爪\缩小版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 坐标系1
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\机械臂URDF六坐标系不带夹爪\缩小版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 坐标系base
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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版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\机械臂URDF六坐标系不带夹爪\缩小版2026315\xin\export.log