2021-05-01 21:24:05,270 INFO  Logger.cs: 70 - 
--------------------------------------------------------------------------------
2021-05-01 21:24:05,300 INFO  Logger.cs: 71 - Logging commencing for SW2URDF exporter
2021-05-01 21:24:05,302 INFO  Logger.cs: 73 - Commit version 1.5.1-0-g916b5db
2021-05-01 21:24:05,302 INFO  Logger.cs: 74 - Build version 1.5.7152.31018
2021-05-01 21:24:05,321 INFO  SwAddin.cs: 250 - Adding Assembly export to file menu
2021-05-01 21:24:05,321 INFO  SwAddin.cs: 253 - Adding Part export to file menu
2021-05-01 21:24:05,348 INFO  SwAddin.cs: 218 - Connecting plugin to SolidWorks
2021-05-01 21:27:09,653 INFO  SwAddin.cs: 271 - Assembly export called for file JAKA Zu 7
2021-05-01 21:27:09,654 INFO  SwAddin.cs: 276 - Save is required
2021-05-01 21:27:09,654 INFO  SwAddin.cs: 290 - Saving assembly
2021-05-01 21:27:09,655 INFO  SwAddin.cs: 293 - Opening property manager
2021-05-01 21:27:09,664 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from JAKA Zu 7
2021-05-01 21:27:09,668 INFO  ExportHelperExtension.cs: 1142 - Found 28 in JAKA Zu 7
2021-05-01 21:27:09,668 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in JAKA Zu 7
2021-05-01 21:27:09,669 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-05-01 21:27:09,669 INFO  ExportHelperExtension.cs: 1167 - 7 components to check
2021-05-01 21:27:09,670 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 02_默认-1
2021-05-01 21:27:09,670 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 02_默认-1
2021-05-01 21:27:09,671 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 02_默认-1
2021-05-01 21:27:09,671 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 03_默认-1
2021-05-01 21:27:09,671 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 03_默认-1
2021-05-01 21:27:09,672 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 03_默认-1
2021-05-01 21:27:09,672 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 05_默认-1
2021-05-01 21:27:09,672 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 05_默认-1
2021-05-01 21:27:09,673 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 05_默认-1
2021-05-01 21:27:09,673 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 04_默认-1
2021-05-01 21:27:09,673 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 04_默认-1
2021-05-01 21:27:09,674 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 04_默认-1
2021-05-01 21:27:09,674 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 01_默认-1
2021-05-01 21:27:09,675 INFO  ExportHelperExtension.cs: 1142 - Found 25 in Zu 7 01_默认-1
2021-05-01 21:27:09,675 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 01_默认-1
2021-05-01 21:27:09,675 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 06_默认-1
2021-05-01 21:27:09,676 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 06_默认-1
2021-05-01 21:27:09,676 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 06_默认-1
2021-05-01 21:27:09,676 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 00_默认-1
2021-05-01 21:27:09,677 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 00_默认-1
2021-05-01 21:27:09,677 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 00_默认-1
2021-05-01 21:27:09,677 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from JAKA Zu 7
2021-05-01 21:27:09,677 INFO  ExportHelperExtension.cs: 1142 - Found 28 in JAKA Zu 7
2021-05-01 21:27:09,678 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in JAKA Zu 7
2021-05-01 21:27:09,678 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-05-01 21:27:09,678 INFO  ExportHelperExtension.cs: 1167 - 7 components to check
2021-05-01 21:27:09,678 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 02_默认-1
2021-05-01 21:27:09,679 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 02_默认-1
2021-05-01 21:27:09,679 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 02_默认-1
2021-05-01 21:27:09,679 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 03_默认-1
2021-05-01 21:27:09,679 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 03_默认-1
2021-05-01 21:27:09,680 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 03_默认-1
2021-05-01 21:27:09,680 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 05_默认-1
2021-05-01 21:27:09,680 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 05_默认-1
2021-05-01 21:27:09,681 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 05_默认-1
2021-05-01 21:27:09,681 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 04_默认-1
2021-05-01 21:27:09,681 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 04_默认-1
2021-05-01 21:27:09,681 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 04_默认-1
2021-05-01 21:27:09,682 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 01_默认-1
2021-05-01 21:27:09,682 INFO  ExportHelperExtension.cs: 1142 - Found 25 in Zu 7 01_默认-1
2021-05-01 21:27:09,682 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 01_默认-1
2021-05-01 21:27:09,682 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 06_默认-1
2021-05-01 21:27:09,683 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 06_默认-1
2021-05-01 21:27:09,683 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 06_默认-1
2021-05-01 21:27:09,683 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 00_默认-1
2021-05-01 21:27:09,683 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 00_默认-1
2021-05-01 21:27:09,684 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 00_默认-1
2021-05-01 21:27:09,834 INFO  SwAddin.cs: 316 - Loading config tree
2021-05-01 21:27:09,838 INFO  ExportPropertyManagerExtension.cs: 597 - Starting new configuration
2021-05-01 21:27:09,841 INFO  SwAddin.cs: 321 - Showing property manager
2021-05-01 21:27:39,520 INFO  ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 21:27:53,428 INFO  ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 21:28:00,074 INFO  ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 21:28:29,844 INFO  ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 21:29:01,020 INFO  ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 21:29:13,588 INFO  ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 21:29:32,677 INFO  ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 21:30:03,833 INFO  ExportPropertyManager.cs: 456 - Configuration saved
2021-05-01 21:30:05,263 INFO  ExportHelperExtension.cs: 338 - Creating joint link1
2021-05-01 21:30:05,267 INFO  ExportHelperExtension.cs: 1409 - Fixing components for base_link
2021-05-01 21:30:05,268 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 21:30:05,360 INFO  ExportHelperExtension.cs: 835 - R1: 0, 0
2021-05-01 21:30:05,360 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 21:30:05,360 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 21:30:05,361 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 21:30:05,381 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 21:30:06,072 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child link1 failed
2021-05-01 21:30:06,135 INFO  ExportHelperExtension.cs: 338 - Creating joint link2
2021-05-01 21:30:06,136 INFO  ExportHelperExtension.cs: 1409 - Fixing components for link1
2021-05-01 21:30:06,136 INFO  ExportHelperExtension.cs: 1414 - Fixing 25
2021-05-01 21:30:06,136 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 21:30:06,233 INFO  ExportHelperExtension.cs: 835 - R1: 0, 0
2021-05-01 21:30:06,234 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 21:30:06,234 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 21:30:06,234 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 21:30:06,235 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 25
2021-05-01 21:30:06,235 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 21:30:06,912 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent link1 to child link2 failed
2021-05-01 21:30:07,078 INFO  ExportHelperExtension.cs: 338 - Creating joint link3
2021-05-01 21:30:07,078 INFO  ExportHelperExtension.cs: 1409 - Fixing components for link2
2021-05-01 21:30:07,079 INFO  ExportHelperExtension.cs: 1414 - Fixing 26
2021-05-01 21:30:07,079 INFO  ExportHelperExtension.cs: 1414 - Fixing 25
2021-05-01 21:30:07,079 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 21:30:07,184 INFO  ExportHelperExtension.cs: 835 - R1: 0, 0
2021-05-01 21:30:07,184 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 21:30:07,185 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 21:30:07,185 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 21:30:07,185 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 26
2021-05-01 21:30:07,185 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 25
2021-05-01 21:30:07,186 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 21:30:07,883 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent link2 to child link3 failed
2021-05-01 21:30:07,997 INFO  ExportHelperExtension.cs: 338 - Creating joint link4
2021-05-01 21:30:07,998 INFO  ExportHelperExtension.cs: 1409 - Fixing components for link3
2021-05-01 21:30:07,998 INFO  ExportHelperExtension.cs: 1414 - Fixing 27
2021-05-01 21:30:07,998 INFO  ExportHelperExtension.cs: 1414 - Fixing 26
2021-05-01 21:30:07,998 INFO  ExportHelperExtension.cs: 1414 - Fixing 25
2021-05-01 21:30:07,999 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 21:30:08,186 INFO  ExportHelperExtension.cs: 835 - R1: 0, 0
2021-05-01 21:30:08,186 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 21:30:08,187 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 21:30:08,187 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 21:30:08,187 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 27
2021-05-01 21:30:08,187 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 26
2021-05-01 21:30:08,188 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 25
2021-05-01 21:30:08,188 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 21:30:08,881 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent link3 to child link4 failed
2021-05-01 21:30:08,910 INFO  ExportHelperExtension.cs: 338 - Creating joint link5
2021-05-01 21:30:08,910 INFO  ExportHelperExtension.cs: 1409 - Fixing components for link4
2021-05-01 21:30:08,910 INFO  ExportHelperExtension.cs: 1414 - Fixing 28
2021-05-01 21:30:08,911 INFO  ExportHelperExtension.cs: 1414 - Fixing 27
2021-05-01 21:30:08,911 INFO  ExportHelperExtension.cs: 1414 - Fixing 26
2021-05-01 21:30:08,911 INFO  ExportHelperExtension.cs: 1414 - Fixing 25
2021-05-01 21:30:08,911 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 21:30:09,060 INFO  ExportHelperExtension.cs: 835 - R1: 0, 0
2021-05-01 21:30:09,061 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 21:30:09,061 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 21:30:09,061 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 21:30:09,062 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 28
2021-05-01 21:30:09,062 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 27
2021-05-01 21:30:09,062 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 26
2021-05-01 21:30:09,062 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 25
2021-05-01 21:30:09,063 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 21:30:09,781 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent link4 to child link5 failed
2021-05-01 21:30:09,810 INFO  ExportHelperExtension.cs: 338 - Creating joint link6
2021-05-01 21:30:09,811 INFO  ExportHelperExtension.cs: 1409 - Fixing components for link5
2021-05-01 21:30:09,811 INFO  ExportHelperExtension.cs: 1414 - Fixing 29
2021-05-01 21:30:09,811 INFO  ExportHelperExtension.cs: 1414 - Fixing 28
2021-05-01 21:30:09,812 INFO  ExportHelperExtension.cs: 1414 - Fixing 27
2021-05-01 21:30:09,812 INFO  ExportHelperExtension.cs: 1414 - Fixing 26
2021-05-01 21:30:09,812 INFO  ExportHelperExtension.cs: 1414 - Fixing 25
2021-05-01 21:30:09,812 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 21:30:09,958 INFO  ExportHelperExtension.cs: 835 - R1: 0, 0
2021-05-01 21:30:09,959 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 21:30:09,959 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 21:30:09,959 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 21:30:09,959 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 29
2021-05-01 21:30:09,960 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 28
2021-05-01 21:30:09,960 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 27
2021-05-01 21:30:09,960 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 26
2021-05-01 21:30:09,960 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 25
2021-05-01 21:30:09,961 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 21:30:10,940 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent link5 to child link6 failed
2021-05-01 21:30:11,086 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from JAKA Zu 7
2021-05-01 21:30:11,089 INFO  ExportHelperExtension.cs: 1142 - Found 37 in JAKA Zu 7
2021-05-01 21:30:11,090 INFO  ExportHelperExtension.cs: 1152 - Found 7 features of type [CoordSys] in JAKA Zu 7
2021-05-01 21:30:11,090 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-05-01 21:30:11,090 INFO  ExportHelperExtension.cs: 1167 - 7 components to check
2021-05-01 21:30:11,091 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 02_默认-1
2021-05-01 21:30:11,091 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 02_默认-1
2021-05-01 21:30:11,091 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 02_默认-1
2021-05-01 21:30:11,092 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 03_默认-1
2021-05-01 21:30:11,092 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 03_默认-1
2021-05-01 21:30:11,093 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 03_默认-1
2021-05-01 21:30:11,093 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 05_默认-1
2021-05-01 21:30:11,093 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 05_默认-1
2021-05-01 21:30:11,094 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 05_默认-1
2021-05-01 21:30:11,094 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 04_默认-1
2021-05-01 21:30:11,094 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 04_默认-1
2021-05-01 21:30:11,095 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 04_默认-1
2021-05-01 21:30:11,095 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 01_默认-1
2021-05-01 21:30:11,096 INFO  ExportHelperExtension.cs: 1142 - Found 25 in Zu 7 01_默认-1
2021-05-01 21:30:11,096 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 01_默认-1
2021-05-01 21:30:11,096 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 06_默认-1
2021-05-01 21:30:11,097 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 06_默认-1
2021-05-01 21:30:11,097 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 06_默认-1
2021-05-01 21:30:11,098 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 00_默认-1
2021-05-01 21:30:11,098 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 00_默认-1
2021-05-01 21:30:11,099 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 00_默认-1
2021-05-01 21:30:11,100 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from JAKA Zu 7
2021-05-01 21:30:11,101 INFO  ExportHelperExtension.cs: 1142 - Found 37 in JAKA Zu 7
2021-05-01 21:30:11,101 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in JAKA Zu 7
2021-05-01 21:30:11,101 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-05-01 21:30:11,101 INFO  ExportHelperExtension.cs: 1167 - 7 components to check
2021-05-01 21:30:11,102 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 02_默认-1
2021-05-01 21:30:11,102 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 02_默认-1
2021-05-01 21:30:11,102 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 02_默认-1
2021-05-01 21:30:11,103 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 03_默认-1
2021-05-01 21:30:11,103 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 03_默认-1
2021-05-01 21:30:11,103 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 03_默认-1
2021-05-01 21:30:11,103 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 05_默认-1
2021-05-01 21:30:11,104 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 05_默认-1
2021-05-01 21:30:11,104 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 05_默认-1
2021-05-01 21:30:11,104 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 04_默认-1
2021-05-01 21:30:11,104 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 04_默认-1
2021-05-01 21:30:11,105 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 04_默认-1
2021-05-01 21:30:11,105 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 01_默认-1
2021-05-01 21:30:11,105 INFO  ExportHelperExtension.cs: 1142 - Found 25 in Zu 7 01_默认-1
2021-05-01 21:30:11,106 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 01_默认-1
2021-05-01 21:30:11,106 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 06_默认-1
2021-05-01 21:30:11,106 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 06_默认-1
2021-05-01 21:30:11,107 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 06_默认-1
2021-05-01 21:30:11,107 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 00_默认-1
2021-05-01 21:30:11,107 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 00_默认-1
2021-05-01 21:30:11,107 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 00_默认-1
2021-05-01 21:30:11,144 INFO  ExportPropertyManager.cs: 1184 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 21:31:05,994 INFO  Serialization.cs: 275 - URDF Configuration found
<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" 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z:Ref="i50"/><VelocityAttribute z:Ref="i52"/></URDFElement><URDFElement z:Id="i53" i:type="Calibration"><Attributes><Attribute z:Id="i54"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i55"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i55"/><RisingAttribute z:Ref="i54"/></URDFElement><URDFElement z:Id="i56" i:type="Dynamics"><Attributes><Attribute z:Id="i57"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i58"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i57"/><FrictionAttribute 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z:Id="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</a:double><a:double>0</a:double><a:double>0</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">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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z:Id="i102"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i102"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i101"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i100"/><Origin z:Ref="i97"/></URDFElement><URDFElement z:Id="i103" i:type="Joint"><Attributes><Attribute z:Id="i104"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">joint1</Value></Attribute><Attribute z:Id="i105"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Automatically Detect</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i106" 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xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i110"/></URDFElement><URDFElement z:Id="i111" i:type="ChildLink"><Attributes><Attribute z:Id="i112"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i112"/></URDFElement><URDFElement z:Id="i113" i:type="Axis"><Attributes><Attribute z:Id="i114"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i114"/></URDFElement><URDFElement z:Id="i115" i:type="Limit"><Attributes><Attribute z:Id="i116"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i117"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i118"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i119"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i118"/><LowerAttribute z:Ref="i116"/><UpperAttribute z:Ref="i117"/><VelocityAttribute z:Ref="i119"/></URDFElement><URDFElement z:Id="i120" i:type="Calibration"><Attributes><Attribute z:Id="i121"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute 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2021-05-01 21:32:08,458 INFO  SwAddin.cs: 271 - Assembly export called for file JAKA Zu 7
2021-05-01 21:32:08,458 INFO  SwAddin.cs: 276 - Save is required
2021-05-01 21:32:08,458 INFO  SwAddin.cs: 290 - Saving assembly
2021-05-01 21:32:08,458 INFO  SwAddin.cs: 293 - Opening property manager
2021-05-01 21:32:08,459 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from JAKA Zu 7
2021-05-01 21:32:08,459 INFO  ExportHelperExtension.cs: 1142 - Found 37 in JAKA Zu 7
2021-05-01 21:32:08,460 INFO  ExportHelperExtension.cs: 1152 - Found 7 features of type [CoordSys] in JAKA Zu 7
2021-05-01 21:32:08,460 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-05-01 21:32:08,460 INFO  ExportHelperExtension.cs: 1167 - 7 components to check
2021-05-01 21:32:08,461 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 02_默认-1
2021-05-01 21:32:08,461 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 02_默认-1
2021-05-01 21:32:08,461 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 02_默认-1
2021-05-01 21:32:08,462 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 03_默认-1
2021-05-01 21:32:08,462 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 03_默认-1
2021-05-01 21:32:08,462 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 03_默认-1
2021-05-01 21:32:08,463 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 05_默认-1
2021-05-01 21:32:08,463 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 05_默认-1
2021-05-01 21:32:08,463 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 05_默认-1
2021-05-01 21:32:08,464 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 04_默认-1
2021-05-01 21:32:08,464 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 04_默认-1
2021-05-01 21:32:08,464 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 04_默认-1
2021-05-01 21:32:08,465 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 01_默认-1
2021-05-01 21:32:08,465 INFO  ExportHelperExtension.cs: 1142 - Found 25 in Zu 7 01_默认-1
2021-05-01 21:32:08,465 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 01_默认-1
2021-05-01 21:32:08,466 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 06_默认-1
2021-05-01 21:32:08,466 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 06_默认-1
2021-05-01 21:32:08,467 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 06_默认-1
2021-05-01 21:32:08,467 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 00_默认-1
2021-05-01 21:32:08,467 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 00_默认-1
2021-05-01 21:32:08,468 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 00_默认-1
2021-05-01 21:32:08,468 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from JAKA Zu 7
2021-05-01 21:32:08,468 INFO  ExportHelperExtension.cs: 1142 - Found 37 in JAKA Zu 7
2021-05-01 21:32:08,469 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in JAKA Zu 7
2021-05-01 21:32:08,469 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-05-01 21:32:08,469 INFO  ExportHelperExtension.cs: 1167 - 7 components to check
2021-05-01 21:32:08,469 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 02_默认-1
2021-05-01 21:32:08,470 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 02_默认-1
2021-05-01 21:32:08,470 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 02_默认-1
2021-05-01 21:32:08,470 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 03_默认-1
2021-05-01 21:32:08,470 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 03_默认-1
2021-05-01 21:32:08,471 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 03_默认-1
2021-05-01 21:32:08,471 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 05_默认-1
2021-05-01 21:32:08,471 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 05_默认-1
2021-05-01 21:32:08,472 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 05_默认-1
2021-05-01 21:32:08,472 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 04_默认-1
2021-05-01 21:32:08,472 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 04_默认-1
2021-05-01 21:32:08,472 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 04_默认-1
2021-05-01 21:32:08,473 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 01_默认-1
2021-05-01 21:32:08,473 INFO  ExportHelperExtension.cs: 1142 - Found 25 in Zu 7 01_默认-1
2021-05-01 21:32:08,473 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 01_默认-1
2021-05-01 21:32:08,473 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 06_默认-1
2021-05-01 21:32:08,474 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 06_默认-1
2021-05-01 21:32:08,474 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 06_默认-1
2021-05-01 21:32:08,474 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 00_默认-1
2021-05-01 21:32:08,475 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 00_默认-1
2021-05-01 21:32:08,475 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 00_默认-1
2021-05-01 21:32:08,563 INFO  SwAddin.cs: 316 - Loading config tree
2021-05-01 21:32:08,564 INFO  Serialization.cs: 275 - 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>0.00096505305117877379</a:double><a:double>0.01955302674256509</a:double><a:double>-1.3198079636451933E-07</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">0.51460846002815286</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">0.00062136440065608633</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">3.2169274786742327E-06</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">-3.710810181898786E-09</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">0.0013529358540213998</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">3.9403862699598221E-11</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">0.000866452491739078</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</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i61"><AttributeType>soft_lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i62"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i63"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i62"/><KVelocityAttribute z:Ref="i63"/><SoftLowerAttribute z:Ref="i61"/><SoftUpperAttribute z:Ref="i60"/></URDFElement><URDFElement z:Id="i64" i:type="Mimic"><Attributes><Attribute z:Id="i65"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i66"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i67"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i65"/><MultiplierAttribute z:Ref="i66"/><OffsetAttribute z:Ref="i67"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i46"/><AxisName/><Calibration z:Ref="i53"/><Child z:Ref="i44"/><CoordinateSystemName>Origin_global</CoordinateSystemName><Dynamics z:Ref="i56"/><Limit z:Ref="i48"/><Mimic z:Ref="i64"/><NameAttribute z:Ref="i37"/><Origin z:Ref="i39"/><Parent z:Ref="i42"/><Safety z:Ref="i59"/><TypeAttribute z:Ref="i38"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i68"><Attributes><Attribute 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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">joint6</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">fixed</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i441" i:type="Origin"><Attributes><Attribute 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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</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i449"/></URDFElement><URDFElement z:Id="i450" i:type="Limit"><Attributes><Attribute z:Id="i451"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i452"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i453"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i454"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i453"/><LowerAttribute z:Ref="i451"/><UpperAttribute z:Ref="i452"/><VelocityAttribute z:Ref="i454"/></URDFElement><URDFElement z:Id="i455" i:type="Calibration"><Attributes><Attribute z:Id="i456"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute 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2021-05-01 21:32:08,617 INFO  LinkNode.cs: 35 - Building node base_link
2021-05-01 21:32:08,617 INFO  LinkNode.cs: 35 - Building node link1
2021-05-01 21:32:08,618 INFO  LinkNode.cs: 35 - Building node link2
2021-05-01 21:32:08,618 INFO  LinkNode.cs: 35 - Building node link3
2021-05-01 21:32:08,618 INFO  LinkNode.cs: 35 - Building node link4
2021-05-01 21:32:08,618 INFO  LinkNode.cs: 35 - Building node link5
2021-05-01 21:32:08,619 INFO  LinkNode.cs: 35 - Building node link6
2021-05-01 21:32:08,619 INFO  Common.cs: 221 - Loading SolidWorks components for base_link from 
2021-05-01 21:32:08,620 INFO  Common.cs: 245 - Loading component with PID ?.???Zu 7 00_????-1@JAKA Zu 7


2021-05-01 21:32:08,644 INFO  Common.cs: 254 - Successfully loaded component C:\Users\User\Desktop\161729347199596200\Zu 7 00_默认.sldprt
2021-05-01 21:32:08,645 INFO  Common.cs: 230 - Loaded 1 components for link base_link
2021-05-01 21:32:08,645 INFO  Common.cs: 221 - Loading SolidWorks components for link1 from 
2021-05-01 21:32:08,645 INFO  Common.cs: 245 - Loading component with PID ?.???Zu 7 01_????-1@JAKA Zu 7


2021-05-01 21:32:08,646 INFO  Common.cs: 254 - Successfully loaded component C:\Users\User\Desktop\161729347199596200\Zu 7 01_默认.sldprt
2021-05-01 21:32:08,646 INFO  Common.cs: 230 - Loaded 1 components for link link1
2021-05-01 21:32:08,646 INFO  Common.cs: 221 - Loading SolidWorks components for link2 from 
2021-05-01 21:32:08,646 INFO  Common.cs: 245 - Loading component with PID ?.???Zu 7 02_????-1@JAKA Zu 7


2021-05-01 21:32:08,647 INFO  Common.cs: 254 - Successfully loaded component C:\Users\User\Desktop\161729347199596200\Zu 7 02_默认.sldprt
2021-05-01 21:32:08,647 INFO  Common.cs: 230 - Loaded 1 components for link link2
2021-05-01 21:32:08,647 INFO  Common.cs: 221 - Loading SolidWorks components for link3 from 
2021-05-01 21:32:08,647 INFO  Common.cs: 245 - Loading component with PID ?.???Zu 7 03_????-1@JAKA Zu 7


2021-05-01 21:32:08,648 INFO  Common.cs: 254 - Successfully loaded component C:\Users\User\Desktop\161729347199596200\Zu 7 03_默认.sldprt
2021-05-01 21:32:08,648 INFO  Common.cs: 230 - Loaded 1 components for link link3
2021-05-01 21:32:08,648 INFO  Common.cs: 221 - Loading SolidWorks components for link4 from 
2021-05-01 21:32:08,648 INFO  Common.cs: 245 - Loading component with PID ?.???Zu 7 04_????-1@JAKA Zu 7


2021-05-01 21:32:08,649 INFO  Common.cs: 254 - Successfully loaded component C:\Users\User\Desktop\161729347199596200\Zu 7 04_默认.sldprt
2021-05-01 21:32:08,649 INFO  Common.cs: 230 - Loaded 1 components for link link4
2021-05-01 21:32:08,649 INFO  Common.cs: 221 - Loading SolidWorks components for link5 from 
2021-05-01 21:32:08,649 INFO  Common.cs: 245 - Loading component with PID ?.???Zu 7 05_????-1@JAKA Zu 7


2021-05-01 21:32:08,649 INFO  Common.cs: 254 - Successfully loaded component C:\Users\User\Desktop\161729347199596200\Zu 7 05_默认.sldprt
2021-05-01 21:32:08,650 INFO  Common.cs: 230 - Loaded 1 components for link link5
2021-05-01 21:32:08,650 INFO  Common.cs: 221 - Loading SolidWorks components for link6 from 
2021-05-01 21:32:08,650 INFO  Common.cs: 245 - Loading component with PID ?.???Zu 7 06_????-1@JAKA Zu 7


2021-05-01 21:32:08,651 INFO  Common.cs: 254 - Successfully loaded component C:\Users\User\Desktop\161729347199596200\Zu 7 06_默认.sldprt
2021-05-01 21:32:08,651 INFO  Common.cs: 230 - Loaded 1 components for link link6
2021-05-01 21:32:08,660 INFO  SwAddin.cs: 321 - Showing property manager
2021-05-01 21:33:02,000 INFO  ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 21:33:14,590 INFO  ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 21:33:18,219 INFO  ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 21:33:22,141 INFO  ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 21:33:25,979 INFO  ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 21:33:28,299 INFO  ExportPropertyManager.cs: 456 - Configuration saved
2021-05-01 21:33:28,300 INFO  Serialization.cs: 275 - URDF Configuration found
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2021-05-01 21:33:28,462 INFO  ExportHelperExtension.cs: 338 - Creating joint link1
2021-05-01 21:33:28,462 INFO  ExportHelperExtension.cs: 1409 - Fixing components for base_link
2021-05-01 21:33:28,463 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 21:33:28,589 INFO  ExportHelperExtension.cs: 835 - R1: 0, 0
2021-05-01 21:33:28,590 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 21:33:28,590 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 21:33:28,590 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 21:33:28,591 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 21:33:28,713 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child link1 failed
2021-05-01 21:33:28,776 INFO  ExportHelperExtension.cs: 338 - Creating joint link2
2021-05-01 21:33:28,777 INFO  ExportHelperExtension.cs: 1409 - Fixing components for link1
2021-05-01 21:33:28,777 INFO  ExportHelperExtension.cs: 1414 - Fixing 25
2021-05-01 21:33:28,777 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 21:33:28,911 INFO  ExportHelperExtension.cs: 835 - R1: 0, 0
2021-05-01 21:33:28,912 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 21:33:28,912 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 21:33:28,912 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 21:33:28,913 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 25
2021-05-01 21:33:28,913 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 21:33:29,044 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent link1 to child link2 failed
2021-05-01 21:33:29,210 INFO  ExportHelperExtension.cs: 338 - Creating joint link3
2021-05-01 21:33:29,210 INFO  ExportHelperExtension.cs: 1409 - Fixing components for link2
2021-05-01 21:33:29,210 INFO  ExportHelperExtension.cs: 1414 - Fixing 26
2021-05-01 21:33:29,210 INFO  ExportHelperExtension.cs: 1414 - Fixing 25
2021-05-01 21:33:29,210 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 21:33:29,344 INFO  ExportHelperExtension.cs: 835 - R1: 0, 0
2021-05-01 21:33:29,345 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 21:33:29,345 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 21:33:29,345 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 21:33:29,346 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 26
2021-05-01 21:33:29,346 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 25
2021-05-01 21:33:29,346 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 21:33:29,494 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent link2 to child link3 failed
2021-05-01 21:33:29,634 INFO  ExportHelperExtension.cs: 338 - Creating joint link4
2021-05-01 21:33:29,635 INFO  ExportHelperExtension.cs: 1409 - Fixing components for link3
2021-05-01 21:33:29,635 INFO  ExportHelperExtension.cs: 1414 - Fixing 27
2021-05-01 21:33:29,635 INFO  ExportHelperExtension.cs: 1414 - Fixing 26
2021-05-01 21:33:29,635 INFO  ExportHelperExtension.cs: 1414 - Fixing 25
2021-05-01 21:33:29,636 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 21:33:29,811 INFO  ExportHelperExtension.cs: 835 - R1: 0, 0
2021-05-01 21:33:29,812 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 21:33:29,812 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 21:33:29,812 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 21:33:29,813 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 27
2021-05-01 21:33:29,813 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 26
2021-05-01 21:33:29,813 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 25
2021-05-01 21:33:29,813 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 21:33:29,980 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent link3 to child link4 failed
2021-05-01 21:33:30,008 INFO  ExportHelperExtension.cs: 338 - Creating joint link5
2021-05-01 21:33:30,012 INFO  ExportHelperExtension.cs: 1409 - Fixing components for link4
2021-05-01 21:33:30,012 INFO  ExportHelperExtension.cs: 1414 - Fixing 28
2021-05-01 21:33:30,012 INFO  ExportHelperExtension.cs: 1414 - Fixing 27
2021-05-01 21:33:30,013 INFO  ExportHelperExtension.cs: 1414 - Fixing 26
2021-05-01 21:33:30,013 INFO  ExportHelperExtension.cs: 1414 - Fixing 25
2021-05-01 21:33:30,013 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 21:33:30,228 INFO  ExportHelperExtension.cs: 835 - R1: 0, 0
2021-05-01 21:33:30,229 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 21:33:30,229 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 21:33:30,229 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 21:33:30,229 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 28
2021-05-01 21:33:30,230 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 27
2021-05-01 21:33:30,230 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 26
2021-05-01 21:33:30,230 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 25
2021-05-01 21:33:30,231 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 21:33:30,399 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent link4 to child link5 failed
2021-05-01 21:33:30,428 INFO  ExportHelperExtension.cs: 338 - Creating joint link6
2021-05-01 21:33:30,428 INFO  ExportHelperExtension.cs: 1409 - Fixing components for link5
2021-05-01 21:33:30,429 INFO  ExportHelperExtension.cs: 1414 - Fixing 29
2021-05-01 21:33:30,429 INFO  ExportHelperExtension.cs: 1414 - Fixing 28
2021-05-01 21:33:30,429 INFO  ExportHelperExtension.cs: 1414 - Fixing 27
2021-05-01 21:33:30,429 INFO  ExportHelperExtension.cs: 1414 - Fixing 26
2021-05-01 21:33:30,430 INFO  ExportHelperExtension.cs: 1414 - Fixing 25
2021-05-01 21:33:30,430 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 21:33:30,597 INFO  ExportHelperExtension.cs: 835 - R1: 0, 0
2021-05-01 21:33:30,598 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 21:33:30,598 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 21:33:30,598 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 21:33:30,598 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 29
2021-05-01 21:33:30,599 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 28
2021-05-01 21:33:30,599 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 27
2021-05-01 21:33:30,599 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 26
2021-05-01 21:33:30,599 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 25
2021-05-01 21:33:30,600 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 21:33:30,762 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent link5 to child link6 failed
2021-05-01 21:33:30,835 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from JAKA Zu 7
2021-05-01 21:33:30,835 INFO  ExportHelperExtension.cs: 1142 - Found 37 in JAKA Zu 7
2021-05-01 21:33:30,836 INFO  ExportHelperExtension.cs: 1152 - Found 7 features of type [CoordSys] in JAKA Zu 7
2021-05-01 21:33:30,836 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-05-01 21:33:30,836 INFO  ExportHelperExtension.cs: 1167 - 7 components to check
2021-05-01 21:33:30,837 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 02_默认-1
2021-05-01 21:33:30,837 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 02_默认-1
2021-05-01 21:33:30,837 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 02_默认-1
2021-05-01 21:33:30,838 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 03_默认-1
2021-05-01 21:33:30,838 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 03_默认-1
2021-05-01 21:33:30,839 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 03_默认-1
2021-05-01 21:33:30,839 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 05_默认-1
2021-05-01 21:33:30,839 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 05_默认-1
2021-05-01 21:33:30,840 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 05_默认-1
2021-05-01 21:33:30,840 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 04_默认-1
2021-05-01 21:33:30,840 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 04_默认-1
2021-05-01 21:33:30,841 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 04_默认-1
2021-05-01 21:33:30,841 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 01_默认-1
2021-05-01 21:33:30,841 INFO  ExportHelperExtension.cs: 1142 - Found 25 in Zu 7 01_默认-1
2021-05-01 21:33:30,842 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 01_默认-1
2021-05-01 21:33:30,842 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 06_默认-1
2021-05-01 21:33:30,842 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 06_默认-1
2021-05-01 21:33:30,843 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 06_默认-1
2021-05-01 21:33:30,843 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 00_默认-1
2021-05-01 21:33:30,843 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 00_默认-1
2021-05-01 21:33:30,844 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 00_默认-1
2021-05-01 21:33:30,844 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from JAKA Zu 7
2021-05-01 21:33:30,844 INFO  ExportHelperExtension.cs: 1142 - Found 37 in JAKA Zu 7
2021-05-01 21:33:30,845 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in JAKA Zu 7
2021-05-01 21:33:30,845 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-05-01 21:33:30,845 INFO  ExportHelperExtension.cs: 1167 - 7 components to check
2021-05-01 21:33:30,845 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 02_默认-1
2021-05-01 21:33:30,846 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 02_默认-1
2021-05-01 21:33:30,846 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 02_默认-1
2021-05-01 21:33:30,846 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 03_默认-1
2021-05-01 21:33:30,847 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 03_默认-1
2021-05-01 21:33:30,847 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 03_默认-1
2021-05-01 21:33:30,847 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 05_默认-1
2021-05-01 21:33:30,847 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 05_默认-1
2021-05-01 21:33:30,848 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 05_默认-1
2021-05-01 21:33:30,848 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 04_默认-1
2021-05-01 21:33:30,848 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 04_默认-1
2021-05-01 21:33:30,849 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 04_默认-1
2021-05-01 21:33:30,849 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 01_默认-1
2021-05-01 21:33:30,849 INFO  ExportHelperExtension.cs: 1142 - Found 25 in Zu 7 01_默认-1
2021-05-01 21:33:30,849 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 01_默认-1
2021-05-01 21:33:30,850 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 06_默认-1
2021-05-01 21:33:30,850 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 06_默认-1
2021-05-01 21:33:30,850 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 06_默认-1
2021-05-01 21:33:30,850 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 00_默认-1
2021-05-01 21:33:30,851 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 00_默认-1
2021-05-01 21:33:30,851 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 00_默认-1
2021-05-01 21:33:30,884 INFO  ExportPropertyManager.cs: 1184 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 21:33:46,410 INFO  Serialization.cs: 275 - 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>0.00096505305117877379</a:double><a:double>0.01955302674256509</a:double><a:double>-1.3198079636451933E-07</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">0.51460846002815286</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">0.00062136440065608633</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">3.2169274786742327E-06</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">-3.710810181898786E-09</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">0.0013529358540213998</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">3.9403862699598221E-11</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">0.000866452491739078</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" 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z:Ref="i407"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i409" i:type="Mass"><Attributes><Attribute z:Id="i410"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.18049452601038615</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i410"/></URDFElement><URDFElement z:Id="i411" i:type="Inertia"><Attributes><Attribute z:Id="i412"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">9.1058820859823522E-05</Value></Attribute><Attribute z:Id="i413"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">7.5682270464633388E-09</Value></Attribute><Attribute z:Id="i414"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">4.0801084856503484E-07</Value></Attribute><Attribute z:Id="i415"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.00014381449730207504</Value></Attribute><Attribute z:Id="i416"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">2.1793672753277778E-07</Value></Attribute><Attribute z:Id="i417"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">9.2038860665982631E-05</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i412"/><IxyAttribute z:Ref="i413"/><IxzAttribute z:Ref="i414"/><IyyAttribute z:Ref="i415"/><IyzAttribute z:Ref="i416"/><IzzAttribute z:Ref="i417"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i411"/><Mass z:Ref="i409"/><Origin z:Ref="i406"/></URDFElement><URDFElement z:Id="i418" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i419" i:type="Origin"><Attributes><Attribute z:Id="i420"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i421"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i421"/><XYZAttribute z:Ref="i420"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i422" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i423" i:type="Mesh"><Attributes><Attribute z:Id="i424"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i424"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i423"/></URDFElement><URDFElement z:Id="i425" i:type="Material"><Attributes><Attribute z:Id="i426"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i427" i:type="Color"><Attributes><Attribute z:Id="i428"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i428"/></URDFElement><URDFElement z:Id="i429" i:type="Texture"><Attributes><Attribute z:Id="i430"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i430"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i427"/><NameAttribute z:Ref="i426"/><Texture z:Ref="i429"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i422"/><Material z:Ref="i425"/><Origin z:Ref="i419"/></URDFElement><URDFElement z:Id="i431" 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">joint6</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">continuous</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>0.15412</a:double><a:double>-0.039</a:double><a:double>0.06697</a:double></Value></Attribute><Attribute z:Id="i443"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>-0.35771</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i443"/><XYZAttribute z:Ref="i442"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i444" i:type="ParentLink"><Attributes><Attribute z:Id="i445"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">link5</Value></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i445"/></URDFElement><URDFElement z:Id="i446" i:type="ChildLink"><Attributes><Attribute z:Id="i447"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">link6</Value></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i447"/></URDFElement><URDFElement z:Id="i448" i:type="Axis"><Attributes><Attribute z:Id="i449"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i449"/></URDFElement><URDFElement z:Id="i450" i:type="Limit"><Attributes><Attribute z:Id="i451"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i452"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i453"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i454"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i453"/><LowerAttribute z:Ref="i451"/><UpperAttribute z:Ref="i452"/><VelocityAttribute z:Ref="i454"/></URDFElement><URDFElement z:Id="i455" i:type="Calibration"><Attributes><Attribute z:Id="i456"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i457"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i457"/><RisingAttribute z:Ref="i456"/></URDFElement><URDFElement z:Id="i458" i:type="Dynamics"><Attributes><Attribute z:Id="i459"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i460"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i459"/><FrictionAttribute z:Ref="i460"/></URDFElement><URDFElement z:Id="i461" i:type="SafetyController"><Attributes><Attribute z:Id="i462"><AttributeType>soft_upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i463"><AttributeType>soft_lower</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>Origin_joint6</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAANgBfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAHgAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAANQBfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAHQAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAANABfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAHAAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAAMwBfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAGwAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAAMgBfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAGgAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAAMQBfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAGQAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAAMABfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAGAAAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
2021-05-01 21:33:59,697 INFO  SwAddin.cs: 271 - Assembly export called for file JAKA Zu 7
2021-05-01 21:33:59,697 INFO  SwAddin.cs: 276 - Save is required
2021-05-01 21:33:59,697 INFO  SwAddin.cs: 290 - Saving assembly
2021-05-01 21:33:59,698 INFO  SwAddin.cs: 293 - Opening property manager
2021-05-01 21:33:59,698 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from JAKA Zu 7
2021-05-01 21:33:59,698 INFO  ExportHelperExtension.cs: 1142 - Found 37 in JAKA Zu 7
2021-05-01 21:33:59,699 INFO  ExportHelperExtension.cs: 1152 - Found 7 features of type [CoordSys] in JAKA Zu 7
2021-05-01 21:33:59,699 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-05-01 21:33:59,699 INFO  ExportHelperExtension.cs: 1167 - 7 components to check
2021-05-01 21:33:59,700 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 02_默认-1
2021-05-01 21:33:59,700 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 02_默认-1
2021-05-01 21:33:59,700 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 02_默认-1
2021-05-01 21:33:59,701 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 03_默认-1
2021-05-01 21:33:59,701 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 03_默认-1
2021-05-01 21:33:59,701 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 03_默认-1
2021-05-01 21:33:59,702 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 05_默认-1
2021-05-01 21:33:59,702 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 05_默认-1
2021-05-01 21:33:59,702 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 05_默认-1
2021-05-01 21:33:59,703 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 04_默认-1
2021-05-01 21:33:59,703 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 04_默认-1
2021-05-01 21:33:59,703 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 04_默认-1
2021-05-01 21:33:59,704 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 01_默认-1
2021-05-01 21:33:59,704 INFO  ExportHelperExtension.cs: 1142 - Found 25 in Zu 7 01_默认-1
2021-05-01 21:33:59,704 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 01_默认-1
2021-05-01 21:33:59,705 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 06_默认-1
2021-05-01 21:33:59,705 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 06_默认-1
2021-05-01 21:33:59,705 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 06_默认-1
2021-05-01 21:33:59,706 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 00_默认-1
2021-05-01 21:33:59,706 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 00_默认-1
2021-05-01 21:33:59,707 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 00_默认-1
2021-05-01 21:33:59,707 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from JAKA Zu 7
2021-05-01 21:33:59,707 INFO  ExportHelperExtension.cs: 1142 - Found 37 in JAKA Zu 7
2021-05-01 21:33:59,707 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in JAKA Zu 7
2021-05-01 21:33:59,707 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-05-01 21:33:59,707 INFO  ExportHelperExtension.cs: 1167 - 7 components to check
2021-05-01 21:33:59,707 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 02_默认-1
2021-05-01 21:33:59,707 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 02_默认-1
2021-05-01 21:33:59,708 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 02_默认-1
2021-05-01 21:33:59,708 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 03_默认-1
2021-05-01 21:33:59,708 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 03_默认-1
2021-05-01 21:33:59,708 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 03_默认-1
2021-05-01 21:33:59,709 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 05_默认-1
2021-05-01 21:33:59,709 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 05_默认-1
2021-05-01 21:33:59,709 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 05_默认-1
2021-05-01 21:33:59,709 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 04_默认-1
2021-05-01 21:33:59,710 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 04_默认-1
2021-05-01 21:33:59,710 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 04_默认-1
2021-05-01 21:33:59,710 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 01_默认-1
2021-05-01 21:33:59,710 INFO  ExportHelperExtension.cs: 1142 - Found 25 in Zu 7 01_默认-1
2021-05-01 21:33:59,711 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 01_默认-1
2021-05-01 21:33:59,711 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 06_默认-1
2021-05-01 21:33:59,711 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 06_默认-1
2021-05-01 21:33:59,712 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 06_默认-1
2021-05-01 21:33:59,712 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 00_默认-1
2021-05-01 21:33:59,712 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 00_默认-1
2021-05-01 21:33:59,712 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 00_默认-1
2021-05-01 21:33:59,802 INFO  SwAddin.cs: 316 - Loading config tree
2021-05-01 21:33:59,802 INFO  Serialization.cs: 275 - URDF Configuration found
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z:Ref="i336"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>4C4AAAUAAAD//v8WWgB1ACAANwAgADAANgBfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAHgAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAANQBfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAHQAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAANABfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAHAAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAAMwBfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAGwAAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual 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2021-05-01 21:33:59,805 INFO  LinkNode.cs: 35 - Building node base_link
2021-05-01 21:33:59,805 INFO  LinkNode.cs: 35 - Building node link1
2021-05-01 21:33:59,805 INFO  LinkNode.cs: 35 - Building node link2
2021-05-01 21:33:59,806 INFO  LinkNode.cs: 35 - Building node link3
2021-05-01 21:33:59,806 INFO  LinkNode.cs: 35 - Building node link4
2021-05-01 21:33:59,806 INFO  LinkNode.cs: 35 - Building node link5
2021-05-01 21:33:59,806 INFO  LinkNode.cs: 35 - Building node link6
2021-05-01 21:33:59,807 INFO  Common.cs: 221 - Loading SolidWorks components for base_link from 
2021-05-01 21:33:59,807 INFO  Common.cs: 245 - Loading component with PID ?.???Zu 7 00_????-1@JAKA Zu 7


2021-05-01 21:33:59,807 INFO  Common.cs: 254 - Successfully loaded component C:\Users\User\Desktop\161729347199596200\Zu 7 00_默认.sldprt
2021-05-01 21:33:59,807 INFO  Common.cs: 230 - Loaded 1 components for link base_link
2021-05-01 21:33:59,808 INFO  Common.cs: 221 - Loading SolidWorks components for link1 from 
2021-05-01 21:33:59,808 INFO  Common.cs: 245 - Loading component with PID ?.???Zu 7 01_????-1@JAKA Zu 7


2021-05-01 21:33:59,808 INFO  Common.cs: 254 - Successfully loaded component C:\Users\User\Desktop\161729347199596200\Zu 7 01_默认.sldprt
2021-05-01 21:33:59,808 INFO  Common.cs: 230 - Loaded 1 components for link link1
2021-05-01 21:33:59,808 INFO  Common.cs: 221 - Loading SolidWorks components for link2 from 
2021-05-01 21:33:59,809 INFO  Common.cs: 245 - Loading component with PID ?.???Zu 7 02_????-1@JAKA Zu 7


2021-05-01 21:33:59,809 INFO  Common.cs: 254 - Successfully loaded component C:\Users\User\Desktop\161729347199596200\Zu 7 02_默认.sldprt
2021-05-01 21:33:59,809 INFO  Common.cs: 230 - Loaded 1 components for link link2
2021-05-01 21:33:59,809 INFO  Common.cs: 221 - Loading SolidWorks components for link3 from 
2021-05-01 21:33:59,810 INFO  Common.cs: 245 - Loading component with PID ?.???Zu 7 03_????-1@JAKA Zu 7


2021-05-01 21:33:59,810 INFO  Common.cs: 254 - Successfully loaded component C:\Users\User\Desktop\161729347199596200\Zu 7 03_默认.sldprt
2021-05-01 21:33:59,810 INFO  Common.cs: 230 - Loaded 1 components for link link3
2021-05-01 21:33:59,810 INFO  Common.cs: 221 - Loading SolidWorks components for link4 from 
2021-05-01 21:33:59,810 INFO  Common.cs: 245 - Loading component with PID ?.???Zu 7 04_????-1@JAKA Zu 7


2021-05-01 21:33:59,811 INFO  Common.cs: 254 - Successfully loaded component C:\Users\User\Desktop\161729347199596200\Zu 7 04_默认.sldprt
2021-05-01 21:33:59,811 INFO  Common.cs: 230 - Loaded 1 components for link link4
2021-05-01 21:33:59,811 INFO  Common.cs: 221 - Loading SolidWorks components for link5 from 
2021-05-01 21:33:59,811 INFO  Common.cs: 245 - Loading component with PID ?.???Zu 7 05_????-1@JAKA Zu 7


2021-05-01 21:33:59,812 INFO  Common.cs: 254 - Successfully loaded component C:\Users\User\Desktop\161729347199596200\Zu 7 05_默认.sldprt
2021-05-01 21:33:59,812 INFO  Common.cs: 230 - Loaded 1 components for link link5
2021-05-01 21:33:59,812 INFO  Common.cs: 221 - Loading SolidWorks components for link6 from 
2021-05-01 21:33:59,813 INFO  Common.cs: 245 - Loading component with PID ?.???Zu 7 06_????-1@JAKA Zu 7


2021-05-01 21:33:59,813 INFO  Common.cs: 254 - Successfully loaded component C:\Users\User\Desktop\161729347199596200\Zu 7 06_默认.sldprt
2021-05-01 21:33:59,813 INFO  Common.cs: 230 - Loaded 1 components for link link6
2021-05-01 21:33:59,823 INFO  SwAddin.cs: 321 - Showing property manager
2021-05-01 21:35:35,878 INFO  ExportPropertyManager.cs: 456 - Configuration saved
2021-05-01 21:35:35,880 INFO  Serialization.cs: 275 - URDF Configuration found
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z:Ref="i420"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i422" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i423" i:type="Mesh"><Attributes><Attribute z:Id="i424"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i424"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i423"/></URDFElement><URDFElement z:Id="i425" i:type="Material"><Attributes><Attribute z:Id="i426"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i427" i:type="Color"><Attributes><Attribute z:Id="i428"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i428"/></URDFElement><URDFElement z:Id="i429" i:type="Texture"><Attributes><Attribute z:Id="i430"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i430"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i427"/><NameAttribute z:Ref="i426"/><Texture z:Ref="i429"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i422"/><Material z:Ref="i425"/><Origin z:Ref="i419"/></URDFElement><URDFElement z:Id="i431" 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">joint6</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">continuous</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>0.15412</a:double><a:double>-0.039</a:double><a:double>0.06697</a:double></Value></Attribute><Attribute z:Id="i443"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>-0.35771</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i443"/><XYZAttribute z:Ref="i442"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i444" i:type="ParentLink"><Attributes><Attribute z:Id="i445"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">link5</Value></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i445"/></URDFElement><URDFElement z:Id="i446" i:type="ChildLink"><Attributes><Attribute z:Id="i447"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">link6</Value></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i447"/></URDFElement><URDFElement z:Id="i448" i:type="Axis"><Attributes><Attribute z:Id="i449"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i449"/></URDFElement><URDFElement z:Id="i450" i:type="Limit"><Attributes><Attribute z:Id="i451"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i452"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i453"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i454"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i453"/><LowerAttribute z:Ref="i451"/><UpperAttribute z:Ref="i452"/><VelocityAttribute z:Ref="i454"/></URDFElement><URDFElement z:Id="i455" i:type="Calibration"><Attributes><Attribute z:Id="i456"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i457"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i457"/><RisingAttribute z:Ref="i456"/></URDFElement><URDFElement z:Id="i458" i:type="Dynamics"><Attributes><Attribute z:Id="i459"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i460"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i459"/><FrictionAttribute z:Ref="i460"/></URDFElement><URDFElement z:Id="i461" i:type="SafetyController"><Attributes><Attribute z:Id="i462"><AttributeType>soft_upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i463"><AttributeType>soft_lower</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>Origin_joint6</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAANgBfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAHgAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAANQBfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAHQAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAANABfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAHAAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAAMwBfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAGwAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAAMgBfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAGgAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAAMQBfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAGQAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAAMABfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAGAAAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
2021-05-01 21:35:35,925 INFO  ExportPropertyManager.cs: 1184 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 21:35:41,172 INFO  SwAddin.cs: 271 - Assembly export called for file JAKA Zu 7
2021-05-01 21:35:41,172 INFO  SwAddin.cs: 276 - Save is required
2021-05-01 21:35:41,172 INFO  SwAddin.cs: 290 - Saving assembly
2021-05-01 21:35:41,173 INFO  SwAddin.cs: 293 - Opening property manager
2021-05-01 21:35:41,173 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from JAKA Zu 7
2021-05-01 21:35:41,173 INFO  ExportHelperExtension.cs: 1142 - Found 37 in JAKA Zu 7
2021-05-01 21:35:41,174 INFO  ExportHelperExtension.cs: 1152 - Found 7 features of type [CoordSys] in JAKA Zu 7
2021-05-01 21:35:41,174 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-05-01 21:35:41,174 INFO  ExportHelperExtension.cs: 1167 - 7 components to check
2021-05-01 21:35:41,174 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 02_默认-1
2021-05-01 21:35:41,175 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 02_默认-1
2021-05-01 21:35:41,175 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 02_默认-1
2021-05-01 21:35:41,176 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 03_默认-1
2021-05-01 21:35:41,176 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 03_默认-1
2021-05-01 21:35:41,176 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 03_默认-1
2021-05-01 21:35:41,177 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 05_默认-1
2021-05-01 21:35:41,177 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 05_默认-1
2021-05-01 21:35:41,177 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 05_默认-1
2021-05-01 21:35:41,178 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 04_默认-1
2021-05-01 21:35:41,178 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 04_默认-1
2021-05-01 21:35:41,178 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 04_默认-1
2021-05-01 21:35:41,179 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 01_默认-1
2021-05-01 21:35:41,179 INFO  ExportHelperExtension.cs: 1142 - Found 25 in Zu 7 01_默认-1
2021-05-01 21:35:41,179 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 01_默认-1
2021-05-01 21:35:41,180 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 06_默认-1
2021-05-01 21:35:41,180 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 06_默认-1
2021-05-01 21:35:41,180 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 06_默认-1
2021-05-01 21:35:41,181 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 00_默认-1
2021-05-01 21:35:41,181 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 00_默认-1
2021-05-01 21:35:41,181 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 00_默认-1
2021-05-01 21:35:41,182 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from JAKA Zu 7
2021-05-01 21:35:41,182 INFO  ExportHelperExtension.cs: 1142 - Found 37 in JAKA Zu 7
2021-05-01 21:35:41,182 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in JAKA Zu 7
2021-05-01 21:35:41,183 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-05-01 21:35:41,183 INFO  ExportHelperExtension.cs: 1167 - 7 components to check
2021-05-01 21:35:41,183 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 02_默认-1
2021-05-01 21:35:41,183 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 02_默认-1
2021-05-01 21:35:41,184 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 02_默认-1
2021-05-01 21:35:41,184 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 03_默认-1
2021-05-01 21:35:41,184 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 03_默认-1
2021-05-01 21:35:41,184 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 03_默认-1
2021-05-01 21:35:41,185 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 05_默认-1
2021-05-01 21:35:41,185 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 05_默认-1
2021-05-01 21:35:41,185 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 05_默认-1
2021-05-01 21:35:41,185 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 04_默认-1
2021-05-01 21:35:41,186 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 04_默认-1
2021-05-01 21:35:41,186 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 04_默认-1
2021-05-01 21:35:41,186 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 01_默认-1
2021-05-01 21:35:41,186 INFO  ExportHelperExtension.cs: 1142 - Found 25 in Zu 7 01_默认-1
2021-05-01 21:35:41,187 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 01_默认-1
2021-05-01 21:35:41,187 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 06_默认-1
2021-05-01 21:35:41,187 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 06_默认-1
2021-05-01 21:35:41,187 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 06_默认-1
2021-05-01 21:35:41,188 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 00_默认-1
2021-05-01 21:35:41,188 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 00_默认-1
2021-05-01 21:35:41,188 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 00_默认-1
2021-05-01 21:35:41,220 INFO  SwAddin.cs: 316 - Loading config tree
2021-05-01 21:35:41,221 INFO  Serialization.cs: 275 - URDF Configuration found
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2021-05-01 21:35:41,224 INFO  LinkNode.cs: 35 - Building node base_link
2021-05-01 21:35:41,224 INFO  LinkNode.cs: 35 - Building node link1
2021-05-01 21:35:41,224 INFO  LinkNode.cs: 35 - Building node link2
2021-05-01 21:35:41,224 INFO  LinkNode.cs: 35 - Building node link3
2021-05-01 21:35:41,225 INFO  LinkNode.cs: 35 - Building node link4
2021-05-01 21:35:41,225 INFO  LinkNode.cs: 35 - Building node link5
2021-05-01 21:35:41,225 INFO  LinkNode.cs: 35 - Building node link6
2021-05-01 21:35:41,225 INFO  Common.cs: 221 - Loading SolidWorks components for base_link from 
2021-05-01 21:35:41,226 INFO  Common.cs: 245 - Loading component with PID ?.???Zu 7 00_????-1@JAKA Zu 7


2021-05-01 21:35:41,226 INFO  Common.cs: 254 - Successfully loaded component C:\Users\User\Desktop\161729347199596200\Zu 7 00_默认.sldprt
2021-05-01 21:35:41,226 INFO  Common.cs: 230 - Loaded 1 components for link base_link
2021-05-01 21:35:41,226 INFO  Common.cs: 221 - Loading SolidWorks components for link1 from 
2021-05-01 21:35:41,226 INFO  Common.cs: 245 - Loading component with PID ?.???Zu 7 01_????-1@JAKA Zu 7


2021-05-01 21:35:41,227 INFO  Common.cs: 254 - Successfully loaded component C:\Users\User\Desktop\161729347199596200\Zu 7 01_默认.sldprt
2021-05-01 21:35:41,227 INFO  Common.cs: 230 - Loaded 1 components for link link1
2021-05-01 21:35:41,227 INFO  Common.cs: 221 - Loading SolidWorks components for link2 from 
2021-05-01 21:35:41,227 INFO  Common.cs: 245 - Loading component with PID ?.???Zu 7 02_????-1@JAKA Zu 7


2021-05-01 21:35:41,228 INFO  Common.cs: 254 - Successfully loaded component C:\Users\User\Desktop\161729347199596200\Zu 7 02_默认.sldprt
2021-05-01 21:35:41,228 INFO  Common.cs: 230 - Loaded 1 components for link link2
2021-05-01 21:35:41,228 INFO  Common.cs: 221 - Loading SolidWorks components for link3 from 
2021-05-01 21:35:41,228 INFO  Common.cs: 245 - Loading component with PID ?.???Zu 7 03_????-1@JAKA Zu 7


2021-05-01 21:35:41,229 INFO  Common.cs: 254 - Successfully loaded component C:\Users\User\Desktop\161729347199596200\Zu 7 03_默认.sldprt
2021-05-01 21:35:41,229 INFO  Common.cs: 230 - Loaded 1 components for link link3
2021-05-01 21:35:41,229 INFO  Common.cs: 221 - Loading SolidWorks components for link4 from 
2021-05-01 21:35:41,229 INFO  Common.cs: 245 - Loading component with PID ?.???Zu 7 04_????-1@JAKA Zu 7


2021-05-01 21:35:41,229 INFO  Common.cs: 254 - Successfully loaded component C:\Users\User\Desktop\161729347199596200\Zu 7 04_默认.sldprt
2021-05-01 21:35:41,230 INFO  Common.cs: 230 - Loaded 1 components for link link4
2021-05-01 21:35:41,230 INFO  Common.cs: 221 - Loading SolidWorks components for link5 from 
2021-05-01 21:35:41,230 INFO  Common.cs: 245 - Loading component with PID ?.???Zu 7 05_????-1@JAKA Zu 7


2021-05-01 21:35:41,230 INFO  Common.cs: 254 - Successfully loaded component C:\Users\User\Desktop\161729347199596200\Zu 7 05_默认.sldprt
2021-05-01 21:35:41,231 INFO  Common.cs: 230 - Loaded 1 components for link link5
2021-05-01 21:35:41,231 INFO  Common.cs: 221 - Loading SolidWorks components for link6 from 
2021-05-01 21:35:41,231 INFO  Common.cs: 245 - Loading component with PID ?.???Zu 7 06_????-1@JAKA Zu 7


2021-05-01 21:35:41,231 INFO  Common.cs: 254 - Successfully loaded component C:\Users\User\Desktop\161729347199596200\Zu 7 06_默认.sldprt
2021-05-01 21:35:41,232 INFO  Common.cs: 230 - Loaded 1 components for link link6
2021-05-01 21:35:41,241 INFO  SwAddin.cs: 321 - Showing property manager
2021-05-01 21:35:43,231 INFO  ExportPropertyManager.cs: 456 - Configuration saved
2021-05-01 21:35:43,232 INFO  Serialization.cs: 275 - URDF Configuration found
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xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i428"/></URDFElement><URDFElement z:Id="i429" i:type="Texture"><Attributes><Attribute z:Id="i430"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i430"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i427"/><NameAttribute z:Ref="i426"/><Texture z:Ref="i429"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i422"/><Material z:Ref="i425"/><Origin z:Ref="i419"/></URDFElement><URDFElement z:Id="i431" 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">joint6</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">continuous</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>0.15412</a:double><a:double>-0.039</a:double><a:double>0.06697</a:double></Value></Attribute><Attribute z:Id="i443"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>-0.35771</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i443"/><XYZAttribute z:Ref="i442"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i444" i:type="ParentLink"><Attributes><Attribute z:Id="i445"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">link5</Value></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i445"/></URDFElement><URDFElement z:Id="i446" i:type="ChildLink"><Attributes><Attribute z:Id="i447"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">link6</Value></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i447"/></URDFElement><URDFElement z:Id="i448" i:type="Axis"><Attributes><Attribute z:Id="i449"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i449"/></URDFElement><URDFElement z:Id="i450" i:type="Limit"><Attributes><Attribute z:Id="i451"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i452"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i453"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i454"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i453"/><LowerAttribute z:Ref="i451"/><UpperAttribute z:Ref="i452"/><VelocityAttribute z:Ref="i454"/></URDFElement><URDFElement z:Id="i455" i:type="Calibration"><Attributes><Attribute z:Id="i456"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i457"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i457"/><RisingAttribute z:Ref="i456"/></URDFElement><URDFElement z:Id="i458" i:type="Dynamics"><Attributes><Attribute z:Id="i459"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i460"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i459"/><FrictionAttribute z:Ref="i460"/></URDFElement><URDFElement z:Id="i461" i:type="SafetyController"><Attributes><Attribute z:Id="i462"><AttributeType>soft_upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i463"><AttributeType>soft_lower</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>Origin_joint6</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAANgBfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAHgAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAANQBfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAHQAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAANABfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAHAAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAAMwBfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAGwAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAAMgBfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAGgAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAAMQBfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAGQAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAAMABfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAGAAAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
2021-05-01 21:35:43,379 INFO  ExportHelperExtension.cs: 338 - Creating joint link1
2021-05-01 21:35:43,379 INFO  ExportHelperExtension.cs: 1409 - Fixing components for base_link
2021-05-01 21:35:43,380 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 21:35:43,507 INFO  ExportHelperExtension.cs: 835 - R1: 0, 0
2021-05-01 21:35:43,507 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 21:35:43,507 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 21:35:43,508 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 21:35:43,542 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 21:35:43,662 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child link1 failed
2021-05-01 21:35:43,724 INFO  ExportHelperExtension.cs: 338 - Creating joint link2
2021-05-01 21:35:43,724 INFO  ExportHelperExtension.cs: 1409 - Fixing components for link1
2021-05-01 21:35:43,725 INFO  ExportHelperExtension.cs: 1414 - Fixing 25
2021-05-01 21:35:43,725 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 21:35:43,852 INFO  ExportHelperExtension.cs: 835 - R1: 0, 0
2021-05-01 21:35:43,852 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 21:35:43,852 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 21:35:43,852 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 21:35:43,853 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 25
2021-05-01 21:35:43,853 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 21:35:43,981 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent link1 to child link2 failed
2021-05-01 21:35:44,146 INFO  ExportHelperExtension.cs: 338 - Creating joint link3
2021-05-01 21:35:44,147 INFO  ExportHelperExtension.cs: 1409 - Fixing components for link2
2021-05-01 21:35:44,147 INFO  ExportHelperExtension.cs: 1414 - Fixing 26
2021-05-01 21:35:44,147 INFO  ExportHelperExtension.cs: 1414 - Fixing 25
2021-05-01 21:35:44,147 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 21:35:44,280 INFO  ExportHelperExtension.cs: 835 - R1: 0, 0
2021-05-01 21:35:44,280 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 21:35:44,280 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 21:35:44,280 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 21:35:44,281 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 26
2021-05-01 21:35:44,281 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 25
2021-05-01 21:35:44,281 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 21:35:44,412 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent link2 to child link3 failed
2021-05-01 21:35:44,527 INFO  ExportHelperExtension.cs: 338 - Creating joint link4
2021-05-01 21:35:44,527 INFO  ExportHelperExtension.cs: 1409 - Fixing components for link3
2021-05-01 21:35:44,528 INFO  ExportHelperExtension.cs: 1414 - Fixing 27
2021-05-01 21:35:44,528 INFO  ExportHelperExtension.cs: 1414 - Fixing 26
2021-05-01 21:35:44,528 INFO  ExportHelperExtension.cs: 1414 - Fixing 25
2021-05-01 21:35:44,528 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 21:35:44,663 INFO  ExportHelperExtension.cs: 835 - R1: 0, 0
2021-05-01 21:35:44,663 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 21:35:44,663 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 21:35:44,664 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 21:35:44,664 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 27
2021-05-01 21:35:44,664 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 26
2021-05-01 21:35:44,664 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 25
2021-05-01 21:35:44,665 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 21:35:44,829 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent link3 to child link4 failed
2021-05-01 21:35:44,859 INFO  ExportHelperExtension.cs: 338 - Creating joint link5
2021-05-01 21:35:44,859 INFO  ExportHelperExtension.cs: 1409 - Fixing components for link4
2021-05-01 21:35:44,859 INFO  ExportHelperExtension.cs: 1414 - Fixing 28
2021-05-01 21:35:44,860 INFO  ExportHelperExtension.cs: 1414 - Fixing 27
2021-05-01 21:35:44,860 INFO  ExportHelperExtension.cs: 1414 - Fixing 26
2021-05-01 21:35:44,860 INFO  ExportHelperExtension.cs: 1414 - Fixing 25
2021-05-01 21:35:44,860 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 21:35:45,019 INFO  ExportHelperExtension.cs: 835 - R1: 0, 0
2021-05-01 21:35:45,020 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 21:35:45,020 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 21:35:45,020 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 21:35:45,021 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 28
2021-05-01 21:35:45,021 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 27
2021-05-01 21:35:45,021 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 26
2021-05-01 21:35:45,021 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 25
2021-05-01 21:35:45,022 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 21:35:45,179 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent link4 to child link5 failed
2021-05-01 21:35:45,208 INFO  ExportHelperExtension.cs: 338 - Creating joint link6
2021-05-01 21:35:45,208 INFO  ExportHelperExtension.cs: 1409 - Fixing components for link5
2021-05-01 21:35:45,209 INFO  ExportHelperExtension.cs: 1414 - Fixing 29
2021-05-01 21:35:45,209 INFO  ExportHelperExtension.cs: 1414 - Fixing 28
2021-05-01 21:35:45,209 INFO  ExportHelperExtension.cs: 1414 - Fixing 27
2021-05-01 21:35:45,210 INFO  ExportHelperExtension.cs: 1414 - Fixing 26
2021-05-01 21:35:45,210 INFO  ExportHelperExtension.cs: 1414 - Fixing 25
2021-05-01 21:35:45,210 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 21:35:45,368 INFO  ExportHelperExtension.cs: 835 - R1: 0, 0
2021-05-01 21:35:45,369 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 21:35:45,369 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 21:35:45,369 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 21:35:45,370 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 29
2021-05-01 21:35:45,370 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 28
2021-05-01 21:35:45,370 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 27
2021-05-01 21:35:45,371 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 26
2021-05-01 21:35:45,371 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 25
2021-05-01 21:35:45,371 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 21:35:45,529 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent link5 to child link6 failed
2021-05-01 21:35:45,604 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from JAKA Zu 7
2021-05-01 21:35:45,604 INFO  ExportHelperExtension.cs: 1142 - Found 37 in JAKA Zu 7
2021-05-01 21:35:45,605 INFO  ExportHelperExtension.cs: 1152 - Found 7 features of type [CoordSys] in JAKA Zu 7
2021-05-01 21:35:45,605 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-05-01 21:35:45,605 INFO  ExportHelperExtension.cs: 1167 - 7 components to check
2021-05-01 21:35:45,605 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 02_默认-1
2021-05-01 21:35:45,606 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 02_默认-1
2021-05-01 21:35:45,606 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 02_默认-1
2021-05-01 21:35:45,606 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 03_默认-1
2021-05-01 21:35:45,607 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 03_默认-1
2021-05-01 21:35:45,607 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 03_默认-1
2021-05-01 21:35:45,607 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 05_默认-1
2021-05-01 21:35:45,608 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 05_默认-1
2021-05-01 21:35:45,608 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 05_默认-1
2021-05-01 21:35:45,608 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 04_默认-1
2021-05-01 21:35:45,609 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 04_默认-1
2021-05-01 21:35:45,609 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 04_默认-1
2021-05-01 21:35:45,609 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 01_默认-1
2021-05-01 21:35:45,610 INFO  ExportHelperExtension.cs: 1142 - Found 25 in Zu 7 01_默认-1
2021-05-01 21:35:45,610 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 01_默认-1
2021-05-01 21:35:45,610 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 06_默认-1
2021-05-01 21:35:45,611 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 06_默认-1
2021-05-01 21:35:45,611 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 06_默认-1
2021-05-01 21:35:45,612 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 00_默认-1
2021-05-01 21:35:45,612 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 00_默认-1
2021-05-01 21:35:45,612 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 00_默认-1
2021-05-01 21:35:45,613 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from JAKA Zu 7
2021-05-01 21:35:45,613 INFO  ExportHelperExtension.cs: 1142 - Found 37 in JAKA Zu 7
2021-05-01 21:35:45,613 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in JAKA Zu 7
2021-05-01 21:35:45,614 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-05-01 21:35:45,614 INFO  ExportHelperExtension.cs: 1167 - 7 components to check
2021-05-01 21:35:45,614 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 02_默认-1
2021-05-01 21:35:45,614 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 02_默认-1
2021-05-01 21:35:45,615 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 02_默认-1
2021-05-01 21:35:45,615 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 03_默认-1
2021-05-01 21:35:45,615 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 03_默认-1
2021-05-01 21:35:45,616 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 03_默认-1
2021-05-01 21:35:45,616 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 05_默认-1
2021-05-01 21:35:45,616 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 05_默认-1
2021-05-01 21:35:45,616 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 05_默认-1
2021-05-01 21:35:45,617 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 04_默认-1
2021-05-01 21:35:45,617 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 04_默认-1
2021-05-01 21:35:45,617 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 04_默认-1
2021-05-01 21:35:45,618 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 01_默认-1
2021-05-01 21:35:45,618 INFO  ExportHelperExtension.cs: 1142 - Found 25 in Zu 7 01_默认-1
2021-05-01 21:35:45,618 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 01_默认-1
2021-05-01 21:35:45,646 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 06_默认-1
2021-05-01 21:35:45,646 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 06_默认-1
2021-05-01 21:35:45,647 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 06_默认-1
2021-05-01 21:35:45,647 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 00_默认-1
2021-05-01 21:35:45,648 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 00_默认-1
2021-05-01 21:35:45,648 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 00_默认-1
2021-05-01 21:35:45,678 INFO  ExportPropertyManager.cs: 1184 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 21:44:02,788 INFO  SwAddin.cs: 271 - Assembly export called for file JAKA Zu 7.SLDASM
2021-05-01 21:46:14,964 INFO  SwAddin.cs: 290 - Saving assembly
2021-05-01 21:46:15,116 INFO  SwAddin.cs: 293 - Opening property manager
2021-05-01 21:46:15,116 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from JAKA Zu 7.SLDASM
2021-05-01 21:46:15,117 INFO  ExportHelperExtension.cs: 1142 - Found 28 in JAKA Zu 7.SLDASM
2021-05-01 21:46:15,117 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in JAKA Zu 7.SLDASM
2021-05-01 21:46:15,118 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-05-01 21:46:15,118 INFO  ExportHelperExtension.cs: 1167 - 7 components to check
2021-05-01 21:46:15,118 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 02_默认-1
2021-05-01 21:46:15,119 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 02_默认-1
2021-05-01 21:46:15,119 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 02_默认-1
2021-05-01 21:46:15,119 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 03_默认-1
2021-05-01 21:46:15,120 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 03_默认-1
2021-05-01 21:46:15,120 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 03_默认-1
2021-05-01 21:46:15,120 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 05_默认-1
2021-05-01 21:46:15,121 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 05_默认-1
2021-05-01 21:46:15,121 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 05_默认-1
2021-05-01 21:46:15,121 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 04_默认-1
2021-05-01 21:46:15,122 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 04_默认-1
2021-05-01 21:46:15,122 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 04_默认-1
2021-05-01 21:46:15,123 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 01_默认-1
2021-05-01 21:46:15,123 INFO  ExportHelperExtension.cs: 1142 - Found 25 in Zu 7 01_默认-1
2021-05-01 21:46:15,124 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 01_默认-1
2021-05-01 21:46:15,124 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 06_默认-1
2021-05-01 21:46:15,124 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 06_默认-1
2021-05-01 21:46:15,125 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 06_默认-1
2021-05-01 21:46:15,126 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 00_默认-1
2021-05-01 21:46:15,126 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 00_默认-1
2021-05-01 21:46:15,127 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 00_默认-1
2021-05-01 21:46:15,127 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from JAKA Zu 7.SLDASM
2021-05-01 21:46:15,128 INFO  ExportHelperExtension.cs: 1142 - Found 28 in JAKA Zu 7.SLDASM
2021-05-01 21:46:15,128 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in JAKA Zu 7.SLDASM
2021-05-01 21:46:15,128 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-05-01 21:46:15,129 INFO  ExportHelperExtension.cs: 1167 - 7 components to check
2021-05-01 21:46:15,129 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 02_默认-1
2021-05-01 21:46:15,129 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 02_默认-1
2021-05-01 21:46:15,130 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 02_默认-1
2021-05-01 21:46:15,130 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 03_默认-1
2021-05-01 21:46:15,130 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 03_默认-1
2021-05-01 21:46:15,131 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 03_默认-1
2021-05-01 21:46:15,131 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 05_默认-1
2021-05-01 21:46:15,132 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 05_默认-1
2021-05-01 21:46:15,132 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 05_默认-1
2021-05-01 21:46:15,132 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 04_默认-1
2021-05-01 21:46:15,132 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 04_默认-1
2021-05-01 21:46:15,133 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 04_默认-1
2021-05-01 21:46:15,133 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 01_默认-1
2021-05-01 21:46:15,133 INFO  ExportHelperExtension.cs: 1142 - Found 25 in Zu 7 01_默认-1
2021-05-01 21:46:15,134 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 01_默认-1
2021-05-01 21:46:15,134 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 06_默认-1
2021-05-01 21:46:15,134 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 06_默认-1
2021-05-01 21:46:15,135 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 06_默认-1
2021-05-01 21:46:15,135 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 00_默认-1
2021-05-01 21:46:15,135 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 00_默认-1
2021-05-01 21:46:15,136 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 00_默认-1
2021-05-01 21:46:15,241 INFO  SwAddin.cs: 316 - Loading config tree
2021-05-01 21:46:15,242 INFO  ExportPropertyManagerExtension.cs: 597 - Starting new configuration
2021-05-01 21:46:15,243 INFO  SwAddin.cs: 321 - Showing property manager
2021-05-01 21:46:21,741 INFO  ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 21:46:29,636 INFO  ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 21:46:40,011 INFO  ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 21:47:01,556 INFO  ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 21:47:02,320 INFO  ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 21:47:07,410 INFO  ExportPropertyManager.cs: 450 - Configuration canceled
2021-05-01 21:47:07,442 INFO  ExportPropertyManager.cs: 1184 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 22:15:21,967 INFO  SwAddin.cs: 271 - Assembly export called for file JAKA Zu 7.SLDASM
2021-05-01 22:15:21,968 INFO  SwAddin.cs: 276 - Save is required
2021-05-01 22:15:21,968 INFO  SwAddin.cs: 290 - Saving assembly
2021-05-01 22:15:22,484 INFO  SwAddin.cs: 293 - Opening property manager
2021-05-01 22:15:22,484 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from JAKA Zu 7.SLDASM
2021-05-01 22:15:22,485 INFO  ExportHelperExtension.cs: 1142 - Found 40 in JAKA Zu 7.SLDASM
2021-05-01 22:15:22,485 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in JAKA Zu 7.SLDASM
2021-05-01 22:15:22,485 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-05-01 22:15:22,485 INFO  ExportHelperExtension.cs: 1167 - 7 components to check
2021-05-01 22:15:22,486 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 02_默认-1
2021-05-01 22:15:22,486 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 02_默认-1
2021-05-01 22:15:22,487 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 02_默认-1
2021-05-01 22:15:22,487 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 03_默认-1
2021-05-01 22:15:22,487 INFO  ExportHelperExtension.cs: 1142 - Found 28 in Zu 7 03_默认-1
2021-05-01 22:15:22,488 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 03_默认-1
2021-05-01 22:15:22,488 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 05_默认-1
2021-05-01 22:15:22,489 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 05_默认-1
2021-05-01 22:15:22,489 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 05_默认-1
2021-05-01 22:15:22,489 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 04_默认-1
2021-05-01 22:15:22,490 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 04_默认-1
2021-05-01 22:15:22,490 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 04_默认-1
2021-05-01 22:15:22,491 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 01_默认-1
2021-05-01 22:15:22,491 INFO  ExportHelperExtension.cs: 1142 - Found 25 in Zu 7 01_默认-1
2021-05-01 22:15:22,492 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 01_默认-1
2021-05-01 22:15:22,492 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 06_默认-1
2021-05-01 22:15:22,492 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 06_默认-1
2021-05-01 22:15:22,493 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 06_默认-1
2021-05-01 22:15:22,493 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 00_默认-1
2021-05-01 22:15:22,494 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 00_默认-1
2021-05-01 22:15:22,494 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 00_默认-1
2021-05-01 22:15:22,494 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from JAKA Zu 7.SLDASM
2021-05-01 22:15:22,495 INFO  ExportHelperExtension.cs: 1142 - Found 40 in JAKA Zu 7.SLDASM
2021-05-01 22:15:22,495 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in JAKA Zu 7.SLDASM
2021-05-01 22:15:22,496 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-05-01 22:15:22,496 INFO  ExportHelperExtension.cs: 1167 - 7 components to check
2021-05-01 22:15:22,496 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 02_默认-1
2021-05-01 22:15:22,497 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 02_默认-1
2021-05-01 22:15:22,497 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 02_默认-1
2021-05-01 22:15:22,497 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 03_默认-1
2021-05-01 22:15:22,497 INFO  ExportHelperExtension.cs: 1142 - Found 28 in Zu 7 03_默认-1
2021-05-01 22:15:22,498 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 03_默认-1
2021-05-01 22:15:22,498 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 05_默认-1
2021-05-01 22:15:22,499 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 05_默认-1
2021-05-01 22:15:22,499 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 05_默认-1
2021-05-01 22:15:22,499 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 04_默认-1
2021-05-01 22:15:22,500 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 04_默认-1
2021-05-01 22:15:22,500 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 04_默认-1
2021-05-01 22:15:22,501 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 01_默认-1
2021-05-01 22:15:22,501 INFO  ExportHelperExtension.cs: 1142 - Found 25 in Zu 7 01_默认-1
2021-05-01 22:15:22,501 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 01_默认-1
2021-05-01 22:15:22,502 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 06_默认-1
2021-05-01 22:15:22,502 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 06_默认-1
2021-05-01 22:15:22,502 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 06_默认-1
2021-05-01 22:15:22,502 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 00_默认-1
2021-05-01 22:15:22,503 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 00_默认-1
2021-05-01 22:15:22,503 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 00_默认-1
2021-05-01 22:15:22,611 INFO  SwAddin.cs: 316 - Loading config tree
2021-05-01 22:15:22,612 INFO  ExportPropertyManagerExtension.cs: 597 - Starting new configuration
2021-05-01 22:15:22,613 INFO  SwAddin.cs: 321 - Showing property manager
2021-05-01 22:15:34,726 INFO  ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 22:15:47,495 INFO  ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 22:16:00,963 INFO  ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 22:16:15,099 INFO  ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 22:16:36,955 INFO  ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 22:16:51,392 INFO  ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 22:17:14,281 INFO  ExportPropertyManager.cs: 456 - Configuration saved
2021-05-01 22:17:15,581 INFO  ExportHelperExtension.cs: 338 - Creating joint link1
2021-05-01 22:17:15,581 INFO  ExportHelperExtension.cs: 1409 - Fixing components for base_link
2021-05-01 22:17:15,582 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 22:17:15,698 INFO  : 0 - R1: 1, System.__ComObject, 1, System.Double[]
2021-05-01 22:17:15,701 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 22:17:15,701 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 22:17:15,701 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 22:17:15,707 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 22:17:17,044 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child link1 failed
2021-05-01 22:17:17,090 INFO  ExportHelperExtension.cs: 338 - Creating joint link2
2021-05-01 22:17:17,091 INFO  ExportHelperExtension.cs: 1409 - Fixing components for link1
2021-05-01 22:17:17,091 INFO  ExportHelperExtension.cs: 1414 - Fixing 25
2021-05-01 22:17:17,091 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 22:17:17,211 INFO  ExportHelperExtension.cs: 831 - R1: 1, System.__ComObject, 1, System.Double[]
2021-05-01 22:17:17,212 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 22:17:17,212 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 22:17:17,212 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 22:17:17,212 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 25
2021-05-01 22:17:17,212 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 22:17:18,510 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent link1 to child link2 failed
2021-05-01 22:17:18,650 INFO  ExportHelperExtension.cs: 338 - Creating joint link3
2021-05-01 22:17:18,651 INFO  ExportHelperExtension.cs: 1409 - Fixing components for link2
2021-05-01 22:17:18,651 INFO  ExportHelperExtension.cs: 1414 - Fixing 26
2021-05-01 22:17:18,651 INFO  ExportHelperExtension.cs: 1414 - Fixing 25
2021-05-01 22:17:18,651 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 22:17:18,779 INFO  ExportHelperExtension.cs: 831 - R1: 1, System.__ComObject, 1, System.Double[]
2021-05-01 22:17:18,780 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 22:17:18,780 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 22:17:18,780 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 22:17:18,781 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 26
2021-05-01 22:17:18,781 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 25
2021-05-01 22:17:18,781 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 22:17:20,236 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent link2 to child link3 failed
2021-05-01 22:17:20,375 INFO  ExportHelperExtension.cs: 338 - Creating joint link4
2021-05-01 22:17:20,375 INFO  ExportHelperExtension.cs: 1409 - Fixing components for link3
2021-05-01 22:17:20,375 INFO  ExportHelperExtension.cs: 1414 - Fixing 27
2021-05-01 22:17:20,376 INFO  ExportHelperExtension.cs: 1414 - Fixing 26
2021-05-01 22:17:20,376 INFO  ExportHelperExtension.cs: 1414 - Fixing 25
2021-05-01 22:17:20,376 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 22:17:20,546 INFO  ExportHelperExtension.cs: 831 - R1: 1, System.__ComObject, 1, System.Double[]
2021-05-01 22:17:20,546 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 22:17:20,547 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 22:17:20,547 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 22:17:20,547 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 27
2021-05-01 22:17:20,548 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 26
2021-05-01 22:17:20,548 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 25
2021-05-01 22:17:20,548 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 22:17:22,054 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent link3 to child link4 failed
2021-05-01 22:17:22,083 INFO  ExportHelperExtension.cs: 338 - Creating joint link5
2021-05-01 22:17:22,083 INFO  ExportHelperExtension.cs: 1409 - Fixing components for link4
2021-05-01 22:17:22,084 INFO  ExportHelperExtension.cs: 1414 - Fixing 28
2021-05-01 22:17:22,084 INFO  ExportHelperExtension.cs: 1414 - Fixing 27
2021-05-01 22:17:22,084 INFO  ExportHelperExtension.cs: 1414 - Fixing 26
2021-05-01 22:17:22,085 INFO  ExportHelperExtension.cs: 1414 - Fixing 25
2021-05-01 22:17:22,085 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 22:17:22,276 INFO  ExportHelperExtension.cs: 831 - R1: 1, System.__ComObject, 1, System.Double[]
2021-05-01 22:17:22,277 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 22:17:22,277 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 22:17:22,277 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 22:17:22,277 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 28
2021-05-01 22:17:22,278 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 27
2021-05-01 22:17:22,278 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 26
2021-05-01 22:17:22,278 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 25
2021-05-01 22:17:22,279 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 22:17:23,787 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent link4 to child link5 failed
2021-05-01 22:17:23,816 INFO  ExportHelperExtension.cs: 338 - Creating joint link6
2021-05-01 22:17:23,817 INFO  ExportHelperExtension.cs: 1409 - Fixing components for link5
2021-05-01 22:17:23,817 INFO  ExportHelperExtension.cs: 1414 - Fixing 29
2021-05-01 22:17:23,817 INFO  ExportHelperExtension.cs: 1414 - Fixing 28
2021-05-01 22:17:23,818 INFO  ExportHelperExtension.cs: 1414 - Fixing 27
2021-05-01 22:17:23,818 INFO  ExportHelperExtension.cs: 1414 - Fixing 26
2021-05-01 22:17:23,818 INFO  ExportHelperExtension.cs: 1414 - Fixing 25
2021-05-01 22:17:23,818 INFO  ExportHelperExtension.cs: 1414 - Fixing 24
2021-05-01 22:17:24,011 INFO  ExportHelperExtension.cs: 831 - R1: 1, System.__ComObject, 1, System.Double[]
2021-05-01 22:17:24,011 INFO  ExportHelperExtension.cs: 844 - R2: 0, 0
2021-05-01 22:17:24,012 INFO  ExportHelperExtension.cs: 852 - L1: 0
2021-05-01 22:17:24,012 INFO  ExportHelperExtension.cs: 860 - L2: 0
2021-05-01 22:17:24,012 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 29
2021-05-01 22:17:24,013 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 28
2021-05-01 22:17:24,013 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 27
2021-05-01 22:17:24,013 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 26
2021-05-01 22:17:24,018 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 25
2021-05-01 22:17:24,019 INFO  ExportHelperExtension.cs: 1364 - Unfixing component 24
2021-05-01 22:17:25,700 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent link5 to child link6 failed
2021-05-01 22:17:25,781 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from JAKA Zu 7.SLDASM
2021-05-01 22:17:25,782 INFO  ExportHelperExtension.cs: 1142 - Found 55 in JAKA Zu 7.SLDASM
2021-05-01 22:17:25,782 INFO  ExportHelperExtension.cs: 1152 - Found 7 features of type [CoordSys] in JAKA Zu 7.SLDASM
2021-05-01 22:17:25,783 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-05-01 22:17:25,783 INFO  ExportHelperExtension.cs: 1167 - 7 components to check
2021-05-01 22:17:25,783 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 02_默认-1
2021-05-01 22:17:25,783 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 02_默认-1
2021-05-01 22:17:25,784 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 02_默认-1
2021-05-01 22:17:25,784 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 03_默认-1
2021-05-01 22:17:25,784 INFO  ExportHelperExtension.cs: 1142 - Found 28 in Zu 7 03_默认-1
2021-05-01 22:17:25,785 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 03_默认-1
2021-05-01 22:17:25,785 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 05_默认-1
2021-05-01 22:17:25,785 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 05_默认-1
2021-05-01 22:17:25,785 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 05_默认-1
2021-05-01 22:17:25,786 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 04_默认-1
2021-05-01 22:17:25,786 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 04_默认-1
2021-05-01 22:17:25,786 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 04_默认-1
2021-05-01 22:17:25,787 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 01_默认-1
2021-05-01 22:17:25,787 INFO  ExportHelperExtension.cs: 1142 - Found 25 in Zu 7 01_默认-1
2021-05-01 22:17:25,787 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 01_默认-1
2021-05-01 22:17:25,788 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 06_默认-1
2021-05-01 22:17:25,788 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 06_默认-1
2021-05-01 22:17:25,788 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 06_默认-1
2021-05-01 22:17:25,788 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Zu 7 00_默认-1
2021-05-01 22:17:25,789 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 00_默认-1
2021-05-01 22:17:25,789 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Zu 7 00_默认-1
2021-05-01 22:17:25,789 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from JAKA Zu 7.SLDASM
2021-05-01 22:17:25,790 INFO  ExportHelperExtension.cs: 1142 - Found 55 in JAKA Zu 7.SLDASM
2021-05-01 22:17:25,790 INFO  ExportHelperExtension.cs: 1152 - Found 6 features of type [RefAxis] in JAKA Zu 7.SLDASM
2021-05-01 22:17:25,790 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-05-01 22:17:25,791 INFO  ExportHelperExtension.cs: 1167 - 7 components to check
2021-05-01 22:17:25,791 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 02_默认-1
2021-05-01 22:17:25,791 INFO  ExportHelperExtension.cs: 1142 - Found 27 in Zu 7 02_默认-1
2021-05-01 22:17:25,791 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 02_默认-1
2021-05-01 22:17:25,792 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 03_默认-1
2021-05-01 22:17:25,792 INFO  ExportHelperExtension.cs: 1142 - Found 28 in Zu 7 03_默认-1
2021-05-01 22:17:25,792 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 03_默认-1
2021-05-01 22:17:25,792 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 05_默认-1
2021-05-01 22:17:25,793 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 05_默认-1
2021-05-01 22:17:25,793 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 05_默认-1
2021-05-01 22:17:25,793 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 04_默认-1
2021-05-01 22:17:25,794 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 04_默认-1
2021-05-01 22:17:25,794 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 04_默认-1
2021-05-01 22:17:25,794 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 01_默认-1
2021-05-01 22:17:25,794 INFO  ExportHelperExtension.cs: 1142 - Found 25 in Zu 7 01_默认-1
2021-05-01 22:17:25,795 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 01_默认-1
2021-05-01 22:17:25,795 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 06_默认-1
2021-05-01 22:17:25,795 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 06_默认-1
2021-05-01 22:17:25,796 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 06_默认-1
2021-05-01 22:17:25,796 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Zu 7 00_默认-1
2021-05-01 22:17:25,796 INFO  ExportHelperExtension.cs: 1142 - Found 26 in Zu 7 00_默认-1
2021-05-01 22:17:25,796 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Zu 7 00_默认-1
2021-05-01 22:17:25,832 INFO  ExportPropertyManager.cs: 1184 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-05-01 22:17:39,382 INFO  AssemblyExportForm.cs: 254 - Completing URDF export
2021-05-01 22:17:39,383 INFO  Serialization.cs: 275 - URDF Configuration found
<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i6"/><XYZAttribute z:Ref="i5"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i7" i:type="Mass"><Attributes><Attribute z:Id="i8"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i8"/></URDFElement><URDFElement z:Id="i9" i:type="Inertia"><Attributes><Attribute z:Id="i10"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i11"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i12"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i13"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i14"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i15"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i10"/><IxyAttribute z:Ref="i11"/><IxzAttribute z:Ref="i12"/><IyyAttribute z:Ref="i13"/><IyzAttribute z:Ref="i14"/><IzzAttribute z:Ref="i15"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i9"/><Mass z:Ref="i7"/><Origin z:Ref="i4"/></URDFElement><URDFElement z:Id="i16" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i17" i:type="Origin"><Attributes><Attribute z:Id="i18"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i19"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i19"/><XYZAttribute z:Ref="i18"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i20" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i21" i:type="Mesh"><Attributes><Attribute z:Id="i22"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i22"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i21"/></URDFElement><URDFElement z:Id="i23" i:type="Material"><Attributes><Attribute z:Id="i24"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i25" i:type="Color"><Attributes><Attribute z:Id="i26"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i26"/></URDFElement><URDFElement z:Id="i27" i:type="Texture"><Attributes><Attribute z:Id="i28"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i28"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i25"/><NameAttribute z:Ref="i24"/><Texture z:Ref="i27"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i20"/><Material z:Ref="i23"/><Origin z:Ref="i17"/></URDFElement><URDFElement z:Id="i29" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i30" i:type="Origin"><Attributes><Attribute z:Id="i31"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i32"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i32"/><XYZAttribute z:Ref="i31"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i33" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i34" i:type="Mesh"><Attributes><Attribute z:Id="i35"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i35"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i34"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i33"/><Origin z:Ref="i30"/></URDFElement><URDFElement z:Id="i36" i:type="Joint"><Attributes><Attribute z:Id="i37"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute><Attribute z:Id="i38"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i39" i:type="Origin"><Attributes><Attribute z:Id="i40"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i41"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i41"/><XYZAttribute z:Ref="i40"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i42" i:type="ParentLink"><Attributes><Attribute z:Id="i43"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i43"/></URDFElement><URDFElement z:Id="i44" i:type="ChildLink"><Attributes><Attribute z:Id="i45"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i45"/></URDFElement><URDFElement z:Id="i46" i:type="Axis"><Attributes><Attribute z:Id="i47"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i47"/></URDFElement><URDFElement z:Id="i48" i:type="Limit"><Attributes><Attribute z:Id="i49"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i50"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i51"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i52"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i51"/><LowerAttribute z:Ref="i49"/><UpperAttribute 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z:Id="i424"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i424"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i423"/></URDFElement><URDFElement z:Id="i425" i:type="Material"><Attributes><Attribute z:Id="i426"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i427" i:type="Color"><Attributes><Attribute z:Id="i428"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i428"/></URDFElement><URDFElement z:Id="i429" i:type="Texture"><Attributes><Attribute z:Id="i430"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i430"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i427"/><NameAttribute z:Ref="i426"/><Texture z:Ref="i429"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i422"/><Material z:Ref="i425"/><Origin z:Ref="i419"/></URDFElement><URDFElement z:Id="i431" 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">joint6</Value></Attribute><Attribute z:Id="i440"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Automatically Detect</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i441" i:type="Origin"><Attributes><Attribute z:Id="i442"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i443"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i443"/><XYZAttribute z:Ref="i442"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i444" i:type="ParentLink"><Attributes><Attribute z:Id="i445"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i445"/></URDFElement><URDFElement z:Id="i446" i:type="ChildLink"><Attributes><Attribute z:Id="i447"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i447"/></URDFElement><URDFElement z:Id="i448" i:type="Axis"><Attributes><Attribute z:Id="i449"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i449"/></URDFElement><URDFElement z:Id="i450" i:type="Limit"><Attributes><Attribute z:Id="i451"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i452"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i453"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i454"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i453"/><LowerAttribute z:Ref="i451"/><UpperAttribute z:Ref="i452"/><VelocityAttribute z:Ref="i454"/></URDFElement><URDFElement z:Id="i455" i:type="Calibration"><Attributes><Attribute z:Id="i456"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i457"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i457"/><RisingAttribute z:Ref="i456"/></URDFElement><URDFElement z:Id="i458" i:type="Dynamics"><Attributes><Attribute z:Id="i459"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i460"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i459"/><FrictionAttribute z:Ref="i460"/></URDFElement><URDFElement z:Id="i461" i:type="SafetyController"><Attributes><Attribute z:Id="i462"><AttributeType>soft_upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i463"><AttributeType>soft_lower</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAANgBfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAHgAAAA==</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>4C4AAAUAAAD//v8WWgB1ACAANwAgADAANQBfANiepIstADEAQABKAEEASwBBACAAWgB1ACAANwAEAAAAEAAAAAEAAAABAAAAHQAAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i351"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision 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2021-05-01 22:17:54,202 INFO  AssemblyExportForm.cs: 308 - Saving URDF package to C:\Users\User\Desktop\jaka_description
2021-05-01 22:17:54,204 INFO  ExportHelper.cs: 147 - Beginning the export process
2021-05-01 22:17:54,206 INFO  ExportHelper.cs: 153 - Creating package directories with name jaka_description and save path C:\Users\User\Desktop
2021-05-01 22:18:27,688 INFO  ExportHelper.cs: 162 - Creating CMakeLists.txt at C:\Users\User\Desktop\jaka_description\CMakeLists.txt
2021-05-01 22:18:27,691 INFO  ExportHelper.cs: 166 - Creating joint names config at C:\Users\User\Desktop\jaka_description\config\joint_names_jaka_description.yaml
2021-05-01 22:18:27,692 INFO  ExportHelper.cs: 170 - Creating package.xml at C:\Users\User\Desktop\jaka_description\package.xml
2021-05-01 22:18:27,692 INFO  PackageXMLWriter.cs: 21 - Creating package.xml at C:\Users\User\Desktop\jaka_description\package.xml
2021-05-01 22:18:27,696 INFO  ExportHelper.cs: 177 - Creating RVIZ launch file in C:\Users\User\Desktop\jaka_description\launch\
2021-05-01 22:18:27,697 INFO  ExportHelper.cs: 182 - Creating Gazebo launch file in C:\Users\User\Desktop\jaka_description\launch\
2021-05-01 22:18:27,698 INFO  ExportHelper.cs: 187 - Saving existing STL preferences
2021-05-01 22:18:27,698 INFO  ExportHelper.cs: 451 - Saving users preferences
2021-05-01 22:18:27,699 INFO  ExportHelper.cs: 190 - Modifying STL preferences
2021-05-01 22:18:27,699 INFO  ExportHelper.cs: 465 - Setting STL preferences
2021-05-01 22:18:27,703 INFO  ExportHelper.cs: 196 - Found 0 hidden components 
2021-05-01 22:18:27,703 INFO  ExportHelper.cs: 197 - Hiding all components
2021-05-01 22:18:27,801 INFO  ExportHelper.cs: 204 - Beginning individual files export
2021-05-01 22:18:27,804 INFO  ExportHelper.cs: 270 - Exporting link: base_link
2021-05-01 22:18:27,804 INFO  ExportHelper.cs: 272 - Link base_link has 1 children
2021-05-01 22:18:27,806 INFO  ExportHelper.cs: 270 - Exporting link: link1
2021-05-01 22:18:27,806 INFO  ExportHelper.cs: 272 - Link link1 has 1 children
2021-05-01 22:18:27,807 INFO  ExportHelper.cs: 270 - Exporting link: link2
2021-05-01 22:18:27,807 INFO  ExportHelper.cs: 272 - Link link2 has 1 children
2021-05-01 22:18:27,808 INFO  ExportHelper.cs: 270 - Exporting link: link3
2021-05-01 22:18:27,809 INFO  ExportHelper.cs: 272 - Link link3 has 1 children
2021-05-01 22:18:27,810 INFO  ExportHelper.cs: 270 - Exporting link: link4
2021-05-01 22:18:27,810 INFO  ExportHelper.cs: 272 - Link link4 has 1 children
2021-05-01 22:18:27,811 INFO  ExportHelper.cs: 270 - Exporting link: link5
2021-05-01 22:18:27,811 INFO  ExportHelper.cs: 272 - Link link5 has 1 children
2021-05-01 22:18:27,812 INFO  ExportHelper.cs: 270 - Exporting link: link6
2021-05-01 22:18:27,812 INFO  ExportHelper.cs: 272 - Link link6 has 0 children
2021-05-01 22:18:27,813 INFO  ExportHelper.cs: 318 - link6: Exporting STL with coordinate frame Origin_joint6
2021-05-01 22:18:27,814 INFO  ExportHelper.cs: 323 - link6: Reference geometry name 
2021-05-01 22:18:27,888 INFO  ExportHelper.cs: 331 - Saving STL to C:\Users\User\Desktop\jaka_description\meshes\link6.STL
2021-05-01 22:18:28,016 INFO  ExportHelper.cs: 406 - Removing SW header in STL file
2021-05-01 22:18:28,016 INFO  ExportHelper.cs: 318 - link5: Exporting STL with coordinate frame Origin_joint5
2021-05-01 22:18:28,017 INFO  ExportHelper.cs: 323 - link5: Reference geometry name 
2021-05-01 22:18:28,034 INFO  ExportHelper.cs: 331 - Saving STL to C:\Users\User\Desktop\jaka_description\meshes\link5.STL
2021-05-01 22:18:28,105 INFO  ExportHelper.cs: 406 - Removing SW header in STL file
2021-05-01 22:18:28,106 INFO  ExportHelper.cs: 318 - link4: Exporting STL with coordinate frame Origin_joint4
2021-05-01 22:18:28,106 INFO  ExportHelper.cs: 323 - link4: Reference geometry name 
2021-05-01 22:18:28,124 INFO  ExportHelper.cs: 331 - Saving STL to C:\Users\User\Desktop\jaka_description\meshes\link4.STL
2021-05-01 22:18:28,195 INFO  ExportHelper.cs: 406 - Removing SW header in STL file
2021-05-01 22:18:28,196 INFO  ExportHelper.cs: 318 - link3: Exporting STL with coordinate frame Origin_joint3
2021-05-01 22:18:28,196 INFO  ExportHelper.cs: 323 - link3: Reference geometry name 
2021-05-01 22:18:28,216 INFO  ExportHelper.cs: 331 - Saving STL to C:\Users\User\Desktop\jaka_description\meshes\link3.STL
2021-05-01 22:18:28,338 INFO  ExportHelper.cs: 406 - Removing SW header in STL file
2021-05-01 22:18:28,338 INFO  ExportHelper.cs: 318 - link2: Exporting STL with coordinate frame Origin_joint2
2021-05-01 22:18:28,339 INFO  ExportHelper.cs: 323 - link2: Reference geometry name 
2021-05-01 22:18:28,358 INFO  ExportHelper.cs: 331 - Saving STL to C:\Users\User\Desktop\jaka_description\meshes\link2.STL
2021-05-01 22:18:28,534 INFO  ExportHelper.cs: 406 - Removing SW header in STL file
2021-05-01 22:18:28,534 INFO  ExportHelper.cs: 318 - link1: Exporting STL with coordinate frame Origin_joint1
2021-05-01 22:18:28,535 INFO  ExportHelper.cs: 323 - link1: Reference geometry name 
2021-05-01 22:18:28,551 INFO  ExportHelper.cs: 331 - Saving STL to C:\Users\User\Desktop\jaka_description\meshes\link1.STL
2021-05-01 22:18:28,622 INFO  ExportHelper.cs: 406 - Removing SW header in STL file
2021-05-01 22:18:28,622 INFO  ExportHelper.cs: 318 - base_link: Exporting STL with coordinate frame Origin_global
2021-05-01 22:18:28,623 INFO  ExportHelper.cs: 323 - base_link: Reference geometry name 
2021-05-01 22:18:28,668 INFO  ExportHelper.cs: 331 - Saving STL to C:\Users\User\Desktop\jaka_description\meshes\base_link.STL
2021-05-01 22:18:28,849 INFO  ExportHelper.cs: 406 - Removing SW header in STL file
2021-05-01 22:18:28,849 INFO  ExportHelper.cs: 145 - Showing all components except previously hidden components
2021-05-01 22:18:28,953 INFO  ExportHelper.cs: 145 - Resetting STL preferences
2021-05-01 22:18:28,954 INFO  ExportHelper.cs: 479 - Returning STL preferences to user preferences
2021-05-01 22:18:28,954 INFO  ExportHelper.cs: 228 - Writing URDF file to C:\Users\User\Desktop\jaka_description\urdf\jaka_description.urdf
2021-05-01 22:18:29,103 INFO  CSVImportExport.cs: 32 - Writing CSV file C:\Users\User\Desktop\jaka_description\urdf\jaka_description.csv
2021-05-01 22:18:29,123 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2021-05-01 22:18:29,123 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2021-05-01 22:18:29,124 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2021-05-01 22:18:29,124 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2021-05-01 22:18:29,124 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2021-05-01 22:18:29,125 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2021-05-01 22:18:29,125 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2021-05-01 22:18:29,125 INFO  ExportHelper.cs: 234 - Copying log file
2021-05-01 22:18:29,128 INFO  ExportHelper.cs: 440 - Copying C:\Users\User\sw2urdf_logs\sw2urdf.log to C:\Users\User\Desktop\jaka_description\export.log