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export.log
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2022-09-04 10:19:03,623 INFO Logger.cs: 70 -
--------------------------------------------------------------------------------
2022-09-04 10:19:03,661 INFO Logger.cs: 71 - Logging commencing for SW2URDF exporter
2022-09-04 10:19:03,662 INFO Logger.cs: 73 - Commit version 1.6.0-4-g7f85cfe
2022-09-04 10:19:03,662 INFO Logger.cs: 74 - Build version 1.6.7995.38578
2022-09-04 10:19:03,666 INFO SwAddin.cs: 192 - Attempting to connect to SW
2022-09-04 10:19:03,666 INFO SwAddin.cs: 197 - Setting up callbacks
2022-09-04 10:19:03,667 INFO SwAddin.cs: 201 - Setting up command manager
2022-09-04 10:19:03,667 INFO SwAddin.cs: 204 - Adding command manager
2022-09-04 10:19:03,671 INFO SwAddin.cs: 263 - Adding Assembly export to file menu
2022-09-04 10:19:03,671 INFO SwAddin.cs: 272 - Adding Part export to file menu
2022-09-04 10:19:03,672 INFO SwAddin.cs: 210 - Adding event handlers
2022-09-04 10:19:03,710 INFO SwAddin.cs: 217 - Connecting plugin to SolidWorks
2022-09-04 10:29:09,350 INFO SwAddin.cs: 294 - Assembly export called for file URDF_1Link_Arm.SLDASM
2022-09-04 10:29:12,201 INFO SwAddin.cs: 313 - Saving assembly
2022-09-04 10:29:12,291 INFO SwAddin.cs: 316 - Opening property manager
2022-09-04 10:29:12,311 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from URDF_1Link_Arm.SLDASM
2022-09-04 10:29:12,318 INFO ExportHelperExtension.cs: 1136 - Found 32 in URDF_1Link_Arm.SLDASM
2022-09-04 10:29:12,319 INFO ExportHelperExtension.cs: 1145 - Found 2 features of type [CoordSys] in URDF_1Link_Arm.SLDASM
2022-09-04 10:29:12,319 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2022-09-04 10:29:12,321 INFO ExportHelperExtension.cs: 1160 - 3 components to check
2022-09-04 10:29:12,322 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Link 2-1
2022-09-04 10:29:12,323 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 2-1
2022-09-04 10:29:12,323 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Link 2-1
2022-09-04 10:29:12,324 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Link 1-1
2022-09-04 10:29:12,324 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 1-1
2022-09-04 10:29:12,325 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Link 1-1
2022-09-04 10:29:12,325 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Link 3-1
2022-09-04 10:29:12,325 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 3-1
2022-09-04 10:29:12,326 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Link 3-1
2022-09-04 10:29:12,326 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from URDF_1Link_Arm.SLDASM
2022-09-04 10:29:12,327 INFO ExportHelperExtension.cs: 1136 - Found 32 in URDF_1Link_Arm.SLDASM
2022-09-04 10:29:12,327 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in URDF_1Link_Arm.SLDASM
2022-09-04 10:29:12,327 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2022-09-04 10:29:12,328 INFO ExportHelperExtension.cs: 1160 - 3 components to check
2022-09-04 10:29:12,328 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Link 2-1
2022-09-04 10:29:12,328 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 2-1
2022-09-04 10:29:12,329 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Link 2-1
2022-09-04 10:29:12,329 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Link 1-1
2022-09-04 10:29:12,330 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 1-1
2022-09-04 10:29:12,330 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Link 1-1
2022-09-04 10:29:12,330 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Link 3-1
2022-09-04 10:29:12,331 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 3-1
2022-09-04 10:29:12,333 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Link 3-1
2022-09-04 10:29:12,629 INFO SwAddin.cs: 339 - Loading config tree
2022-09-04 10:29:12,636 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
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xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="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">0.22319034277543603</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">0.00027404772175799422</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">-1.8274798827519627E-05</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">2.3605759379366886E-22</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">7.4552344138320231E-05</Value></Attribute><Attribute z:Id="i14"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">1.0594714804045995E-20</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">0.00027496536287017332</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i10"/><IxyAttribute z:Ref="i11"/><IxzAttribute z:Ref="i12"/><IyyAttribute z:Ref="i13"/><IyzAttribute z:Ref="i14"/><IzzAttribute z:Ref="i15"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i9"/><Mass z:Ref="i7"/><Origin z:Ref="i4"/></URDFElement><URDFElement z:Id="i16" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i17" i:type="Origin"><Attributes><Attribute z:Id="i18"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i19"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i19"/><XYZAttribute z:Ref="i18"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i20" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i21" i:type="Mesh"><Attributes><Attribute z:Id="i22"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i22"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i21"/></URDFElement><URDFElement z:Id="i23" i:type="Material"><Attributes><Attribute z:Id="i24"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i25" i:type="Color"><Attributes><Attribute z:Id="i26"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0.792156862745098</a:double><a:double>0.81960784313725488</a:double><a:double>0.93333333333333335</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i26"/></URDFElement><URDFElement z:Id="i27" i:type="Texture"><Attributes><Attribute z:Id="i28"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i28"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i25"/><NameAttribute z:Ref="i24"/><Texture z:Ref="i27"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i20"/><Material z:Ref="i23"/><Origin z:Ref="i17"/></URDFElement><URDFElement z:Id="i29" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i30" i:type="Origin"><Attributes><Attribute z:Id="i31"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i32"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i32"/><XYZAttribute z:Ref="i31"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i33" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i34" i:type="Mesh"><Attributes><Attribute z:Id="i35"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i35"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i34"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i33"/><Origin z:Ref="i30"/></URDFElement><URDFElement z:Id="i36" i:type="Joint"><Attributes><Attribute z:Id="i37"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute><Attribute z:Id="i38"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i39" i:type="Origin"><Attributes><Attribute z:Id="i40"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i41"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i41"/><XYZAttribute z:Ref="i40"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i42" i:type="ParentLink"><Attributes><Attribute z:Id="i43"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i43"/></URDFElement><URDFElement z:Id="i44" i:type="ChildLink"><Attributes><Attribute z:Id="i45"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i45"/></URDFElement><URDFElement z:Id="i46" i:type="Axis"><Attributes><Attribute z:Id="i47"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i47"/></URDFElement><URDFElement z:Id="i48" i:type="Limit"><Attributes><Attribute z:Id="i49"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i50"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i51"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i52"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i51"/><LowerAttribute z:Ref="i49"/><UpperAttribute z:Ref="i50"/><VelocityAttribute z:Ref="i52"/></URDFElement><URDFElement z:Id="i53" i:type="Calibration"><Attributes><Attribute z:Id="i54"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i55"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i55"/><RisingAttribute z:Ref="i54"/></URDFElement><URDFElement z:Id="i56" i:type="Dynamics"><Attributes><Attribute z:Id="i57"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i58"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i57"/><FrictionAttribute z:Ref="i58"/></URDFElement><URDFElement z:Id="i59" i:type="SafetyController"><Attributes><Attribute z:Id="i60"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i61"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i62"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i63"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i62"/><KVelocityAttribute z:Ref="i63"/><SoftLowerAttribute z:Ref="i61"/><SoftUpperAttribute z:Ref="i60"/></URDFElement><URDFElement z:Id="i64" i:type="Mimic"><Attributes><Attribute z:Id="i65"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i66"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i67"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i65"/><MultiplierAttribute z:Ref="i66"/><OffsetAttribute z:Ref="i67"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i46"/><AxisName/><Calibration z:Ref="i53"/><Child z:Ref="i44"/><CoordinateSystemName>Origin_global</CoordinateSystemName><Dynamics z:Ref="i56"/><Limit z:Ref="i48"/><Mimic z:Ref="i64"/><NameAttribute z:Ref="i37"/><Origin z:Ref="i39"/><Parent z:Ref="i42"/><Safety z:Ref="i59"/><TypeAttribute z:Ref="i38"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i68"><Attributes><Attribute z:Id="i69"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Link_1</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>-0.024211833164378006</a:double><a:double>3.9457830058875487E-08</a:double><a:double>0.10532219937558808</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">0.46979615570694305</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">0.0023204934185441623</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">-9.2532963151572943E-10</Value></Attribute><Attribute z:Id="i79"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">4.3124437417569196E-05</Value></Attribute><Attribute z:Id="i80"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" 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2022-09-04 10:29:12,764 INFO LinkNode.cs: 35 - Building node base_link
2022-09-04 10:29:12,765 INFO LinkNode.cs: 35 - Building node Link_1
2022-09-04 10:29:12,766 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for base_link from C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\Simple 1 link arm\URDF_1Link_Arm.SLDASM
2022-09-04 10:29:12,768 INFO CommonSwOperations.cs: 245 - Loading component with PID ?: ???L i n k 1 - 1 @ U R D F _ 1 L i n k _ A r m
2022-09-04 10:29:12,771 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\Simple 1 link arm\Link 1.SLDPRT
2022-09-04 10:29:12,772 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link base_link
2022-09-04 10:29:12,772 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link_1 from C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\Simple 1 link arm\URDF_1Link_Arm.SLDASM
2022-09-04 10:29:12,773 INFO CommonSwOperations.cs: 245 - Loading component with PID ?: ???L i n k 2 - 1 @ U R D F _ 1 L i n k _ A r m
2022-09-04 10:29:12,774 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\Simple 1 link arm\Link 2.SLDPRT
2022-09-04 10:29:12,775 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link Link_1
2022-09-04 10:29:12,805 INFO SwAddin.cs: 344 - Showing property manager
2022-09-04 10:29:20,660 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2022-09-04 10:30:09,060 INFO ExportPropertyManager.cs: 422 - Configuration saved
2022-09-04 10:30:09,065 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
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z:Id="i51"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i52"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i51"/><LowerAttribute z:Ref="i49"/><UpperAttribute z:Ref="i50"/><VelocityAttribute z:Ref="i52"/></URDFElement><URDFElement z:Id="i53" i:type="Calibration"><Attributes><Attribute z:Id="i54"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i55"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i55"/><RisingAttribute z:Ref="i54"/></URDFElement><URDFElement z:Id="i56" i:type="Dynamics"><Attributes><Attribute z:Id="i57"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i58"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i57"/><FrictionAttribute z:Ref="i58"/></URDFElement><URDFElement z:Id="i59" i:type="SafetyController"><Attributes><Attribute z:Id="i60"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i61"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i62"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i63"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i62"/><KVelocityAttribute z:Ref="i63"/><SoftLowerAttribute z:Ref="i61"/><SoftUpperAttribute z:Ref="i60"/></URDFElement><URDFElement z:Id="i64" i:type="Mimic"><Attributes><Attribute z:Id="i65"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i66"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i67"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i65"/><MultiplierAttribute z:Ref="i66"/><OffsetAttribute z:Ref="i67"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i46"/><AxisName/><Calibration z:Ref="i53"/><Child z:Ref="i44"/><CoordinateSystemName>Origin_global</CoordinateSystemName><Dynamics z:Ref="i56"/><Limit z:Ref="i48"/><Mimic z:Ref="i64"/><NameAttribute z:Ref="i37"/><Origin z:Ref="i39"/><Parent z:Ref="i42"/><Safety z:Ref="i59"/><TypeAttribute z:Ref="i38"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i68"><Attributes><Attribute z:Id="i69"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Link_1</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>-0.024211833164378006</a:double><a:double>3.9457830058875487E-08</a:double><a:double>0.10532219937558808</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">0.46979615570694305</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">0.0023204934185441623</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">-9.2532963151572943E-10</Value></Attribute><Attribute z:Id="i79"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">4.3124437417569196E-05</Value></Attribute><Attribute z:Id="i80"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.0023217832975133573</Value></Attribute><Attribute z:Id="i81"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">-2.9038901843270041E-10</Value></Attribute><Attribute z:Id="i82"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0.00014809272027311842</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i77"/><IxyAttribute z:Ref="i78"/><IxzAttribute z:Ref="i79"/><IyyAttribute z:Ref="i80"/><IyzAttribute z:Ref="i81"/><IzzAttribute z:Ref="i82"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i76"/><Mass z:Ref="i74"/><Origin z:Ref="i71"/></URDFElement><URDFElement z:Id="i83" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i84" i:type="Origin"><Attributes><Attribute z:Id="i85"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i86"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i86"/><XYZAttribute z:Ref="i85"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i87" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i88" i:type="Mesh"><Attributes><Attribute z:Id="i89"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i89"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i88"/></URDFElement><URDFElement z:Id="i90" i:type="Material"><Attributes><Attribute z:Id="i91"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i92" i:type="Color"><Attributes><Attribute z:Id="i93"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0.792156862745098</a:double><a:double>0.81960784313725488</a:double><a:double>0.93333333333333335</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i93"/></URDFElement><URDFElement z:Id="i94" i:type="Texture"><Attributes><Attribute z:Id="i95"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i95"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i92"/><NameAttribute z:Ref="i91"/><Texture z:Ref="i94"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i87"/><Material z:Ref="i90"/><Origin z:Ref="i84"/></URDFElement><URDFElement z:Id="i96" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i97" i:type="Origin"><Attributes><Attribute z:Id="i98"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i99"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i99"/><XYZAttribute z:Ref="i98"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i100" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i101" i:type="Mesh"><Attributes><Attribute z:Id="i102"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i102"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i101"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i100"/><Origin z:Ref="i97"/></URDFElement><URDFElement z:Id="i103" i:type="Joint"><Attributes><Attribute z:Id="i104"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Joint_1</Value></Attribute><Attribute z:Id="i105"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">continuous</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i106" i:type="Origin"><Attributes><Attribute z:Id="i107"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0.02495</a:double><a:double>0</a:double><a:double>0.095</a:double></Value></Attribute><Attribute z:Id="i108"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1.4566</a:double><a:double>0</a:double><a:double>3.1416</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i108"/><XYZAttribute z:Ref="i107"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i109" i:type="ParentLink"><Attributes><Attribute z:Id="i110"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i110"/></URDFElement><URDFElement z:Id="i111" i:type="ChildLink"><Attributes><Attribute z:Id="i112"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Link_1</Value></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i112"/></URDFElement><URDFElement z:Id="i113" i:type="Axis"><Attributes><Attribute z:Id="i114"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</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 z:Id="i122"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i122"/><RisingAttribute z:Ref="i121"/></URDFElement><URDFElement z:Id="i123" i:type="Dynamics"><Attributes><Attribute z:Id="i124"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i125"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i124"/><FrictionAttribute z:Ref="i125"/></URDFElement><URDFElement z:Id="i126" i:type="SafetyController"><Attributes><Attribute z:Id="i127"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i128"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i129"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i130"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i129"/><KVelocityAttribute z:Ref="i130"/><SoftLowerAttribute z:Ref="i128"/><SoftUpperAttribute z:Ref="i127"/></URDFElement><URDFElement z:Id="i131" i:type="Mimic"><Attributes><Attribute z:Id="i132"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i133"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i134"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i132"/><MultiplierAttribute z:Ref="i133"/><OffsetAttribute z:Ref="i134"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i113"/><AxisName>Axis_Joint_1</AxisName><Calibration z:Ref="i120"/><Child z:Ref="i111"/><CoordinateSystemName>Origin_Joint_1</CoordinateSystemName><Dynamics z:Ref="i123"/><Limit z:Ref="i115"/><Mimic z:Ref="i131"/><NameAttribute z:Ref="i104"/><Origin z:Ref="i106"/><Parent z:Ref="i109"/><Safety z:Ref="i126"/><TypeAttribute z:Ref="i105"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><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>mDoAAAUAAAD//v8XTABpAG4AawAgADIALQAxAEAAVQBSAEQARgBfADEATABpAG4AawBfAEEAcgBtAAQAAAAQAAAAAQAAAAEAAAAZAAAA</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>mDoAAAUAAAD//v8XTABpAG4AawAgADEALQAxAEAAVQBSAEQARgBfADEATABpAG4AawBfAEEAcgBtAAQAAAAQAAAAAQAAAAEAAAAYAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
2022-09-04 10:30:09,299 INFO ExportHelperExtension.cs: 347 - Creating joint Link_1
2022-09-04 10:30:09,515 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child Link_1 failed
2022-09-04 10:30:09,530 INFO ExportHelperExtension.cs: 347 - Creating joint Link_2
2022-09-04 10:30:09,535 INFO ExportHelperExtension.cs: 1397 - Fixing components for Link_1
2022-09-04 10:30:09,536 INFO ExportHelperExtension.cs: 1402 - Fixing 25
2022-09-04 10:30:09,537 INFO ExportHelperExtension.cs: 1402 - Fixing 24
2022-09-04 10:30:09,537 INFO ExportHelperExtension.cs: 1409 - Component 24 is already fixed
2022-09-04 10:30:09,692 INFO : 0 - R1: 1, System.__ComObject, 1, System.Double[]
2022-09-04 10:30:09,694 INFO ExportHelperExtension.cs: 841 - R2: 0, 0
2022-09-04 10:30:09,694 INFO ExportHelperExtension.cs: 849 - L1: 0
2022-09-04 10:30:09,695 INFO ExportHelperExtension.cs: 857 - L2: 0
2022-09-04 10:30:09,701 INFO ExportHelperExtension.cs: 1352 - Unfixing component 25
2022-09-04 10:30:11,125 WARN ExportHelperExtension.cs: 351 - Creating joint from parent Link_1 to child Link_2 failed
2022-09-04 10:30:11,308 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from URDF_1Link_Arm.SLDASM
2022-09-04 10:30:11,312 INFO ExportHelperExtension.cs: 1136 - Found 34 in URDF_1Link_Arm.SLDASM
2022-09-04 10:30:11,313 INFO ExportHelperExtension.cs: 1145 - Found 3 features of type [CoordSys] in URDF_1Link_Arm.SLDASM
2022-09-04 10:30:11,313 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2022-09-04 10:30:11,313 INFO ExportHelperExtension.cs: 1160 - 3 components to check
2022-09-04 10:30:11,314 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Link 2-1
2022-09-04 10:30:11,314 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 2-1
2022-09-04 10:30:11,315 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Link 2-1
2022-09-04 10:30:11,315 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Link 1-1
2022-09-04 10:30:11,316 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 1-1
2022-09-04 10:30:11,316 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Link 1-1
2022-09-04 10:30:11,316 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Link 3-1
2022-09-04 10:30:11,317 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 3-1
2022-09-04 10:30:11,317 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Link 3-1
2022-09-04 10:30:11,318 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from URDF_1Link_Arm.SLDASM
2022-09-04 10:30:11,318 INFO ExportHelperExtension.cs: 1136 - Found 34 in URDF_1Link_Arm.SLDASM
2022-09-04 10:30:11,318 INFO ExportHelperExtension.cs: 1145 - Found 2 features of type [RefAxis] in URDF_1Link_Arm.SLDASM
2022-09-04 10:30:11,319 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2022-09-04 10:30:11,319 INFO ExportHelperExtension.cs: 1160 - 3 components to check
2022-09-04 10:30:11,320 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Link 2-1
2022-09-04 10:30:11,320 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 2-1
2022-09-04 10:30:11,320 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Link 2-1
2022-09-04 10:30:11,321 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Link 1-1
2022-09-04 10:30:11,321 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 1-1
2022-09-04 10:30:11,322 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Link 1-1
2022-09-04 10:30:11,322 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Link 3-1
2022-09-04 10:30:11,322 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 3-1
2022-09-04 10:30:11,323 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Link 3-1
2022-09-04 10:30:11,370 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2022-09-04 10:30:56,556 INFO SwAddin.cs: 294 - Assembly export called for file URDF_1Link_Arm.SLDASM
2022-09-04 10:30:56,557 INFO SwAddin.cs: 299 - Save is required
2022-09-04 10:30:56,557 INFO SwAddin.cs: 313 - Saving assembly
2022-09-04 10:30:56,958 INFO SwAddin.cs: 316 - Opening property manager
2022-09-04 10:30:56,959 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from URDF_1Link_Arm.SLDASM
2022-09-04 10:30:56,961 INFO ExportHelperExtension.cs: 1136 - Found 34 in URDF_1Link_Arm.SLDASM
2022-09-04 10:30:56,962 INFO ExportHelperExtension.cs: 1145 - Found 3 features of type [CoordSys] in URDF_1Link_Arm.SLDASM
2022-09-04 10:30:56,963 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2022-09-04 10:30:56,964 INFO ExportHelperExtension.cs: 1160 - 3 components to check
2022-09-04 10:30:56,964 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Link 2-1
2022-09-04 10:30:56,965 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 2-1
2022-09-04 10:30:56,966 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Link 2-1
2022-09-04 10:30:56,967 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Link 1-1
2022-09-04 10:30:56,967 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 1-1
2022-09-04 10:30:56,968 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Link 1-1
2022-09-04 10:30:56,969 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Link 3-1
2022-09-04 10:30:56,969 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 3-1
2022-09-04 10:30:56,970 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Link 3-1
2022-09-04 10:30:56,971 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from URDF_1Link_Arm.SLDASM
2022-09-04 10:30:56,972 INFO ExportHelperExtension.cs: 1136 - Found 34 in URDF_1Link_Arm.SLDASM
2022-09-04 10:30:56,973 INFO ExportHelperExtension.cs: 1145 - Found 2 features of type [RefAxis] in URDF_1Link_Arm.SLDASM
2022-09-04 10:30:56,973 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2022-09-04 10:30:56,980 INFO ExportHelperExtension.cs: 1160 - 3 components to check
2022-09-04 10:30:56,981 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Link 2-1
2022-09-04 10:30:57,021 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 2-1
2022-09-04 10:30:57,021 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Link 2-1
2022-09-04 10:30:57,022 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Link 1-1
2022-09-04 10:30:57,022 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 1-1
2022-09-04 10:30:57,023 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Link 1-1
2022-09-04 10:30:57,023 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Link 3-1
2022-09-04 10:30:57,024 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 3-1
2022-09-04 10:30:57,024 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Link 3-1
2022-09-04 10:30:57,198 INFO SwAddin.cs: 339 - Loading config tree
2022-09-04 10:30:57,199 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
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i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i89"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i88"/></URDFElement><URDFElement z:Id="i90" i:type="Material"><Attributes><Attribute z:Id="i91"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i92" i:type="Color"><Attributes><Attribute z:Id="i93"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" 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z:Ref="i84"/></URDFElement><URDFElement z:Id="i96" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i97" i:type="Origin"><Attributes><Attribute z:Id="i98"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i99"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i99"/><XYZAttribute z:Ref="i98"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i100" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i101" 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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>mDoAAAUAAAD//v8XTABpAG4AawAgADEALQAxAEAAVQBSAEQARgBfADEATABpAG4AawBfAEEAcgBtAAQAAAAQAAAAAQAAAAEAAAAYAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
2022-09-04 10:30:57,200 INFO LinkNode.cs: 35 - Building node base_link
2022-09-04 10:30:57,201 INFO LinkNode.cs: 35 - Building node Link_1
2022-09-04 10:30:57,201 INFO LinkNode.cs: 35 - Building node Link_2
2022-09-04 10:30:57,201 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for base_link from C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\Simple 1 link arm\URDF_1Link_Arm.SLDASM
2022-09-04 10:30:57,202 INFO CommonSwOperations.cs: 245 - Loading component with PID ?: ???L i n k 1 - 1 @ U R D F _ 1 L i n k _ A r m
2022-09-04 10:30:57,202 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\Simple 1 link arm\Link 1.SLDPRT
2022-09-04 10:30:57,202 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link base_link
2022-09-04 10:30:57,203 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link_1 from C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\Simple 1 link arm\URDF_1Link_Arm.SLDASM
2022-09-04 10:30:57,203 INFO CommonSwOperations.cs: 245 - Loading component with PID ?: ???L i n k 2 - 1 @ U R D F _ 1 L i n k _ A r m
2022-09-04 10:30:57,203 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\Simple 1 link arm\Link 2.SLDPRT
2022-09-04 10:30:57,204 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link Link_1
2022-09-04 10:30:57,204 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link_2 from C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\Simple 1 link arm\URDF_1Link_Arm.SLDASM
2022-09-04 10:30:57,204 INFO CommonSwOperations.cs: 245 - Loading component with PID ?: ???L i n k 3 - 1 @ U R D F _ 1 L i n k _ A r m #
2022-09-04 10:30:57,205 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\Simple 1 link arm\Link 3.SLDPRT
2022-09-04 10:30:57,205 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link Link_2
2022-09-04 10:30:57,215 INFO SwAddin.cs: 344 - Showing property manager
2022-09-04 10:30:59,649 INFO ExportPropertyManager.cs: 422 - Configuration saved
2022-09-04 10:30:59,650 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
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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" 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z:Id="i51"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i52"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i51"/><LowerAttribute z:Ref="i49"/><UpperAttribute z:Ref="i50"/><VelocityAttribute z:Ref="i52"/></URDFElement><URDFElement z:Id="i53" i:type="Calibration"><Attributes><Attribute z:Id="i54"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i55"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i55"/><RisingAttribute z:Ref="i54"/></URDFElement><URDFElement z:Id="i56" i:type="Dynamics"><Attributes><Attribute 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i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i62"/><KVelocityAttribute z:Ref="i63"/><SoftLowerAttribute z:Ref="i61"/><SoftUpperAttribute z:Ref="i60"/></URDFElement><URDFElement z:Id="i64" i:type="Mimic"><Attributes><Attribute z:Id="i65"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i66"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i67"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i65"/><MultiplierAttribute z:Ref="i66"/><OffsetAttribute z:Ref="i67"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i46"/><AxisName/><Calibration z:Ref="i53"/><Child z:Ref="i44"/><CoordinateSystemName>Origin_global</CoordinateSystemName><Dynamics z:Ref="i56"/><Limit z:Ref="i48"/><Mimic z:Ref="i64"/><NameAttribute z:Ref="i37"/><Origin z:Ref="i39"/><Parent z:Ref="i42"/><Safety z:Ref="i59"/><TypeAttribute z:Ref="i38"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i68"><Attributes><Attribute z:Id="i69"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Link_1</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" 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i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i89"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i88"/></URDFElement><URDFElement z:Id="i90" i:type="Material"><Attributes><Attribute z:Id="i91"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i92" i:type="Color"><Attributes><Attribute z:Id="i93"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" 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z:Ref="i84"/></URDFElement><URDFElement z:Id="i96" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i97" i:type="Origin"><Attributes><Attribute z:Id="i98"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i99"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i99"/><XYZAttribute z:Ref="i98"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i100" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i101" 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xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i110"/></URDFElement><URDFElement z:Id="i111" i:type="ChildLink"><Attributes><Attribute z:Id="i112"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Link_1</Value></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i112"/></URDFElement><URDFElement z:Id="i113" i:type="Axis"><Attributes><Attribute z:Id="i114"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</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 z:Id="i122"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i122"/><RisingAttribute z:Ref="i121"/></URDFElement><URDFElement z:Id="i123" i:type="Dynamics"><Attributes><Attribute z:Id="i124"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i125"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i124"/><FrictionAttribute z:Ref="i125"/></URDFElement><URDFElement z:Id="i126" i:type="SafetyController"><Attributes><Attribute z:Id="i127"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i128"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i129"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i130"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i129"/><KVelocityAttribute z:Ref="i130"/><SoftLowerAttribute z:Ref="i128"/><SoftUpperAttribute z:Ref="i127"/></URDFElement><URDFElement z:Id="i131" i:type="Mimic"><Attributes><Attribute z:Id="i132"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i133"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i134"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i132"/><MultiplierAttribute z:Ref="i133"/><OffsetAttribute z:Ref="i134"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i113"/><AxisName>Axis_Joint_1</AxisName><Calibration z:Ref="i120"/><Child z:Ref="i111"/><CoordinateSystemName>Origin_Joint_1</CoordinateSystemName><Dynamics z:Ref="i123"/><Limit z:Ref="i115"/><Mimic z:Ref="i131"/><NameAttribute z:Ref="i104"/><Origin z:Ref="i106"/><Parent z:Ref="i109"/><Safety z:Ref="i126"/><TypeAttribute z:Ref="i105"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i135"><Attributes><Attribute z:Id="i136"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" 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i:type="Mass"><Attributes><Attribute z:Id="i142"><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="i142"/></URDFElement><URDFElement z:Id="i143" i:type="Inertia"><Attributes><Attribute z:Id="i144"><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="i145"><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="i146"><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="i147"><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="i148"><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="i149"><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="i144"/><IxyAttribute z:Ref="i145"/><IxzAttribute z:Ref="i146"/><IyyAttribute z:Ref="i147"/><IyzAttribute z:Ref="i148"/><IzzAttribute z:Ref="i149"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i143"/><Mass z:Ref="i141"/><Origin z:Ref="i138"/></URDFElement><URDFElement z:Id="i150" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i151" i:type="Origin"><Attributes><Attribute z:Id="i152"><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="i153"><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="i153"/><XYZAttribute z:Ref="i152"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i154" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i155" i:type="Mesh"><Attributes><Attribute z:Id="i156"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i156"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i155"/></URDFElement><URDFElement z:Id="i157" i:type="Material"><Attributes><Attribute z:Id="i158"><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="i159" i:type="Color"><Attributes><Attribute z:Id="i160"><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="i160"/></URDFElement><URDFElement z:Id="i161" i:type="Texture"><Attributes><Attribute z:Id="i162"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i162"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i159"/><NameAttribute z:Ref="i158"/><Texture z:Ref="i161"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i154"/><Material z:Ref="i157"/><Origin z:Ref="i151"/></URDFElement><URDFElement z:Id="i163" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i164" i:type="Origin"><Attributes><Attribute z:Id="i165"><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="i166"><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="i166"/><XYZAttribute z:Ref="i165"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i167" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i168" i:type="Mesh"><Attributes><Attribute z:Id="i169"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i169"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i168"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i167"/><Origin z:Ref="i164"/></URDFElement><URDFElement z:Id="i170" i:type="Joint"><Attributes><Attribute z:Id="i171"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Joint_2</Value></Attribute><Attribute z:Id="i172"><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="i173" i:type="Origin"><Attributes><Attribute z:Id="i174"><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="i175"><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="i175"/><XYZAttribute z:Ref="i174"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i176" i:type="ParentLink"><Attributes><Attribute z:Id="i177"><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="i177"/></URDFElement><URDFElement z:Id="i178" i:type="ChildLink"><Attributes><Attribute z:Id="i179"><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="i179"/></URDFElement><URDFElement z:Id="i180" i:type="Axis"><Attributes><Attribute z:Id="i181"><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="i181"/></URDFElement><URDFElement z:Id="i182" i:type="Limit"><Attributes><Attribute z:Id="i183"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i184"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i185"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i186"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i185"/><LowerAttribute z:Ref="i183"/><UpperAttribute z:Ref="i184"/><VelocityAttribute z:Ref="i186"/></URDFElement><URDFElement z:Id="i187" i:type="Calibration"><Attributes><Attribute z:Id="i188"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i189"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i189"/><RisingAttribute z:Ref="i188"/></URDFElement><URDFElement z:Id="i190" i:type="Dynamics"><Attributes><Attribute z:Id="i191"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i192"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i191"/><FrictionAttribute z:Ref="i192"/></URDFElement><URDFElement z:Id="i193" i:type="SafetyController"><Attributes><Attribute z:Id="i194"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i195"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i196"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i197"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i196"/><KVelocityAttribute z:Ref="i197"/><SoftLowerAttribute z:Ref="i195"/><SoftUpperAttribute z:Ref="i194"/></URDFElement><URDFElement z:Id="i198" i:type="Mimic"><Attributes><Attribute z:Id="i199"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i200"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i201"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i199"/><MultiplierAttribute z:Ref="i200"/><OffsetAttribute z:Ref="i201"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i180"/><AxisName>Automatically Generate</AxisName><Calibration z:Ref="i187"/><Child z:Ref="i178"/><CoordinateSystemName>Automatically Generate</CoordinateSystemName><Dynamics z:Ref="i190"/><Limit z:Ref="i182"/><Mimic z:Ref="i198"/><NameAttribute z:Ref="i171"/><Origin z:Ref="i173"/><Parent z:Ref="i176"/><Safety z:Ref="i193"/><TypeAttribute z:Ref="i172"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><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>mDoAAAUAAAD//v8XTABpAG4AawAgADMALQAxAEAAVQBSAEQARgBfADEATABpAG4AawBfAEEAcgBtAAQAAAAQAAAAAQAAAAEAAAAjAAAA</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>mDoAAAUAAAD//v8XTABpAG4AawAgADIALQAxAEAAVQBSAEQARgBfADEATABpAG4AawBfAEEAcgBtAAQAAAAQAAAAAQAAAAEAAAAZAAAA</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>mDoAAAUAAAD//v8XTABpAG4AawAgADEALQAxAEAAVQBSAEQARgBfADEATABpAG4AawBfAEEAcgBtAAQAAAAQAAAAAQAAAAEAAAAYAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
2022-09-04 10:30:59,752 INFO ExportHelperExtension.cs: 347 - Creating joint Link_1
2022-09-04 10:30:59,837 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child Link_1 failed
2022-09-04 10:30:59,842 INFO ExportHelperExtension.cs: 347 - Creating joint Link_2
2022-09-04 10:30:59,843 INFO ExportHelperExtension.cs: 1397 - Fixing components for Link_1
2022-09-04 10:30:59,843 INFO ExportHelperExtension.cs: 1402 - Fixing 25
2022-09-04 10:30:59,843 INFO ExportHelperExtension.cs: 1402 - Fixing 24
2022-09-04 10:30:59,844 INFO ExportHelperExtension.cs: 1409 - Component 24 is already fixed
2022-09-04 10:31:00,008 INFO ExportHelperExtension.cs: 828 - R1: 1, System.__ComObject, 1, System.Double[]
2022-09-04 10:31:00,009 INFO ExportHelperExtension.cs: 841 - R2: 0, 0
2022-09-04 10:31:00,009 INFO ExportHelperExtension.cs: 849 - L1: 0
2022-09-04 10:31:00,009 INFO ExportHelperExtension.cs: 857 - L2: 0
2022-09-04 10:31:00,010 INFO ExportHelperExtension.cs: 1352 - Unfixing component 25
2022-09-04 10:31:01,729 WARN ExportHelperExtension.cs: 351 - Creating joint from parent Link_1 to child Link_2 failed
2022-09-04 10:31:01,822 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from URDF_1Link_Arm.SLDASM
2022-09-04 10:31:01,823 INFO ExportHelperExtension.cs: 1136 - Found 36 in URDF_1Link_Arm.SLDASM
2022-09-04 10:31:01,824 INFO ExportHelperExtension.cs: 1145 - Found 4 features of type [CoordSys] in URDF_1Link_Arm.SLDASM
2022-09-04 10:31:01,824 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2022-09-04 10:31:01,824 INFO ExportHelperExtension.cs: 1160 - 3 components to check
2022-09-04 10:31:01,825 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Link 2-1
2022-09-04 10:31:01,825 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 2-1
2022-09-04 10:31:01,826 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Link 2-1
2022-09-04 10:31:01,826 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Link 1-1
2022-09-04 10:31:01,827 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 1-1
2022-09-04 10:31:01,827 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Link 1-1
2022-09-04 10:31:01,828 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Link 3-1
2022-09-04 10:31:01,828 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 3-1
2022-09-04 10:31:01,831 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Link 3-1
2022-09-04 10:31:01,831 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from URDF_1Link_Arm.SLDASM
2022-09-04 10:31:01,832 INFO ExportHelperExtension.cs: 1136 - Found 36 in URDF_1Link_Arm.SLDASM
2022-09-04 10:31:01,832 INFO ExportHelperExtension.cs: 1145 - Found 3 features of type [RefAxis] in URDF_1Link_Arm.SLDASM
2022-09-04 10:31:01,833 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2022-09-04 10:31:01,833 INFO ExportHelperExtension.cs: 1160 - 3 components to check
2022-09-04 10:31:01,833 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Link 2-1
2022-09-04 10:31:01,856 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 2-1
2022-09-04 10:31:01,856 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Link 2-1
2022-09-04 10:31:01,857 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Link 1-1
2022-09-04 10:31:01,858 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 1-1
2022-09-04 10:31:01,859 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Link 1-1
2022-09-04 10:31:01,859 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Link 3-1
2022-09-04 10:31:01,859 INFO ExportHelperExtension.cs: 1136 - Found 29 in Link 3-1
2022-09-04 10:31:01,860 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Link 3-1
2022-09-04 10:31:01,910 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2022-09-04 10:31:08,672 INFO AssemblyExportForm.cs: 253 - Completing URDF export
2022-09-04 10:31:08,676 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
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z:Id="i156"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i156"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i155"/></URDFElement><URDFElement z:Id="i157" i:type="Material"><Attributes><Attribute z:Id="i158"><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="i159" i:type="Color"><Attributes><Attribute z:Id="i160"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" 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z:Id="i169"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i169"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i168"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i167"/><Origin z:Ref="i164"/></URDFElement><URDFElement z:Id="i170" i:type="Joint"><Attributes><Attribute z:Id="i171"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">Joint_2</Value></Attribute><Attribute z:Id="i172"><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="i173" i:type="Origin"><Attributes><Attribute z:Id="i174"><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="i175"><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="i175"/><XYZAttribute z:Ref="i174"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i176" i:type="ParentLink"><Attributes><Attribute z:Id="i177"><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="i177"/></URDFElement><URDFElement z:Id="i178" i:type="ChildLink"><Attributes><Attribute z:Id="i179"><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="i179"/></URDFElement><URDFElement z:Id="i180" i:type="Axis"><Attributes><Attribute z:Id="i181"><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="i181"/></URDFElement><URDFElement z:Id="i182" i:type="Limit"><Attributes><Attribute z:Id="i183"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i184"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i185"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i186"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i185"/><LowerAttribute z:Ref="i183"/><UpperAttribute z:Ref="i184"/><VelocityAttribute z:Ref="i186"/></URDFElement><URDFElement z:Id="i187" i:type="Calibration"><Attributes><Attribute z:Id="i188"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i189"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i189"/><RisingAttribute z:Ref="i188"/></URDFElement><URDFElement z:Id="i190" i:type="Dynamics"><Attributes><Attribute z:Id="i191"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i192"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i191"/><FrictionAttribute z:Ref="i192"/></URDFElement><URDFElement z:Id="i193" i:type="SafetyController"><Attributes><Attribute z:Id="i194"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i195"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i196"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i197"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i196"/><KVelocityAttribute z:Ref="i197"/><SoftLowerAttribute z:Ref="i195"/><SoftUpperAttribute z:Ref="i194"/></URDFElement><URDFElement z:Id="i198" i:type="Mimic"><Attributes><Attribute z:Id="i199"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i200"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i201"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i199"/><MultiplierAttribute z:Ref="i200"/><OffsetAttribute z:Ref="i201"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i180"/><AxisName>Automatically Generate</AxisName><Calibration z:Ref="i187"/><Child z:Ref="i178"/><CoordinateSystemName>Automatically Generate</CoordinateSystemName><Dynamics z:Ref="i190"/><Limit z:Ref="i182"/><Mimic z:Ref="i198"/><NameAttribute z:Ref="i171"/><Origin z:Ref="i173"/><Parent z:Ref="i176"/><Safety z:Ref="i193"/><TypeAttribute z:Ref="i172"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><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>mDoAAAUAAAD//v8XTABpAG4AawAgADMALQAxAEAAVQBSAEQARgBfADEATABpAG4AawBfAEEAcgBtAAQAAAAQAAAAAQAAAAEAAAAjAAAA</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>mDoAAAUAAAD//v8XTABpAG4AawAgADIALQAxAEAAVQBSAEQARgBfADEATABpAG4AawBfAEEAcgBtAAQAAAAQAAAAAQAAAAEAAAAZAAAA</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>mDoAAAUAAAD//v8XTABpAG4AawAgADEALQAxAEAAVQBSAEQARgBfADEATABpAG4AawBfAEEAcgBtAAQAAAAQAAAAAQAAAAEAAAAYAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
2022-09-04 10:31:45,427 INFO AssemblyExportForm.cs: 309 - Saving URDF package to C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\two_link_arm\two_link_arm
2022-09-04 10:31:45,428 INFO ExportHelper.cs: 147 - Beginning the export process
2022-09-04 10:31:45,431 INFO ExportHelper.cs: 153 - Creating package directories with name two_link_arm and save path C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\two_link_arm
2022-09-04 10:31:47,121 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\two_link_arm\two_link_arm\CMakeLists.txt
2022-09-04 10:31:47,130 INFO ExportHelper.cs: 166 - Creating joint names config at C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\two_link_arm\two_link_arm\config\joint_names_two_link_arm.yaml
2022-09-04 10:31:47,132 INFO ExportHelper.cs: 170 - Creating package.xml at C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\two_link_arm\two_link_arm\package.xml
2022-09-04 10:31:47,134 INFO PackageXMLWriter.cs: 21 - Creating package.xml at C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\two_link_arm\two_link_arm\package.xml
2022-09-04 10:31:47,137 INFO ExportHelper.cs: 177 - Creating RVIZ launch file in C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\two_link_arm\two_link_arm\launch\
2022-09-04 10:31:47,141 INFO ExportHelper.cs: 182 - Creating Gazebo launch file in C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\two_link_arm\two_link_arm\launch\
2022-09-04 10:31:47,142 INFO ExportHelper.cs: 187 - Saving existing STL preferences
2022-09-04 10:31:47,143 INFO ExportHelper.cs: 450 - Saving users preferences
2022-09-04 10:31:47,144 INFO ExportHelper.cs: 190 - Modifying STL preferences
2022-09-04 10:31:47,145 INFO ExportHelper.cs: 464 - Setting STL preferences
2022-09-04 10:31:47,149 INFO ExportHelper.cs: 196 - Found 0 hidden components
2022-09-04 10:31:47,149 INFO ExportHelper.cs: 197 - Hiding all components
2022-09-04 10:31:47,290 INFO ExportHelper.cs: 204 - Beginning individual files export
2022-09-04 10:31:47,294 INFO ExportHelper.cs: 270 - Exporting link: base_link
2022-09-04 10:31:47,295 INFO ExportHelper.cs: 272 - Link base_link has 1 children
2022-09-04 10:31:47,297 INFO ExportHelper.cs: 270 - Exporting link: Link_1
2022-09-04 10:31:47,298 INFO ExportHelper.cs: 272 - Link Link_1 has 1 children
2022-09-04 10:31:47,300 INFO ExportHelper.cs: 270 - Exporting link: Link_2
2022-09-04 10:31:47,301 INFO ExportHelper.cs: 272 - Link Link_2 has 0 children
2022-09-04 10:31:47,302 INFO ExportHelper.cs: 317 - Link_2: Exporting STL with coordinate frame Origin_Joint_22
2022-09-04 10:31:47,303 INFO ExportHelper.cs: 322 - Link_2: Reference geometry name
2022-09-04 10:31:47,316 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\two_link_arm\two_link_arm\meshes\Link_2.STL
2022-09-04 10:31:47,376 INFO ExportHelper.cs: 405 - Removing SW header in STL file
2022-09-04 10:31:47,377 INFO ExportHelper.cs: 317 - Link_1: Exporting STL with coordinate frame Origin_Joint_1
2022-09-04 10:31:47,378 INFO ExportHelper.cs: 322 - Link_1: Reference geometry name
2022-09-04 10:31:47,420 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\two_link_arm\two_link_arm\meshes\Link_1.STL
2022-09-04 10:31:47,492 INFO ExportHelper.cs: 405 - Removing SW header in STL file
2022-09-04 10:31:47,493 INFO ExportHelper.cs: 317 - base_link: Exporting STL with coordinate frame Origin_global
2022-09-04 10:31:47,493 INFO ExportHelper.cs: 322 - base_link: Reference geometry name
2022-09-04 10:31:47,554 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\two_link_arm\two_link_arm\meshes\base_link.STL
2022-09-04 10:31:47,613 INFO ExportHelper.cs: 405 - Removing SW header in STL file
2022-09-04 10:31:47,614 INFO ExportHelper.cs: 145 - Showing all components except previously hidden components
2022-09-04 10:31:47,740 INFO ExportHelper.cs: 145 - Resetting STL preferences
2022-09-04 10:31:47,741 INFO ExportHelper.cs: 478 - Returning STL preferences to user preferences
2022-09-04 10:31:47,741 INFO ExportHelper.cs: 228 - Writing URDF file to C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\two_link_arm\two_link_arm\urdf\two_link_arm.urdf
2022-09-04 10:31:47,802 INFO CSVImportExport.cs: 32 - Writing CSV file C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\two_link_arm\two_link_arm\urdf\two_link_arm.csv
2022-09-04 10:31:47,823 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2022-09-04 10:31:47,823 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2022-09-04 10:31:47,824 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2022-09-04 10:31:47,824 INFO ExportHelper.cs: 234 - Copying log file
2022-09-04 10:31:47,828 INFO ExportHelper.cs: 439 - Copying C:\Users\ishan\sw2urdf_logs\sw2urdf.log to C:\Users\ishan\Documents\#Clubs\Project Kratos\2022 Rover\URDF Tests\two_link_arm\two_link_arm\export.log