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arm/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/export.log

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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
<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i6"/><XYZAttribute z:Ref="i5"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i7" i:type="Mass"><Attributes><Attribute z:Id="i8"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i8"/></URDFElement><URDFElement z:Id="i9" i:type="Inertia"><Attributes><Attribute z:Id="i10"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i11"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i12"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i13"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i14"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i15"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i10"/><IxyAttribute z:Ref="i11"/><IxzAttribute z:Ref="i12"/><IyyAttribute z:Ref="i13"/><IyzAttribute z:Ref="i14"/><IzzAttribute z:Ref="i15"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i9"/><Mass z:Ref="i7"/><Origin z:Ref="i4"/></URDFElement><URDFElement z:Id="i16" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i17" i:type="Origin"><Attributes><Attribute z:Id="i18"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i19"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i19"/><XYZAttribute z:Ref="i18"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i20" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i21" i:type="Mesh"><Attributes><Attribute z:Id="i22"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i22"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i21"/></URDFElement><URDFElement z:Id="i23" i:type="Material"><Attributes><Attribute z:Id="i24"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i25" i:type="Color"><Attributes><Attribute z:Id="i26"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i26"/></URDFElement><URDFElement z:Id="i27" i:type="Texture"><Attributes><Attribute z:Id="i28"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i28"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i25"/><NameAttribute z:Ref="i24"/><Texture z:Ref="i27"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i20"/><Material z:Ref="i23"/><Origin z:Ref="i17"/></URDFElement><URDFElement z:Id="i29" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i30" i:type="Origin"><Attributes><Attribute z:Id="i31"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i32"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i32"/><XYZAttribute z:Ref="i31"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i33" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i34" i:type="Mesh"><Attributes><Attribute z:Id="i35"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i35"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i34"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i33"/><Origin z:Ref="i30"/></URDFElement><URDFElement z:Id="i36" i:type="Joint"><Attributes><Attribute z:Id="i37"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute><Attribute z:Id="i38"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i39" i:type="Origin"><Attributes><Attribute z:Id="i40"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i41"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i41"/><XYZAttribute z:Ref="i40"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i42" i:type="ParentLink"><Attributes><Attribute z:Id="i43"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i43"/></URDFElement><URDFElement z:Id="i44" i:type="ChildLink"><Attributes><Attribute z:Id="i45"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i45"/></URDFElement><URDFElement z:Id="i46" i:type="Axis"><Attributes><Attribute z:Id="i47"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i47"/></URDFElement><URDFElement z:Id="i48" i:type="Limit"><Attributes><Attribute z:Id="i49"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i50"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i51"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i52"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i51"/><LowerAttribute z:Ref="i49"/><UpperAttribute 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>?????????1</CoordinateSystemName><Dynamics z:Ref="i56"/><Limit z:Ref="i48"/><Mimic z:Ref="i64"/><NameAttribute z:Ref="i37"/><Origin z:Ref="i39"/><Parent z:Ref="i42"/><Safety z:Ref="i59"/><TypeAttribute z:Ref="i38"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i68"><Attributes><Attribute 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z: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">0</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</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">0</Value></Attribute><Attribute z:Id="i79"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" 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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 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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\<5C><>Yģ<59><C4A3>.SLDASM
2026-03-15 14:00:37,255 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link base_link
2026-03-15 14:00:37,255 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link1 from D:\swProjects\3.2.1\3.2.SLDASM
2026-03-15 14:00:37,255 INFO CommonSwOperations.cs: 245 - Loading component with PID PF??? N?S??q??RUSCQ-1@3.0?
2026-03-15 14:00:37,256 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ.SLDASM
2026-03-15 14:00:37,256 INFO CommonSwOperations.cs: 245 - Loading component with PID PF???3.0-?N?S??q??RUSCQ-1@3.0L
2026-03-15 14:00:37,257 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ.SLDASM
2026-03-15 14:00:37,257 INFO CommonSwOperations.cs: 230 - Loaded 2 components for link Link1
2026-03-15 14:00:37,257 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link2 from D:\swProjects\3.2.1\3.2.SLDASM
2026-03-15 14:00:37,257 INFO CommonSwOperations.cs: 245 - Loading component with PID PF??? 2.0-N?S??-1@3.0P
2026-03-15 14:00:37,258 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-һ<>ű<BA>.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@3.08
2026-03-15 14:00:37,259 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>.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-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>.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@3.0a
2026-03-15 14:00:37,261 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\<5C><><C8>ű<BA>.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 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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 <20><>Yģ<59><C4A3>-2
2026-03-15 14:01:50,230 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 14:01:50,230 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>Yģ<59><C4A3>-2
2026-03-15 14:01:50,231 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 14:01:50,231 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 14:01:50,232 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 14:01:50,233 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><><C8>ű<BA>-1
2026-03-15 14:01:50,233 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 14:01:50,233 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><><C8>ű<BA>-1
2026-03-15 14:01:50,233 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><>еצ3.1-2
2026-03-15 14:01:50,235 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 14:01:50,236 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>еצ3.1-2
2026-03-15 14:01:50,242 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ<>ű<BA>-1
2026-03-15 14:01:50,294 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 14:01:50,296 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ<>ű<BA>-1
2026-03-15 14:01:50,296 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 14:01:50,296 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 14:01:50,298 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 14:01:50,298 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 14:01:50,299 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 14:01:50,300 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 14:01:50,300 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 14:01:50,300 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 14:01:50,301 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 14:01:50,301 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
2026-03-15 14:01:50,301 INFO ExportHelperExtension.cs: 1136 - Found 65 in 3.2.SLDASM
2026-03-15 14:01:50,302 INFO ExportHelperExtension.cs: 1145 - Found 2 features of type [RefAxis] in 3.2.SLDASM
2026-03-15 14:01:50,302 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-03-15 14:01:50,302 INFO ExportHelperExtension.cs: 1160 - 8 components to check
2026-03-15 14:01:50,302 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>Yģ<59><C4A3>-2
2026-03-15 14:01:50,303 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 14:01:50,303 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>Yģ<59><C4A3>-2
2026-03-15 14:01:50,303 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 14:01:50,304 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 14:01:50,305 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 14:01:50,305 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><><C8>ű<BA>-1
2026-03-15 14:01:50,305 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 14:01:50,306 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><><C8>ű<BA>-1
2026-03-15 14:01:50,306 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>еצ3.1-2
2026-03-15 14:01:50,306 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 14:01:50,308 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>еצ3.1-2
2026-03-15 14:01:50,308 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ<>ű<BA>-1
2026-03-15 14:01:50,308 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 14:01:50,309 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ<>ű<BA>-1
2026-03-15 14:01:50,309 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 14:01:50,310 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 14:01:50,310 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 14:01:50,311 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 14:01:50,311 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 14:01:50,312 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 14:01:50,312 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 14:01:50,312 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 14:01:50,313 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:34:42,351 INFO SwAddin.cs: 294 - Assembly export called for file 3.2.SLDASM
2026-03-15 15:34:42,353 INFO SwAddin.cs: 299 - Save is required
2026-03-15 15:34:42,353 INFO SwAddin.cs: 313 - Saving assembly
2026-03-15 15:34:44,687 INFO SwAddin.cs: 316 - Opening property manager
2026-03-15 15:34:44,687 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.2.SLDASM
2026-03-15 15:34:44,689 INFO ExportHelperExtension.cs: 1136 - Found 80 in 3.2.SLDASM
2026-03-15 15:34:44,690 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in 3.2.SLDASM
2026-03-15 15:34:44,690 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-03-15 15:34:44,690 INFO ExportHelperExtension.cs: 1160 - 8 components to check
2026-03-15 15:34:44,691 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><>Yģ<59><C4A3>-2
2026-03-15 15:34:44,691 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 15:34:44,692 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>Yģ<59><C4A3>-2
2026-03-15 15:34:44,692 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:34:44,693 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:34:44,694 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:34:44,694 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><><C8>ű<BA>-1
2026-03-15 15:34:44,695 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 15:34:44,695 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><><C8>ű<BA>-1
2026-03-15 15:34:44,695 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><>еצ3.1-2
2026-03-15 15:34:44,696 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 15:34:44,697 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>еצ3.1-2
2026-03-15 15:34:44,697 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ<>ű<BA>-1
2026-03-15 15:34:44,698 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 15:34:44,699 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ<>ű<BA>-1
2026-03-15 15:34:44,699 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 15:34:44,700 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 15:34:44,701 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 15:34:44,702 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 15:34:44,703 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 15:34:44,703 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 15:34:44,705 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:34:44,705 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:34:44,705 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:34:44,706 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
2026-03-15 15:34:44,706 INFO ExportHelperExtension.cs: 1136 - Found 80 in 3.2.SLDASM
2026-03-15 15:34:44,706 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
2026-03-15 15:34:44,706 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-03-15 15:34:44,708 INFO ExportHelperExtension.cs: 1160 - 8 components to check
2026-03-15 15:34:44,708 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>Yģ<59><C4A3>-2
2026-03-15 15:34:44,708 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 15:34:44,708 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>Yģ<59><C4A3>-2
2026-03-15 15:34:44,709 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:34:44,709 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:34:44,710 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:34:44,710 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><><C8>ű<BA>-1
2026-03-15 15:34:44,710 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 15:34:44,710 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><><C8>ű<BA>-1
2026-03-15 15:34:44,710 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>еצ3.1-2
2026-03-15 15:34:44,712 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 15:34:44,712 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>еצ3.1-2
2026-03-15 15:34:44,713 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ<>ű<BA>-1
2026-03-15 15:34:44,713 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 15:34:44,714 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ<>ű<BA>-1
2026-03-15 15:34:44,714 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 15:34:44,714 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 15:34:44,715 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 15:34:44,715 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 15:34:44,717 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 15:34:44,717 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 15:34:44,718 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:34:44,718 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:34:44,718 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:34:45,314 INFO SwAddin.cs: 339 - Loading config tree
2026-03-15 15:34:45,316 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i6"/><XYZAttribute z:Ref="i5"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i7" i:type="Mass"><Attributes><Attribute z:Id="i8"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i8"/></URDFElement><URDFElement z:Id="i9" i:type="Inertia"><Attributes><Attribute z:Id="i10"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i11"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i12"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i13"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i14"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i15"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i10"/><IxyAttribute z:Ref="i11"/><IxzAttribute z:Ref="i12"/><IyyAttribute z:Ref="i13"/><IyzAttribute z:Ref="i14"/><IzzAttribute z:Ref="i15"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i9"/><Mass z:Ref="i7"/><Origin z:Ref="i4"/></URDFElement><URDFElement z:Id="i16" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i17" i:type="Origin"><Attributes><Attribute z:Id="i18"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i19"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" 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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\<5C><>Yģ<59><C4A3>.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\һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ.SLDASM
2026-03-15 15:34:45,326 INFO CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S??q??RUSCQ-1@3.2L
2026-03-15 15:34:45,326 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ.SLDASM
2026-03-15 15:34:45,327 INFO CommonSwOperations.cs: 230 - Loaded 2 components for link Link1
2026-03-15 15:34:45,327 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link2 from D:\swProjects\3.2.1\3.2.SLDASM
2026-03-15 15:34:45,327 INFO CommonSwOperations.cs: 245 - Loading component with PID PF??? 3.1-N?S??-1@3.2P
2026-03-15 15:34:45,327 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-һ<>ű<BA>.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@3.28
2026-03-15 15:34:45,328 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>.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-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>.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@3.2a
2026-03-15 15:34:45,331 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\<5C><><C8>ű<BA>.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\<5C><>еצ3.0\<5C><>еצ3.1.SLDASM
2026-03-15 15:34:45,332 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link Link6
2026-03-15 15:34:45,350 INFO SwAddin.cs: 344 - Showing property manager
2026-03-15 15:35:04,959 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:35:11,134 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:35:12,780 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:35:20,208 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:35:25,402 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:36:24,668 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:36:33,417 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:36:34,673 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:36:37,622 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:36:47,710 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:36:48,766 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:36:51,546 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:36:58,189 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:36:59,901 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:37:09,273 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:37:13,755 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:37:14,967 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:37:18,214 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:37:25,026 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:37:26,585 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:37:28,339 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:37:39,652 INFO ExportPropertyManager.cs: 422 - Configuration saved
2026-03-15 15:37:39,655 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
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z:Id="i463"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i464"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i465"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i464"/><KVelocityAttribute z:Ref="i465"/><SoftLowerAttribute z:Ref="i463"/><SoftUpperAttribute z:Ref="i462"/></URDFElement><URDFElement z:Id="i466" i:type="Mimic"><Attributes><Attribute z:Id="i467"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i468"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i469"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i467"/><MultiplierAttribute z:Ref="i468"/><OffsetAttribute z:Ref="i469"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i448"/><AxisName>Automatically Generate</AxisName><Calibration z:Ref="i455"/><Child z:Ref="i446"/><CoordinateSystemName>Automatically Generate</CoordinateSystemName><Dynamics z:Ref="i458"/><Limit z:Ref="i450"/><Mimic z:Ref="i466"/><NameAttribute z:Ref="i439"/><Origin z:Ref="i441"/><Parent z:Ref="i444"/><Safety z:Ref="i461"/><TypeAttribute z:Ref="i440"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i431"/><Inertial z:Ref="i405"/><Joint z:Ref="i438"/><NameAttribute z:Ref="i404"/><Parent z:Ref="i336"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8MOmewaCpyMwAuADEALQAyAEAAMwAuADIABAAAABAAAAABAAAAAQAAAMEFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i418"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i364"/><Inertial z:Ref="i338"/><Joint z:Ref="i371"/><NameAttribute z:Ref="i337"/><Parent z:Ref="i269"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8JCU73U8KBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAAGEEAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i351"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i297"/><Inertial z:Ref="i271"/><Joint z:Ref="i304"/><NameAttribute z:Ref="i270"/><Parent z:Ref="i202"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8QMwAuADEALQCMTvdTwoHeVmyPwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAOgUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i284"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i230"/><Inertial z:Ref="i204"/><Joint z:Ref="i237"/><NameAttribute z:Ref="i203"/><Parent z:Ref="i135"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8PMwAuADEALQCMTvdTwoE7TsKBLQAxAEAAMwAuADIABAAAABAAAAABAAAAAQAAADgFAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i217"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i163"/><Inertial z:Ref="i137"/><Joint z:Ref="i170"/><NameAttribute z:Ref="i136"/><Parent z:Ref="i68"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NMwAuADEALQAATvdTwoEtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAUAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i150"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i96"/><Inertial z:Ref="i70"/><Joint z:Ref="i103"/><NameAttribute z:Ref="i69"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8NAE73U8KBcZqoUlVTQ1EtADEAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAwgQAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8RMwAuADEALQCMTvdTwoFxmqhSVVNDUS0AMQBAADMALgAyAAQAAAAQAAAAAQAAAAEAAABMBQAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i83"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8KJ1lZACFqV1ctADIAQAAzAC4AMgAEAAAAEAAAAAEAAAABAAAAJAUAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
2026-03-15 15:37:40,600 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 <20><>Yģ<59><C4A3>-2
2026-03-15 15:38:02,725 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 15:38:02,725 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>Yģ<59><C4A3>-2
2026-03-15 15:38:02,725 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:38:02,727 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:38:02,728 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:38:02,729 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><><C8>ű<BA>-1
2026-03-15 15:38:02,729 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 15:38:02,730 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><><C8>ű<BA>-1
2026-03-15 15:38:02,730 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><>еצ3.1-2
2026-03-15 15:38:02,731 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 15:38:02,732 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>еצ3.1-2
2026-03-15 15:38:02,732 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ<>ű<BA>-1
2026-03-15 15:38:02,734 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 15:38:02,735 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ<>ű<BA>-1
2026-03-15 15:38:02,735 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 15:38:02,738 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 15:38:02,739 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 15:38:02,744 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 15:38:02,854 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 15:38:02,856 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 15:38:02,857 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:38:02,858 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:38:02,859 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:38:02,859 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
2026-03-15 15:38:02,859 INFO ExportHelperExtension.cs: 1136 - Found 80 in 3.2.SLDASM
2026-03-15 15:38:02,860 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
2026-03-15 15:38:02,860 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-03-15 15:38:02,861 INFO ExportHelperExtension.cs: 1160 - 8 components to check
2026-03-15 15:38:02,861 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>Yģ<59><C4A3>-2
2026-03-15 15:38:02,861 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 15:38:02,862 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>Yģ<59><C4A3>-2
2026-03-15 15:38:02,862 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:38:02,863 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:38:02,864 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:38:02,864 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><><C8>ű<BA>-1
2026-03-15 15:38:02,865 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 15:38:02,865 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><><C8>ű<BA>-1
2026-03-15 15:38:02,866 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>еצ3.1-2
2026-03-15 15:38:02,866 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 15:38:02,867 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>еצ3.1-2
2026-03-15 15:38:02,867 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ<>ű<BA>-1
2026-03-15 15:38:02,868 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 15:38:02,869 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ<>ű<BA>-1
2026-03-15 15:38:02,870 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 15:38:02,871 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 15:38:02,872 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 15:38:02,872 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 15:38:02,873 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 15:38:02,874 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 15:38:02,874 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:38:02,875 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:38:02,875 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 15:38:02,927 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 15:42:40,324 INFO AssemblyExportForm.cs: 253 - Completing URDF export
2026-03-15 15:42:40,329 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i6"/><XYZAttribute z:Ref="i5"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i7" i:type="Mass"><Attributes><Attribute z:Id="i8"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i8"/></URDFElement><URDFElement z:Id="i9" i:type="Inertia"><Attributes><Attribute z:Id="i10"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i11"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i12"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i13"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i14"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i15"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i10"/><IxyAttribute z:Ref="i11"/><IxzAttribute z:Ref="i12"/><IyyAttribute z:Ref="i13"/><IyzAttribute z:Ref="i14"/><IzzAttribute z:Ref="i15"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i9"/><Mass z:Ref="i7"/><Origin z:Ref="i4"/></URDFElement><URDFElement z:Id="i16" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i17" i:type="Origin"><Attributes><Attribute z:Id="i18"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i19"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i19"/><XYZAttribute z:Ref="i18"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i20" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i21" i:type="Mesh"><Attributes><Attribute z:Id="i22"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i22"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i21"/></URDFElement><URDFElement z:Id="i23" i:type="Material"><Attributes><Attribute z:Id="i24"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" 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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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>2026315
2026-03-15 15:43:16,982 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><><D7><F8>ϵ6
2026-03-15 15:43:17,988 INFO ExportHelper.cs: 322 - Link6: Reference geometry name
2026-03-15 15:43:18,327 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><><D7><F8>ϵ5
2026-03-15 15:43:19,445 INFO ExportHelper.cs: 322 - Link5: Reference geometry name
2026-03-15 15:43:19,595 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><><D7><F8>ϵ4
2026-03-15 15:43:23,227 INFO ExportHelper.cs: 322 - Link4: Reference geometry name
2026-03-15 15:43:24,062 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><><D7><F8>ϵ3
2026-03-15 15:43:27,695 INFO ExportHelper.cs: 322 - Link3: Reference geometry name
2026-03-15 15:43:27,758 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><><D7><F8>ϵ2
2026-03-15 15:43:31,212 INFO ExportHelper.cs: 322 - Link2: Reference geometry name
2026-03-15 15:43:31,666 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><><D7><F8>ϵ1
2026-03-15 15:43:32,410 INFO ExportHelper.cs: 322 - Link1: Reference geometry name
2026-03-15 15:43:33,222 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><><D7><F8>ϵbase
2026-03-15 15:43:39,089 INFO ExportHelper.cs: 322 - base_link: Reference geometry name
2026-03-15 15:43:39,242 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><>Yģ<59><C4A3>-2
2026-03-15 16:35:46,555 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 16:35:46,555 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>Yģ<59><C4A3>-2
2026-03-15 16:35:46,556 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:35:46,556 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:35:46,557 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:35:46,557 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><><C8>ű<BA>-1
2026-03-15 16:35:46,557 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 16:35:46,558 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><><C8>ű<BA>-1
2026-03-15 16:35:46,558 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><>еצ3.1-2
2026-03-15 16:35:46,559 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 16:35:46,559 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>еצ3.1-2
2026-03-15 16:35:46,559 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ<>ű<BA>-1
2026-03-15 16:35:46,560 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 16:35:46,561 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ<>ű<BA>-1
2026-03-15 16:35:46,561 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:35:46,562 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:35:46,562 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:35:46,564 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:35:46,565 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:35:46,565 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:35:46,566 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:35:46,566 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:35:46,566 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:35:46,567 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
2026-03-15 16:35:46,567 INFO ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
2026-03-15 16:35:46,567 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
2026-03-15 16:35:46,568 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-03-15 16:35:46,568 INFO ExportHelperExtension.cs: 1160 - 8 components to check
2026-03-15 16:35:46,568 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>Yģ<59><C4A3>-2
2026-03-15 16:35:46,569 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 16:35:46,569 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>Yģ<59><C4A3>-2
2026-03-15 16:35:46,569 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:35:46,570 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:35:46,570 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:35:46,571 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><><C8>ű<BA>-1
2026-03-15 16:35:46,571 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 16:35:46,571 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><><C8>ű<BA>-1
2026-03-15 16:35:46,572 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>еצ3.1-2
2026-03-15 16:35:46,572 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 16:35:46,572 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>еצ3.1-2
2026-03-15 16:35:46,574 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ<>ű<BA>-1
2026-03-15 16:35:46,575 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 16:35:46,575 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ<>ű<BA>-1
2026-03-15 16:35:46,576 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:35:46,576 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:35:46,577 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:35:46,577 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:35:46,578 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:35:46,579 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:35:46,579 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:35:46,580 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:35:46,580 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:35:47,061 INFO SwAddin.cs: 339 - Loading config tree
2026-03-15 16:35:47,062 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>2.2062E-06</a:double><a:double>-0.089452</a:double><a:double>0.015312</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i6"/><XYZAttribute z:Ref="i5"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i7" i:type="Mass"><Attributes><Attribute z:Id="i8"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">1.0633</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i8"/></URDFElement><URDFElement z:Id="i9" i:type="Inertia"><Attributes><Attribute z:Id="i10"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.0031488</Value></Attribute><Attribute z:Id="i11"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">-7.846E-08</Value></Attribute><Attribute z:Id="i12"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">1.0021E-07</Value></Attribute><Attribute z:Id="i13"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.00202</Value></Attribute><Attribute z:Id="i14"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">-1.6521E-08</Value></Attribute><Attribute z:Id="i15"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.0051396</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i10"/><IxyAttribute z:Ref="i11"/><IxzAttribute z:Ref="i12"/><IyyAttribute z:Ref="i13"/><IyzAttribute z:Ref="i14"/><IzzAttribute z:Ref="i15"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i9"/><Mass z:Ref="i7"/><Origin z:Ref="i4"/></URDFElement><URDFElement z:Id="i16" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i17" i:type="Origin"><Attributes><Attribute z:Id="i18"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i19"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" 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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\<5C><>Yģ<59><C4A3>.SLDASM
2026-03-15 16:35:47,071 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link base_link
2026-03-15 16:35:47,072 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link1 from D:\swProjects\3.2.1\3.2.SLDASM
2026-03-15 16:35:47,072 INFO CommonSwOperations.cs: 245 - Loading component with PID PF??? N?S??q??RUSCQ-1@3.2?
2026-03-15 16:35:47,072 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ.SLDASM
2026-03-15 16:35:47,072 INFO CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S??q??RUSCQ-1@3.2L
2026-03-15 16:35:47,072 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ.SLDASM
2026-03-15 16:35:47,072 INFO CommonSwOperations.cs: 230 - Loaded 2 components for link Link1
2026-03-15 16:35:47,072 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link2 from D:\swProjects\3.2.1\3.2.SLDASM
2026-03-15 16:35:47,074 INFO CommonSwOperations.cs: 245 - Loading component with PID PF??? 3.1-N?S??-1@3.2P
2026-03-15 16:35:47,074 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-һ<>ű<BA>.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@3.28
2026-03-15 16:35:47,075 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>.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-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>.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@3.2a
2026-03-15 16:35:47,076 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\<5C><><C8>ű<BA>.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\<5C><>еצ3.0\<5C><>еצ3.1.SLDASM
2026-03-15 16:35:47,077 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link Link6
2026-03-15 16:35:47,239 INFO SwAddin.cs: 344 - Showing property manager
2026-03-15 16:40:17,811 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:41:09,229 INFO ExportPropertyManager.cs: 1036 - OnListboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:41:11,897 INFO ExportPropertyManager.cs: 1036 - OnListboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:41:14,846 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:41:16,073 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:41:22,422 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:41:26,976 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:41:33,584 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:41:34,762 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:41:47,436 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:41:50,431 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:41:51,606 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:41:51,697 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:41:54,022 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:41:58,297 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:41:59,622 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:42:02,713 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:42:03,695 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:42:06,064 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:42:08,503 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:42:12,795 INFO ExportPropertyManager.cs: 422 - Configuration saved
2026-03-15 16:42:12,796 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
<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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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 16:42:13,712 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 <20><>Yģ<59><C4A3>-2
2026-03-15 16:42:34,006 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 16:42:34,007 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>Yģ<59><C4A3>-2
2026-03-15 16:42:34,007 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:42:34,009 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:42:34,010 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:42:34,010 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><><C8>ű<BA>-1
2026-03-15 16:42:34,011 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 16:42:34,011 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><><C8>ű<BA>-1
2026-03-15 16:42:34,011 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><>еצ3.1-2
2026-03-15 16:42:34,012 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 16:42:34,013 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>еצ3.1-2
2026-03-15 16:42:34,014 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ<>ű<BA>-1
2026-03-15 16:42:34,015 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 16:42:34,015 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ<>ű<BA>-1
2026-03-15 16:42:34,016 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:42:34,016 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:42:34,019 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:42:34,019 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:42:34,020 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:42:34,021 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:42:34,029 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:42:34,029 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:42:34,030 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:42:34,030 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
2026-03-15 16:42:34,030 INFO ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
2026-03-15 16:42:34,031 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
2026-03-15 16:42:34,031 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-03-15 16:42:34,031 INFO ExportHelperExtension.cs: 1160 - 8 components to check
2026-03-15 16:42:34,032 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>Yģ<59><C4A3>-2
2026-03-15 16:42:34,073 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 16:42:34,074 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>Yģ<59><C4A3>-2
2026-03-15 16:42:34,074 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:42:34,075 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:42:34,075 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:42:34,076 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><><C8>ű<BA>-1
2026-03-15 16:42:34,076 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 16:42:34,076 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><><C8>ű<BA>-1
2026-03-15 16:42:34,076 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>еצ3.1-2
2026-03-15 16:42:34,078 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 16:42:34,078 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>еצ3.1-2
2026-03-15 16:42:34,079 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ<>ű<BA>-1
2026-03-15 16:42:34,079 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 16:42:34,080 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ<>ű<BA>-1
2026-03-15 16:42:34,080 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:42:34,081 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:42:34,082 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:42:34,082 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:42:34,083 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:42:34,083 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:42:34,083 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:42:34,084 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:42:34,084 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:42:34,127 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:47:16,505 INFO SwAddin.cs: 294 - Assembly export called for file 3.2.SLDASM
2026-03-15 16:47:16,505 INFO SwAddin.cs: 299 - Save is required
2026-03-15 16:47:16,505 INFO SwAddin.cs: 313 - Saving assembly
2026-03-15 16:47:18,901 INFO SwAddin.cs: 316 - Opening property manager
2026-03-15 16:47:18,901 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.2.SLDASM
2026-03-15 16:47:18,902 INFO ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
2026-03-15 16:47:18,902 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in 3.2.SLDASM
2026-03-15 16:47:18,902 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-03-15 16:47:18,903 INFO ExportHelperExtension.cs: 1160 - 8 components to check
2026-03-15 16:47:18,903 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><>Yģ<59><C4A3>-2
2026-03-15 16:47:18,903 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 16:47:18,904 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>Yģ<59><C4A3>-2
2026-03-15 16:47:18,904 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:47:18,905 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:47:18,905 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:47:18,905 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><><C8>ű<BA>-1
2026-03-15 16:47:18,905 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 16:47:18,906 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><><C8>ű<BA>-1
2026-03-15 16:47:18,906 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><>еצ3.1-2
2026-03-15 16:47:18,907 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 16:47:18,907 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>еצ3.1-2
2026-03-15 16:47:18,907 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ<>ű<BA>-1
2026-03-15 16:47:18,908 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 16:47:18,909 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ<>ű<BA>-1
2026-03-15 16:47:18,909 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:47:18,909 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:47:18,910 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:47:18,911 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:47:18,911 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:47:18,912 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:47:18,913 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:47:18,913 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:47:18,913 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:47:18,914 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
2026-03-15 16:47:18,914 INFO ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
2026-03-15 16:47:18,914 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
2026-03-15 16:47:18,915 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-03-15 16:47:18,915 INFO ExportHelperExtension.cs: 1160 - 8 components to check
2026-03-15 16:47:18,915 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>Yģ<59><C4A3>-2
2026-03-15 16:47:18,915 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 16:47:18,916 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>Yģ<59><C4A3>-2
2026-03-15 16:47:18,917 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:47:18,917 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:47:18,917 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:47:18,918 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><><C8>ű<BA>-1
2026-03-15 16:47:18,918 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 16:47:18,918 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><><C8>ű<BA>-1
2026-03-15 16:47:18,918 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>еצ3.1-2
2026-03-15 16:47:18,919 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 16:47:18,920 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>еצ3.1-2
2026-03-15 16:47:18,920 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ<>ű<BA>-1
2026-03-15 16:47:18,920 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 16:47:18,921 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ<>ű<BA>-1
2026-03-15 16:47:18,921 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:47:18,922 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:47:18,927 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:47:18,927 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:47:18,927 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:47:18,929 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:47:18,929 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:47:18,944 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:47:18,944 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:47:19,392 INFO SwAddin.cs: 339 - Loading config tree
2026-03-15 16:47:19,392 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>2.2062E-06</a:double><a:double>-0.089452</a:double><a:double>0.015312</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i6"/><XYZAttribute z:Ref="i5"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i7" i:type="Mass"><Attributes><Attribute z:Id="i8"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">1.0633</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i8"/></URDFElement><URDFElement z:Id="i9" i:type="Inertia"><Attributes><Attribute z:Id="i10"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.0031488</Value></Attribute><Attribute z:Id="i11"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">-7.846E-08</Value></Attribute><Attribute z:Id="i12"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">1.0021E-07</Value></Attribute><Attribute z:Id="i13"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.00202</Value></Attribute><Attribute z:Id="i14"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">-1.6521E-08</Value></Attribute><Attribute z:Id="i15"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.0051396</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i10"/><IxyAttribute z:Ref="i11"/><IxzAttribute z:Ref="i12"/><IyyAttribute z:Ref="i13"/><IyzAttribute z:Ref="i14"/><IzzAttribute z:Ref="i15"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i9"/><Mass z:Ref="i7"/><Origin z:Ref="i4"/></URDFElement><URDFElement z:Id="i16" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i17" i:type="Origin"><Attributes><Attribute z:Id="i18"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i19"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i19"/><XYZAttribute z:Ref="i18"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i20" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i21" i:type="Mesh"><Attributes><Attribute z:Id="i22"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i22"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i21"/></URDFElement><URDFElement z:Id="i23" i:type="Material"><Attributes><Attribute z:Id="i24"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i25" i:type="Color"><Attributes><Attribute z:Id="i26"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0.75294</a:double><a:double>0.75294</a:double><a:double>0.75294</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i26"/></URDFElement><URDFElement z:Id="i27" i:type="Texture"><Attributes><Attribute z:Id="i28"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i28"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i25"/><NameAttribute z:Ref="i24"/><Texture z:Ref="i27"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i20"/><Material z:Ref="i23"/><Origin z:Ref="i17"/></URDFElement><URDFElement z:Id="i29" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i30" i:type="Origin"><Attributes><Attribute z:Id="i31"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i32"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i32"/><XYZAttribute z:Ref="i31"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i33" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i34" i:type="Mesh"><Attributes><Attribute z:Id="i35"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i35"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i34"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i33"/><Origin z:Ref="i30"/></URDFElement><URDFElement z:Id="i36" i:type="Joint"><Attributes><Attribute z:Id="i37"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute><Attribute z:Id="i38"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i39" i:type="Origin"><Attributes><Attribute z:Id="i40"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i41"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i41"/><XYZAttribute z:Ref="i40"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i42" i:type="ParentLink"><Attributes><Attribute z:Id="i43"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i43"/></URDFElement><URDFElement z:Id="i44" i:type="ChildLink"><Attributes><Attribute z:Id="i45"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i45"/></URDFElement><URDFElement z:Id="i46" i:type="Axis"><Attributes><Attribute z:Id="i47"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i47"/></URDFElement><URDFElement z:Id="i48" i:type="Limit"><Attributes><Attribute z:Id="i49"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i50"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i51"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i52"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i51"/><LowerAttribute z:Ref="i49"/><UpperAttribute z:Ref="i50"/><VelocityAttribute z:Ref="i52"/></URDFElement><URDFElement z:Id="i53" i:type="Calibration"><Attributes><Attribute z:Id="i54"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i55"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i55"/><RisingAttribute z:Ref="i54"/></URDFElement><URDFElement z:Id="i56" i:type="Dynamics"><Attributes><Attribute z:Id="i57"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i58"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i57"/><FrictionAttribute z:Ref="i58"/></URDFElement><URDFElement z:Id="i59" i:type="SafetyController"><Attributes><Attribute z:Id="i60"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i61"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i62"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i63"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i62"/><KVelocityAttribute z:Ref="i63"/><SoftLowerAttribute z:Ref="i61"/><SoftUpperAttribute z:Ref="i60"/></URDFElement><URDFElement z:Id="i64" i:type="Mimic"><Attributes><Attribute z:Id="i65"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i66"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i67"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i65"/><MultiplierAttribute z:Ref="i66"/><OffsetAttribute z:Ref="i67"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i46"/><AxisName/><Calibration z:Ref="i53"/><Child z:Ref="i44"/><CoordinateSystemName>?????????base</CoordinateSystemName><Dynamics z:Ref="i56"/><Limit z:Ref="i48"/><Mimic z:Ref="i64"/><NameAttribute z:Ref="i37"/><Origin z:Ref="i39"/><Parent z:Ref="i42"/><Safety z:Ref="i59"/><TypeAttribute z:Ref="i38"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i68"><Attributes><Attribute 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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 16:47:19,394 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\<5C><>Yģ<59><C4A3>.SLDASM
2026-03-15 16:47:19,397 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link base_link
2026-03-15 16:47:19,397 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link1 from D:\swProjects\3.2.1\3.2.SLDASM
2026-03-15 16:47:19,397 INFO CommonSwOperations.cs: 245 - Loading component with PID PF??? N?S??q??RUSCQ-1@3.2?
2026-03-15 16:47:19,397 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ.SLDASM
2026-03-15 16:47:19,398 INFO CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S??q??RUSCQ-1@3.2L
2026-03-15 16:47:19,398 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ.SLDASM
2026-03-15 16:47:19,398 INFO CommonSwOperations.cs: 230 - Loaded 2 components for link Link1
2026-03-15 16:47:19,398 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link2 from D:\swProjects\3.2.1\3.2.SLDASM
2026-03-15 16:47:19,399 INFO CommonSwOperations.cs: 245 - Loading component with PID PF??? 3.1-N?S??-1@3.2P
2026-03-15 16:47:19,399 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-һ<>ű<BA>.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@3.28
2026-03-15 16:47:19,400 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>.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-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>.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@3.2a
2026-03-15 16:47:19,402 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\<5C><><C8>ű<BA>.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\<5C><>еצ3.0\<5C><>еצ3.1.SLDASM
2026-03-15 16:47:19,403 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link Link6
2026-03-15 16:47:19,424 INFO SwAddin.cs: 344 - Showing property manager
2026-03-15 16:47:26,702 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:47:34,953 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:47:36,918 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:47:42,837 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:47:44,155 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:47:52,592 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:48:18,039 INFO ExportPropertyManager.cs: 416 - Configuration canceled
2026-03-15 16:48:18,174 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:48:31,667 INFO SwAddin.cs: 294 - Assembly export called for file 3.2.SLDASM
2026-03-15 16:48:31,667 INFO SwAddin.cs: 299 - Save is required
2026-03-15 16:48:31,667 INFO SwAddin.cs: 313 - Saving assembly
2026-03-15 16:48:33,979 INFO SwAddin.cs: 316 - Opening property manager
2026-03-15 16:48:33,979 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.2.SLDASM
2026-03-15 16:48:33,980 INFO ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
2026-03-15 16:48:33,980 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in 3.2.SLDASM
2026-03-15 16:48:33,980 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-03-15 16:48:33,981 INFO ExportHelperExtension.cs: 1160 - 8 components to check
2026-03-15 16:48:33,981 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><>Yģ<59><C4A3>-2
2026-03-15 16:48:33,981 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 16:48:33,982 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>Yģ<59><C4A3>-2
2026-03-15 16:48:33,982 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:48:33,983 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:48:33,983 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:48:33,984 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><><C8>ű<BA>-1
2026-03-15 16:48:33,984 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 16:48:33,984 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><><C8>ű<BA>-1
2026-03-15 16:48:33,985 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><>еצ3.1-2
2026-03-15 16:48:33,985 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 16:48:33,986 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>еצ3.1-2
2026-03-15 16:48:33,987 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ<>ű<BA>-1
2026-03-15 16:48:33,987 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 16:48:33,988 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ<>ű<BA>-1
2026-03-15 16:48:33,988 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:48:33,988 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:48:33,989 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:48:33,990 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:48:33,990 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:48:33,991 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:48:33,991 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:48:33,992 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:48:33,992 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:48:33,992 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
2026-03-15 16:48:33,993 INFO ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
2026-03-15 16:48:33,993 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
2026-03-15 16:48:33,993 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-03-15 16:48:33,994 INFO ExportHelperExtension.cs: 1160 - 8 components to check
2026-03-15 16:48:33,994 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>Yģ<59><C4A3>-2
2026-03-15 16:48:33,994 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 16:48:33,994 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>Yģ<59><C4A3>-2
2026-03-15 16:48:33,995 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:48:33,995 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:48:33,997 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:48:33,997 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><><C8>ű<BA>-1
2026-03-15 16:48:33,997 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 16:48:33,997 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><><C8>ű<BA>-1
2026-03-15 16:48:33,997 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>еצ3.1-2
2026-03-15 16:48:33,998 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 16:48:33,998 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>еצ3.1-2
2026-03-15 16:48:33,998 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ<>ű<BA>-1
2026-03-15 16:48:33,999 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 16:48:34,000 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ<>ű<BA>-1
2026-03-15 16:48:34,000 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:48:34,001 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:48:34,001 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:48:34,002 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:48:34,002 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:48:34,003 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:48:34,003 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:48:34,004 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:48:34,004 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:48:34,474 INFO SwAddin.cs: 339 - Loading config tree
2026-03-15 16:48:34,475 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>2.2062E-06</a:double><a:double>-0.089452</a:double><a:double>0.015312</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" 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" xmlns:a="http://www.w3.org/2001/XMLSchema">-3.2697E-05</Value></Attribute><Attribute z:Id="i80"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.0024607</Value></Attribute><Attribute z:Id="i81"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">6.5086E-07</Value></Attribute><Attribute z:Id="i82"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.0036303</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i77"/><IxyAttribute z:Ref="i78"/><IxzAttribute z:Ref="i79"/><IyyAttribute z:Ref="i80"/><IyzAttribute z:Ref="i81"/><IzzAttribute z:Ref="i82"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i76"/><Mass z:Ref="i74"/><Origin z:Ref="i71"/></URDFElement><URDFElement z:Id="i83" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i84" i:type="Origin"><Attributes><Attribute z:Id="i85"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i86"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i86"/><XYZAttribute z:Ref="i85"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i87" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i88" 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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 16:48:34,478 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\<5C><>Yģ<59><C4A3>.SLDASM
2026-03-15 16:48:34,483 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link base_link
2026-03-15 16:48:34,483 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link1 from D:\swProjects\3.2.1\3.2.SLDASM
2026-03-15 16:48:34,484 INFO CommonSwOperations.cs: 245 - Loading component with PID PF??? N?S??q??RUSCQ-1@3.2?
2026-03-15 16:48:34,651 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ.SLDASM
2026-03-15 16:48:34,652 INFO CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S??q??RUSCQ-1@3.2L
2026-03-15 16:48:34,652 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ.SLDASM
2026-03-15 16:48:34,652 INFO CommonSwOperations.cs: 230 - Loaded 2 components for link Link1
2026-03-15 16:48:34,653 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link2 from D:\swProjects\3.2.1\3.2.SLDASM
2026-03-15 16:48:34,653 INFO CommonSwOperations.cs: 245 - Loading component with PID PF??? 3.1-N?S??-1@3.2P
2026-03-15 16:48:34,653 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-һ<>ű<BA>.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@3.28
2026-03-15 16:48:34,654 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>.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-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>.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@3.2a
2026-03-15 16:48:34,656 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\<5C><><C8>ű<BA>.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\<5C><>еצ3.0\<5C><>еצ3.1.SLDASM
2026-03-15 16:48:34,657 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link Link6
2026-03-15 16:48:34,677 INFO SwAddin.cs: 344 - Showing property manager
2026-03-15 16:48:37,487 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:48:40,736 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:48:42,642 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:48:46,723 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:48:47,845 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:48:50,453 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:48:51,439 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:48:54,094 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:48:55,334 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:48:57,817 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:48:59,160 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:49:03,472 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:49:04,864 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:49:07,033 INFO ExportPropertyManager.cs: 422 - Configuration saved
2026-03-15 16:49:07,036 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
<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" 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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 <20><>Yģ<59><C4A3>-2
2026-03-15 16:49:26,198 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 16:49:26,199 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>Yģ<59><C4A3>-2
2026-03-15 16:49:26,199 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:49:26,200 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:49:26,201 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:49:26,202 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><><C8>ű<BA>-1
2026-03-15 16:49:26,202 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 16:49:26,203 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><><C8>ű<BA>-1
2026-03-15 16:49:26,203 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><>еצ3.1-2
2026-03-15 16:49:26,204 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 16:49:26,205 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>еצ3.1-2
2026-03-15 16:49:26,205 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ<>ű<BA>-1
2026-03-15 16:49:26,207 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 16:49:26,208 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ<>ű<BA>-1
2026-03-15 16:49:26,208 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:49:26,209 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:49:26,210 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:49:26,210 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:49:26,211 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:49:26,212 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:49:26,213 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:49:26,213 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:49:26,214 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:49:26,214 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
2026-03-15 16:49:26,214 INFO ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
2026-03-15 16:49:26,215 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
2026-03-15 16:49:26,215 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-03-15 16:49:26,215 INFO ExportHelperExtension.cs: 1160 - 8 components to check
2026-03-15 16:49:26,215 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>Yģ<59><C4A3>-2
2026-03-15 16:49:26,217 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 16:49:26,217 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>Yģ<59><C4A3>-2
2026-03-15 16:49:26,217 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:49:26,218 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:49:26,219 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:49:26,219 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><><C8>ű<BA>-1
2026-03-15 16:49:26,219 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 16:49:26,220 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><><C8>ű<BA>-1
2026-03-15 16:49:26,220 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>еצ3.1-2
2026-03-15 16:49:26,220 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 16:49:26,225 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>еצ3.1-2
2026-03-15 16:49:26,225 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ<>ű<BA>-1
2026-03-15 16:49:26,258 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 16:49:26,259 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ<>ű<BA>-1
2026-03-15 16:49:26,260 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:49:26,260 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:49:26,261 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 16:49:26,262 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:49:26,263 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:49:26,264 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 16:49:26,264 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:49:26,264 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:49:26,265 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 16:49:26,304 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 16:50:16,104 INFO AssemblyExportForm.cs: 253 - Completing URDF export
2026-03-15 16:50:16,106 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
<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 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2026-03-15 16:50:44,826 INFO AssemblyExportForm.cs: 309 - Saving URDF package to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>2026315
2026-03-15 16:50:46,022 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><><D7><F8>ϵ6
2026-03-15 16:50:46,692 INFO ExportHelper.cs: 322 - Link6: Reference geometry name
2026-03-15 16:50:46,952 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><><D7><F8>ϵ5
2026-03-15 16:50:47,921 INFO ExportHelper.cs: 322 - Link5: Reference geometry name
2026-03-15 16:50:48,051 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><><D7><F8>ϵ4
2026-03-15 16:50:50,663 INFO ExportHelper.cs: 322 - Link4: Reference geometry name
2026-03-15 16:50:51,087 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><><D7><F8>ϵ3
2026-03-15 16:50:54,869 INFO ExportHelper.cs: 322 - Link3: Reference geometry name
2026-03-15 16:50:55,383 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><><D7><F8>ϵ2
2026-03-15 16:50:59,032 INFO ExportHelper.cs: 322 - Link2: Reference geometry name
2026-03-15 16:50:59,416 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><><D7><F8>ϵ1
2026-03-15 16:51:00,246 INFO ExportHelper.cs: 322 - Link1: Reference geometry name
2026-03-15 16:51:01,350 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><><D7><F8>ϵbase
2026-03-15 16:51:06,904 INFO ExportHelper.cs: 322 - base_link: Reference geometry name
2026-03-15 16:51:07,128 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><>Yģ<59><C4A3>-2
2026-03-15 17:03:13,794 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 17:03:13,795 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>Yģ<59><C4A3>-2
2026-03-15 17:03:13,795 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:03:13,796 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:03:13,797 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:03:13,797 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><><C8>ű<BA>-1
2026-03-15 17:03:13,797 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 17:03:13,798 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><><C8>ű<BA>-1
2026-03-15 17:03:13,798 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><>еצ3.1-2
2026-03-15 17:03:13,798 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 17:03:13,799 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>еצ3.1-2
2026-03-15 17:03:13,799 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ<>ű<BA>-1
2026-03-15 17:03:13,800 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 17:03:13,801 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ<>ű<BA>-1
2026-03-15 17:03:13,801 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:03:13,802 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:03:13,803 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:03:13,804 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:03:13,805 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:03:13,807 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:03:13,807 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:03:13,807 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:03:13,807 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:03:13,808 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
2026-03-15 17:03:13,808 INFO ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
2026-03-15 17:03:13,808 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
2026-03-15 17:03:13,809 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-03-15 17:03:13,809 INFO ExportHelperExtension.cs: 1160 - 8 components to check
2026-03-15 17:03:13,809 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>Yģ<59><C4A3>-2
2026-03-15 17:03:13,809 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 17:03:13,810 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>Yģ<59><C4A3>-2
2026-03-15 17:03:13,810 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:03:13,811 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:03:13,811 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:03:13,812 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><><C8>ű<BA>-1
2026-03-15 17:03:13,812 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 17:03:13,812 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><><C8>ű<BA>-1
2026-03-15 17:03:13,813 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>еצ3.1-2
2026-03-15 17:03:13,813 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 17:03:13,814 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>еצ3.1-2
2026-03-15 17:03:13,814 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ<>ű<BA>-1
2026-03-15 17:03:13,815 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 17:03:13,816 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ<>ű<BA>-1
2026-03-15 17:03:13,816 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:03:13,816 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:03:13,817 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:03:13,817 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:03:13,818 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:03:13,820 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:03:13,820 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:03:13,820 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:03:13,820 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-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
<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" 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">1.0633403710051605</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">0.0031488425266517632</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">-7.8459796481554023E-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">1.0021459728475757E-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">0.00202001780713627</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">-1.6520981602714245E-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">0.0051396188954675962</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>0.75294117647058822</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="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" 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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\<5C><>Yģ<59><C4A3>.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\һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ.SLDASM
2026-03-15 17:03:14,463 INFO CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S??q??RUSCQ-1@3.2L
2026-03-15 17:03:14,463 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ.SLDASM
2026-03-15 17:03:14,463 INFO CommonSwOperations.cs: 230 - Loaded 2 components for link Link1
2026-03-15 17:03:14,463 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link2 from D:\swProjects\3.2.1\3.2.SLDASM
2026-03-15 17:03:14,464 INFO CommonSwOperations.cs: 245 - Loading component with PID PF??? 3.1-N?S??-1@3.2P
2026-03-15 17:03:14,464 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-һ<>ű<BA>.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@3.28
2026-03-15 17:03:14,465 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>.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-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>.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@3.2a
2026-03-15 17:03:14,466 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\<5C><><C8>ű<BA>.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\<5C><>еצ3.0\<5C><>еצ3.1.SLDASM
2026-03-15 17:03:14,468 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link Link6
2026-03-15 17:03:14,489 INFO SwAddin.cs: 344 - Showing property manager
2026-03-15 17:03:18,870 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:03:22,955 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:03:26,424 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:03:29,642 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:03:32,156 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:03:34,581 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:03:37,179 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:03:38,434 INFO ExportPropertyManager.cs: 422 - Configuration saved
2026-03-15 17:03:38,435 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
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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 17:03:39,328 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 <20><>Yģ<59><C4A3>-2
2026-03-15 17:04:09,291 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 17:04:09,292 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>Yģ<59><C4A3>-2
2026-03-15 17:04:09,293 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:04:09,294 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:04:09,295 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:04:09,295 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><><C8>ű<BA>-1
2026-03-15 17:04:09,295 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 17:04:09,295 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><><C8>ű<BA>-1
2026-03-15 17:04:09,295 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><>еצ3.1-2
2026-03-15 17:04:09,296 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 17:04:09,297 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>еצ3.1-2
2026-03-15 17:04:09,297 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ<>ű<BA>-1
2026-03-15 17:04:09,298 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 17:04:09,300 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ<>ű<BA>-1
2026-03-15 17:04:09,301 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:04:09,302 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:04:09,304 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:04:09,304 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:04:09,305 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:04:09,306 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:04:09,306 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:04:09,306 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:04:09,307 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:04:09,307 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
2026-03-15 17:04:09,307 INFO ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
2026-03-15 17:04:09,309 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
2026-03-15 17:04:09,309 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-03-15 17:04:09,309 INFO ExportHelperExtension.cs: 1160 - 8 components to check
2026-03-15 17:04:09,309 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>Yģ<59><C4A3>-2
2026-03-15 17:04:09,310 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 17:04:09,310 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>Yģ<59><C4A3>-2
2026-03-15 17:04:09,311 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:04:09,311 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:04:09,312 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:04:09,313 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><><C8>ű<BA>-1
2026-03-15 17:04:09,313 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 17:04:09,313 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><><C8>ű<BA>-1
2026-03-15 17:04:09,314 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>еצ3.1-2
2026-03-15 17:04:09,314 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 17:04:09,315 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>еצ3.1-2
2026-03-15 17:04:09,315 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ<>ű<BA>-1
2026-03-15 17:04:09,316 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 17:04:09,317 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ<>ű<BA>-1
2026-03-15 17:04:09,317 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:04:09,317 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:04:09,318 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:04:09,319 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:04:09,319 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:04:09,321 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:04:09,321 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:04:09,321 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:04:09,322 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:04:09,364 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:14:20,282 INFO SwAddin.cs: 294 - Assembly export called for file 3.2.SLDASM
2026-03-15 17:14:20,283 INFO SwAddin.cs: 299 - Save is required
2026-03-15 17:14:20,283 INFO SwAddin.cs: 313 - Saving assembly
2026-03-15 17:14:22,482 INFO SwAddin.cs: 316 - Opening property manager
2026-03-15 17:14:22,483 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.2.SLDASM
2026-03-15 17:14:22,484 INFO ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
2026-03-15 17:14:22,484 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in 3.2.SLDASM
2026-03-15 17:14:22,484 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-03-15 17:14:22,486 INFO ExportHelperExtension.cs: 1160 - 8 components to check
2026-03-15 17:14:22,486 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><>Yģ<59><C4A3>-2
2026-03-15 17:14:22,486 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 17:14:22,487 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>Yģ<59><C4A3>-2
2026-03-15 17:14:22,487 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:14:22,488 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:14:22,489 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:14:22,489 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><><C8>ű<BA>-1
2026-03-15 17:14:22,489 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 17:14:22,490 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><><C8>ű<BA>-1
2026-03-15 17:14:22,490 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><>еצ3.1-2
2026-03-15 17:14:22,491 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 17:14:22,492 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>еצ3.1-2
2026-03-15 17:14:22,492 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ<>ű<BA>-1
2026-03-15 17:14:22,493 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 17:14:22,494 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ<>ű<BA>-1
2026-03-15 17:14:22,494 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:14:22,495 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:14:22,496 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:14:22,496 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:14:22,498 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:14:22,499 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:14:22,499 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:14:22,499 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:14:22,500 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:14:22,500 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
2026-03-15 17:14:22,500 INFO ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
2026-03-15 17:14:22,501 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
2026-03-15 17:14:22,501 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-03-15 17:14:22,501 INFO ExportHelperExtension.cs: 1160 - 8 components to check
2026-03-15 17:14:22,501 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>Yģ<59><C4A3>-2
2026-03-15 17:14:22,502 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 17:14:22,502 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>Yģ<59><C4A3>-2
2026-03-15 17:14:22,503 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:14:22,503 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:14:22,505 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:14:22,505 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><><C8>ű<BA>-1
2026-03-15 17:14:22,506 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 17:14:22,506 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><><C8>ű<BA>-1
2026-03-15 17:14:22,506 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>еצ3.1-2
2026-03-15 17:14:22,507 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 17:14:22,508 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>еצ3.1-2
2026-03-15 17:14:22,508 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ<>ű<BA>-1
2026-03-15 17:14:22,509 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 17:14:22,510 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ<>ű<BA>-1
2026-03-15 17:14:22,510 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:14:22,511 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:14:22,511 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:14:22,512 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:14:22,512 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:14:22,513 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:14:22,513 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:14:22,513 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:14:22,515 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:14:22,821 INFO SwAddin.cs: 339 - Loading config tree
2026-03-15 17:14:22,822 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
<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" 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">1.0633403710051605</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">0.0031488425266517632</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">-7.8459796481554023E-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">1.0021459728475757E-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">0.00202001780713627</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">-1.6520981602714245E-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">0.0051396188954675962</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>0.75294117647058822</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="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 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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 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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" 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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 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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\<5C><>Yģ<59><C4A3>.SLDASM
2026-03-15 17:14:22,827 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link base_link
2026-03-15 17:14:22,828 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link1 from D:\swProjects\3.2.1\3.2.SLDASM
2026-03-15 17:14:22,828 INFO CommonSwOperations.cs: 245 - Loading component with PID PF??? N?S??q??RUSCQ-1@3.2?
2026-03-15 17:14:22,828 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ.SLDASM
2026-03-15 17:14:22,828 INFO CommonSwOperations.cs: 245 - Loading component with PID PF???3.1-?N?S??q??RUSCQ-1@3.2L
2026-03-15 17:14:22,829 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ.SLDASM
2026-03-15 17:14:22,829 INFO CommonSwOperations.cs: 230 - Loaded 2 components for link Link1
2026-03-15 17:14:22,829 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link2 from D:\swProjects\3.2.1\3.2.SLDASM
2026-03-15 17:14:22,829 INFO CommonSwOperations.cs: 245 - Loading component with PID PF??? 3.1-N?S??-1@3.2P
2026-03-15 17:14:22,830 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-һ<>ű<BA>.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@3.28
2026-03-15 17:14:22,831 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>.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-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>.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@3.2a
2026-03-15 17:14:22,833 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\3.2.1\<5C><><C8>ű<BA>.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\<5C><>еצ3.0\<5C><>еצ3.1.SLDASM
2026-03-15 17:14:22,835 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link Link6
2026-03-15 17:14:22,880 INFO SwAddin.cs: 344 - Showing property manager
2026-03-15 17:14:33,445 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:14:38,091 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:14:42,854 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:14:45,918 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:14:48,675 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:15:28,463 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:15:31,557 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:15:33,090 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:15:36,306 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:15:39,785 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:15:44,353 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:15:45,812 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:15:49,092 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:15:50,782 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:15:52,193 INFO ExportPropertyManager.cs: 422 - Configuration saved
2026-03-15 17:15:52,218 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
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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 <20><>Yģ<59><C4A3>-2
2026-03-15 17:16:15,739 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 17:16:15,739 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>Yģ<59><C4A3>-2
2026-03-15 17:16:15,739 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:16:15,740 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:16:15,741 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:16:15,741 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><><C8>ű<BA>-1
2026-03-15 17:16:15,742 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 17:16:15,742 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><><C8>ű<BA>-1
2026-03-15 17:16:15,743 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from <20><>еצ3.1-2
2026-03-15 17:16:15,743 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 17:16:15,744 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in <20><>еצ3.1-2
2026-03-15 17:16:15,744 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һ<>ű<BA>-1
2026-03-15 17:16:15,745 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 17:16:15,746 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һ<>ű<BA>-1
2026-03-15 17:16:15,746 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:16:15,747 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:16:15,750 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:16:15,750 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:16:15,751 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:16:15,753 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:16:15,753 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:16:15,753 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:16:15,754 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:16:15,754 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.2.SLDASM
2026-03-15 17:16:15,754 INFO ExportHelperExtension.cs: 1136 - Found 82 in 3.2.SLDASM
2026-03-15 17:16:15,755 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.2.SLDASM
2026-03-15 17:16:15,755 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-03-15 17:16:15,755 INFO ExportHelperExtension.cs: 1160 - 8 components to check
2026-03-15 17:16:15,756 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>Yģ<59><C4A3>-2
2026-03-15 17:16:15,756 INFO ExportHelperExtension.cs: 1136 - Found 68 in <20><>Yģ<59><C4A3>-2
2026-03-15 17:16:15,757 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>Yģ<59><C4A3>-2
2026-03-15 17:16:15,757 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:16:15,757 INFO ExportHelperExtension.cs: 1136 - Found 346 in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:16:15,759 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һ<>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:16:15,759 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><><C8>ű<BA>-1
2026-03-15 17:16:15,759 INFO ExportHelperExtension.cs: 1136 - Found 43 in <20><><C8>ű<BA>-1
2026-03-15 17:16:15,760 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><><C8>ű<BA>-1
2026-03-15 17:16:15,760 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from <20><>еצ3.1-2
2026-03-15 17:16:15,760 INFO ExportHelperExtension.cs: 1136 - Found 279 in <20><>еצ3.1-2
2026-03-15 17:16:15,761 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in <20><>еצ3.1-2
2026-03-15 17:16:15,761 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һ<>ű<BA>-1
2026-03-15 17:16:15,762 INFO ExportHelperExtension.cs: 1136 - Found 300 in 3.1-һ<>ű<BA>-1
2026-03-15 17:16:15,762 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һ<>ű<BA>-1
2026-03-15 17:16:15,763 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:16:15,763 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:16:15,764 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><D6><F7>-1
2026-03-15 17:16:15,764 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:16:15,765 INFO ExportHelperExtension.cs: 1136 - Found 450 in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:16:15,766 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>űۻ<C5B1>ת<D8><D7AA>-1
2026-03-15 17:16:15,766 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:16:15,767 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:16:15,767 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-<2D><><B6>ű<BA><C5B1><DB><C7><FD><B6><AF>Ԫ-1
2026-03-15 17:16:15,849 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-03-15 17:18:06,445 INFO AssemblyExportForm.cs: 253 - Completing URDF export
2026-03-15 17:18:06,447 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
<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" 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">1.0633403710051605</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">0.0031488425266517632</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">-7.8459796481554023E-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">1.0021459728475757E-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">0.00202001780713627</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">-1.6520981602714245E-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">0.0051396188954675962</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 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2026-03-15 17:18:21,627 INFO AssemblyExportForm.cs: 309 - Saving URDF package to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>2026315
2026-03-15 17:18:22,690 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><><D7><F8>ϵ6
2026-03-15 17:18:23,329 INFO ExportHelper.cs: 322 - Link6: Reference geometry name
2026-03-15 17:18:23,653 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><><D7><F8>ϵ5
2026-03-15 17:18:24,606 INFO ExportHelper.cs: 322 - Link5: Reference geometry name
2026-03-15 17:18:24,727 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><><D7><F8>ϵ4
2026-03-15 17:18:27,934 INFO ExportHelper.cs: 322 - Link4: Reference geometry name
2026-03-15 17:18:28,507 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><><D7><F8>ϵ3
2026-03-15 17:18:32,484 INFO ExportHelper.cs: 322 - Link3: Reference geometry name
2026-03-15 17:18:33,027 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><><D7><F8>ϵ2
2026-03-15 17:18:37,133 INFO ExportHelper.cs: 322 - Link2: Reference geometry name
2026-03-15 17:18:37,594 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><><D7><F8>ϵ1
2026-03-15 17:18:38,410 INFO ExportHelper.cs: 322 - Link1: Reference geometry name
2026-03-15 17:18:39,142 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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 <20><><D7><F8>ϵbase
2026-03-15 17:18:45,157 INFO ExportHelper.cs: 322 - base_link: Reference geometry name
2026-03-15 17:18:45,345 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>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\<5C><>е<FA><D0B5>URDF<44><46><C1><F9><D7><F8>ϵ<EA><CFB5><B2><BB><B4><F8>צ\<5C><>С<F5><D0A1>2026315\xin\export.log
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