2021-08-24 10:46:42,896 INFO  Logger.cs: 70 - 
--------------------------------------------------------------------------------
2021-08-24 10:46:42,947 INFO  Logger.cs: 71 - Logging commencing for SW2URDF exporter
2021-08-24 10:46:42,950 INFO  Logger.cs: 73 - Commit version 1.5.1-0-g916b5db
2021-08-24 10:46:42,951 INFO  Logger.cs: 74 - Build version 1.5.7152.31018
2021-08-24 10:46:42,978 INFO  SwAddin.cs: 250 - Adding Assembly export to file menu
2021-08-24 10:46:42,979 INFO  SwAddin.cs: 253 - Adding Part export to file menu
2021-08-24 10:46:43,010 INFO  SwAddin.cs: 218 - Connecting plugin to SolidWorks
2021-08-24 11:18:05,520 INFO  SwAddin.cs: 271 - Assembly export called for file gazebo_demo1.SLDASM
2021-08-24 11:18:12,570 INFO  SwAddin.cs: 290 - Saving assembly
2021-08-24 11:18:12,666 INFO  SwAddin.cs: 293 - Opening property manager
2021-08-24 11:18:12,702 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from gazebo_demo1.SLDASM
2021-08-24 11:18:12,721 INFO  ExportHelperExtension.cs: 1142 - Found 48 in gazebo_demo1.SLDASM
2021-08-24 11:18:12,722 INFO  ExportHelperExtension.cs: 1152 - Found 5 features of type [CoordSys] in gazebo_demo1.SLDASM
2021-08-24 11:18:12,722 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-08-24 11:18:12,724 INFO  ExportHelperExtension.cs: 1167 - 5 components to check
2021-08-24 11:18:12,726 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from tui-2
2021-08-24 11:18:12,726 INFO  ExportHelperExtension.cs: 1142 - Found 27 in tui-2
2021-08-24 11:18:12,727 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in tui-2
2021-08-24 11:18:12,728 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from 零件-1
2021-08-24 11:18:12,729 INFO  ExportHelperExtension.cs: 1142 - Found 27 in 零件-1
2021-08-24 11:18:12,730 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in 零件-1
2021-08-24 11:18:12,730 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from tui-1
2021-08-24 11:18:12,731 INFO  ExportHelperExtension.cs: 1142 - Found 27 in tui-1
2021-08-24 11:18:12,732 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in tui-1
2021-08-24 11:18:12,732 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from tui-3
2021-08-24 11:18:12,733 INFO  ExportHelperExtension.cs: 1142 - Found 27 in tui-3
2021-08-24 11:18:12,735 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in tui-3
2021-08-24 11:18:12,736 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from tui-4
2021-08-24 11:18:12,737 INFO  ExportHelperExtension.cs: 1142 - Found 27 in tui-4
2021-08-24 11:18:12,737 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in tui-4
2021-08-24 11:18:12,740 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from gazebo_demo1.SLDASM
2021-08-24 11:18:12,740 INFO  ExportHelperExtension.cs: 1142 - Found 48 in gazebo_demo1.SLDASM
2021-08-24 11:18:12,742 INFO  ExportHelperExtension.cs: 1152 - Found 5 features of type [RefAxis] in gazebo_demo1.SLDASM
2021-08-24 11:18:12,742 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-08-24 11:18:12,743 INFO  ExportHelperExtension.cs: 1167 - 5 components to check
2021-08-24 11:18:12,744 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from tui-2
2021-08-24 11:18:12,744 INFO  ExportHelperExtension.cs: 1142 - Found 27 in tui-2
2021-08-24 11:18:12,745 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in tui-2
2021-08-24 11:18:12,746 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from 零件-1
2021-08-24 11:18:12,776 INFO  ExportHelperExtension.cs: 1142 - Found 27 in 零件-1
2021-08-24 11:18:12,777 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in 零件-1
2021-08-24 11:18:12,777 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from tui-1
2021-08-24 11:18:12,778 INFO  ExportHelperExtension.cs: 1142 - Found 27 in tui-1
2021-08-24 11:18:12,779 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in tui-1
2021-08-24 11:18:12,780 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from tui-3
2021-08-24 11:18:12,781 INFO  ExportHelperExtension.cs: 1142 - Found 27 in tui-3
2021-08-24 11:18:12,782 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in tui-3
2021-08-24 11:18:12,783 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from tui-4
2021-08-24 11:18:12,784 INFO  ExportHelperExtension.cs: 1142 - Found 27 in tui-4
2021-08-24 11:18:12,785 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in tui-4
2021-08-24 11:18:13,048 INFO  SwAddin.cs: 316 - Loading config tree
2021-08-24 11:18:13,056 INFO  ExportPropertyManagerExtension.cs: 597 - Starting new configuration
2021-08-24 11:18:13,060 INFO  SwAddin.cs: 321 - Showing property manager
2021-08-24 11:18:49,720 INFO  ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-08-24 11:19:19,387 INFO  ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-08-24 11:19:19,755 INFO  ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-08-24 11:19:20,153 INFO  ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-08-24 11:19:20,474 INFO  ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-08-24 11:19:44,572 INFO  ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-08-24 11:19:47,266 INFO  ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-08-24 11:20:42,987 INFO  ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-08-24 11:21:10,789 INFO  ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-08-24 11:21:12,555 INFO  ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-08-24 11:21:14,627 INFO  ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-08-24 11:21:32,259 INFO  ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-08-24 11:21:33,923 INFO  ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-08-24 11:21:48,992 INFO  ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-08-24 11:21:50,592 INFO  ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-08-24 11:21:52,410 INFO  ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-08-24 11:22:08,999 INFO  ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-08-24 11:22:25,120 INFO  ExportPropertyManager.cs: 456 - Configuration saved
2021-08-24 11:22:25,379 INFO  ExportHelperExtension.cs: 338 - Creating joint LF_LINK
2021-08-24 11:22:25,696 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child LF_LINK failed
2021-08-24 11:22:25,700 INFO  ExportHelperExtension.cs: 338 - Creating joint LB_LINK
2021-08-24 11:22:25,729 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child LB_LINK failed
2021-08-24 11:22:25,732 INFO  ExportHelperExtension.cs: 338 - Creating joint RF_LINK
2021-08-24 11:22:25,761 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child RF_LINK failed
2021-08-24 11:22:25,764 INFO  ExportHelperExtension.cs: 338 - Creating joint RB_LINK
2021-08-24 11:22:25,796 WARN  ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child RB_LINK failed
2021-08-24 11:22:25,958 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from gazebo_demo1.SLDASM
2021-08-24 11:22:25,965 INFO  ExportHelperExtension.cs: 1142 - Found 49 in gazebo_demo1.SLDASM
2021-08-24 11:22:25,966 INFO  ExportHelperExtension.cs: 1152 - Found 5 features of type [CoordSys] in gazebo_demo1.SLDASM
2021-08-24 11:22:25,967 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-08-24 11:22:25,967 INFO  ExportHelperExtension.cs: 1167 - 5 components to check
2021-08-24 11:22:25,968 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from tui-2
2021-08-24 11:22:25,968 INFO  ExportHelperExtension.cs: 1142 - Found 27 in tui-2
2021-08-24 11:22:25,969 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in tui-2
2021-08-24 11:22:25,969 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from 零件-1
2021-08-24 11:22:25,969 INFO  ExportHelperExtension.cs: 1142 - Found 27 in 零件-1
2021-08-24 11:22:25,969 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in 零件-1
2021-08-24 11:22:25,970 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from tui-1
2021-08-24 11:22:25,970 INFO  ExportHelperExtension.cs: 1142 - Found 27 in tui-1
2021-08-24 11:22:25,971 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in tui-1
2021-08-24 11:22:25,971 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from tui-3
2021-08-24 11:22:25,971 INFO  ExportHelperExtension.cs: 1142 - Found 27 in tui-3
2021-08-24 11:22:25,972 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in tui-3
2021-08-24 11:22:25,972 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from tui-4
2021-08-24 11:22:25,973 INFO  ExportHelperExtension.cs: 1142 - Found 27 in tui-4
2021-08-24 11:22:25,974 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in tui-4
2021-08-24 11:22:25,979 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from gazebo_demo1.SLDASM
2021-08-24 11:22:25,980 INFO  ExportHelperExtension.cs: 1142 - Found 49 in gazebo_demo1.SLDASM
2021-08-24 11:22:25,980 INFO  ExportHelperExtension.cs: 1152 - Found 5 features of type [RefAxis] in gazebo_demo1.SLDASM
2021-08-24 11:22:25,981 INFO  ExportHelperExtension.cs: 1155 - Proceeding through assembly components
2021-08-24 11:22:25,981 INFO  ExportHelperExtension.cs: 1167 - 5 components to check
2021-08-24 11:22:25,982 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from tui-2
2021-08-24 11:22:25,982 INFO  ExportHelperExtension.cs: 1142 - Found 27 in tui-2
2021-08-24 11:22:25,982 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in tui-2
2021-08-24 11:22:25,983 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from 零件-1
2021-08-24 11:22:26,001 INFO  ExportHelperExtension.cs: 1142 - Found 27 in 零件-1
2021-08-24 11:22:26,001 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in 零件-1
2021-08-24 11:22:26,002 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from tui-1
2021-08-24 11:22:26,002 INFO  ExportHelperExtension.cs: 1142 - Found 27 in tui-1
2021-08-24 11:22:26,003 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in tui-1
2021-08-24 11:22:26,003 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from tui-3
2021-08-24 11:22:26,003 INFO  ExportHelperExtension.cs: 1142 - Found 27 in tui-3
2021-08-24 11:22:26,004 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in tui-3
2021-08-24 11:22:26,004 INFO  ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from tui-4
2021-08-24 11:22:26,005 INFO  ExportHelperExtension.cs: 1142 - Found 27 in tui-4
2021-08-24 11:22:26,005 INFO  ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in tui-4
2021-08-24 11:22:26,119 INFO  ExportPropertyManager.cs: 1184 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2021-08-24 11:23:32,446 INFO  AssemblyExportForm.cs: 254 - Completing URDF export
2021-08-24 11:23:32,452 INFO  Serialization.cs: 275 - URDF Configuration found
<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i6"/><XYZAttribute z:Ref="i5"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i7" i:type="Mass"><Attributes><Attribute z:Id="i8"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i8"/></URDFElement><URDFElement z:Id="i9" i:type="Inertia"><Attributes><Attribute z:Id="i10"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i11"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i12"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i13"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i14"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i15"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i10"/><IxyAttribute z:Ref="i11"/><IxzAttribute z:Ref="i12"/><IyyAttribute z:Ref="i13"/><IyzAttribute z:Ref="i14"/><IzzAttribute z:Ref="i15"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i9"/><Mass z:Ref="i7"/><Origin z:Ref="i4"/></URDFElement><URDFElement z:Id="i16" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i17" i:type="Origin"><Attributes><Attribute z:Id="i18"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i19"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i19"/><XYZAttribute z:Ref="i18"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i20" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i21" i:type="Mesh"><Attributes><Attribute z:Id="i22"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i22"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i21"/></URDFElement><URDFElement z:Id="i23" i:type="Material"><Attributes><Attribute z:Id="i24"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i25" i:type="Color"><Attributes><Attribute z:Id="i26"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i26"/></URDFElement><URDFElement z:Id="i27" i:type="Texture"><Attributes><Attribute z:Id="i28"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i28"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i25"/><NameAttribute z:Ref="i24"/><Texture z:Ref="i27"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i20"/><Material z:Ref="i23"/><Origin z:Ref="i17"/></URDFElement><URDFElement z:Id="i29" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i30" i:type="Origin"><Attributes><Attribute z:Id="i31"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i32"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i32"/><XYZAttribute z:Ref="i31"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i33" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i34" i:type="Mesh"><Attributes><Attribute z:Id="i35"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i35"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i34"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i33"/><Origin z:Ref="i30"/></URDFElement><URDFElement z:Id="i36" i:type="Joint"><Attributes><Attribute z:Id="i37"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute><Attribute z:Id="i38"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i39" i:type="Origin"><Attributes><Attribute z:Id="i40"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i41"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i41"/><XYZAttribute z:Ref="i40"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i42" i:type="ParentLink"><Attributes><Attribute z:Id="i43"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i43"/></URDFElement><URDFElement z:Id="i44" i:type="ChildLink"><Attributes><Attribute z:Id="i45"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i45"/></URDFElement><URDFElement z:Id="i46" i:type="Axis"><Attributes><Attribute z:Id="i47"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i47"/></URDFElement><URDFElement z:Id="i48" i:type="Limit"><Attributes><Attribute z:Id="i49"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i50"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i51"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i52"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i51"/><LowerAttribute z:Ref="i49"/><UpperAttribute z:Ref="i50"/><VelocityAttribute z:Ref="i52"/></URDFElement><URDFElement z:Id="i53" i:type="Calibration"><Attributes><Attribute z:Id="i54"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i55"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i55"/><RisingAttribute z:Ref="i54"/></URDFElement><URDFElement z:Id="i56" i:type="Dynamics"><Attributes><Attribute z:Id="i57"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i58"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i57"/><FrictionAttribute z:Ref="i58"/></URDFElement><URDFElement z:Id="i59" i:type="SafetyController"><Attributes><Attribute z:Id="i60"><AttributeType>soft_upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i61"><AttributeType>soft_lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i62"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i63"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i62"/><KVelocityAttribute z:Ref="i63"/><SoftLowerAttribute z:Ref="i61"/><SoftUpperAttribute z:Ref="i60"/></URDFElement><URDFElement z:Id="i64" i:type="Mimic"><Attributes><Attribute z:Id="i65"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i66"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i67"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i65"/><MultiplierAttribute z:Ref="i66"/><OffsetAttribute z:Ref="i67"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i46"/><AxisName/><Calibration z:Ref="i53"/><Child z:Ref="i44"/><CoordinateSystemName>?????????1</CoordinateSystemName><Dynamics z:Ref="i56"/><Limit z:Ref="i48"/><Mimic z:Ref="i64"/><NameAttribute z:Ref="i37"/><Origin z:Ref="i39"/><Parent z:Ref="i42"/><Safety z:Ref="i59"/><TypeAttribute z:Ref="i38"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i68"><Attributes><Attribute z:Id="i69"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">LF_LINK</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i70" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i71" i:type="Origin"><Attributes><Attribute z:Id="i72"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i73"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i73"/><XYZAttribute z:Ref="i72"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i74" i:type="Mass"><Attributes><Attribute z:Id="i75"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i75"/></URDFElement><URDFElement z:Id="i76" i:type="Inertia"><Attributes><Attribute z:Id="i77"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i78"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i79"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</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</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">0</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</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>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="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">LF_JOINT</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</a:double><a:double>0</a:double><a:double>0</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>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="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"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i110"/></URDFElement><URDFElement z:Id="i111" i:type="ChildLink"><Attributes><Attribute z:Id="i112"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i112"/></URDFElement><URDFElement z:Id="i113" i:type="Axis"><Attributes><Attribute z:Id="i114"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i114"/></URDFElement><URDFElement z:Id="i115" i:type="Limit"><Attributes><Attribute z:Id="i116"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i117"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i118"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i119"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i118"/><LowerAttribute z:Ref="i116"/><UpperAttribute z:Ref="i117"/><VelocityAttribute z:Ref="i119"/></URDFElement><URDFElement z:Id="i120" i:type="Calibration"><Attributes><Attribute z:Id="i121"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute 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</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i128"><AttributeType>soft_lower</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>?????????2</AxisName><Calibration z:Ref="i120"/><Child z:Ref="i111"/><CoordinateSystemName>?????????2</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>+CoAAAUAAAD//v8SdAB1AGkALQAxAEAAZwBhAHoAZQBiAG8AXwBkAGUAbQBvADEABAAAABAAAAABAAAAAQAAABgAAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i83"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link><Link z:Id="i135"><Attributes><Attribute z:Id="i136"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">LB_LINK</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i137" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i138" i:type="Origin"><Attributes><Attribute z:Id="i139"><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="i140"><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="i140"/><XYZAttribute z:Ref="i139"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i141" 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">LB_JOINT</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">continuous</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</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i195"><AttributeType>soft_lower</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>?????????3</AxisName><Calibration z:Ref="i187"/><Child z:Ref="i178"/><CoordinateSystemName>?????????3</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="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>+CoAAAUAAAD//v8SdAB1AGkALQAyAEAAZwBhAHoAZQBiAG8AXwBkAGUAbQBvADEABAAAABAAAAABAAAAAQAAAB8AAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i150"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link><Link z:Id="i202"><Attributes><Attribute z:Id="i203"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">RF_LINK</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i204" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i205" i:type="Origin"><Attributes><Attribute z:Id="i206"><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="i207"><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="i207"/><XYZAttribute z:Ref="i206"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i208" i:type="Mass"><Attributes><Attribute z:Id="i209"><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="i209"/></URDFElement><URDFElement z:Id="i210" i:type="Inertia"><Attributes><Attribute z:Id="i211"><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="i212"><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="i213"><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="i214"><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="i215"><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="i216"><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="i211"/><IxyAttribute z:Ref="i212"/><IxzAttribute z:Ref="i213"/><IyyAttribute z:Ref="i214"/><IyzAttribute z:Ref="i215"/><IzzAttribute z:Ref="i216"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i210"/><Mass z:Ref="i208"/><Origin z:Ref="i205"/></URDFElement><URDFElement z:Id="i217" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i218" i:type="Origin"><Attributes><Attribute z:Id="i219"><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="i220"><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="i220"/><XYZAttribute z:Ref="i219"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i221" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i222" i:type="Mesh"><Attributes><Attribute z:Id="i223"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i223"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i222"/></URDFElement><URDFElement z:Id="i224" i:type="Material"><Attributes><Attribute z:Id="i225"><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="i226" i:type="Color"><Attributes><Attribute z:Id="i227"><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="i227"/></URDFElement><URDFElement z:Id="i228" i:type="Texture"><Attributes><Attribute z:Id="i229"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i229"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i226"/><NameAttribute z:Ref="i225"/><Texture z:Ref="i228"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i221"/><Material z:Ref="i224"/><Origin z:Ref="i218"/></URDFElement><URDFElement z:Id="i230" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i231" i:type="Origin"><Attributes><Attribute z:Id="i232"><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="i233"><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="i233"/><XYZAttribute z:Ref="i232"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i234" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i235" i:type="Mesh"><Attributes><Attribute z:Id="i236"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i236"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i235"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i234"/><Origin z:Ref="i231"/></URDFElement><URDFElement z:Id="i237" i:type="Joint"><Attributes><Attribute z:Id="i238"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">RF_JOINT</Value></Attribute><Attribute z:Id="i239"><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="i240" i:type="Origin"><Attributes><Attribute z:Id="i241"><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="i242"><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="i242"/><XYZAttribute z:Ref="i241"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i243" i:type="ParentLink"><Attributes><Attribute z:Id="i244"><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="i244"/></URDFElement><URDFElement z:Id="i245" i:type="ChildLink"><Attributes><Attribute z:Id="i246"><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="i246"/></URDFElement><URDFElement z:Id="i247" i:type="Axis"><Attributes><Attribute z:Id="i248"><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="i248"/></URDFElement><URDFElement z:Id="i249" i:type="Limit"><Attributes><Attribute z:Id="i250"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i251"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i252"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i253"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i252"/><LowerAttribute z:Ref="i250"/><UpperAttribute z:Ref="i251"/><VelocityAttribute z:Ref="i253"/></URDFElement><URDFElement z:Id="i254" i:type="Calibration"><Attributes><Attribute z:Id="i255"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i256"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i256"/><RisingAttribute z:Ref="i255"/></URDFElement><URDFElement z:Id="i257" i:type="Dynamics"><Attributes><Attribute z:Id="i258"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i259"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i258"/><FrictionAttribute z:Ref="i259"/></URDFElement><URDFElement z:Id="i260" i:type="SafetyController"><Attributes><Attribute z:Id="i261"><AttributeType>soft_upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i262"><AttributeType>soft_lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i263"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i264"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i263"/><KVelocityAttribute z:Ref="i264"/><SoftLowerAttribute z:Ref="i262"/><SoftUpperAttribute z:Ref="i261"/></URDFElement><URDFElement z:Id="i265" i:type="Mimic"><Attributes><Attribute z:Id="i266"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i267"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i268"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i266"/><MultiplierAttribute z:Ref="i267"/><OffsetAttribute z:Ref="i268"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i247"/><AxisName>?????????4</AxisName><Calibration z:Ref="i254"/><Child z:Ref="i245"/><CoordinateSystemName>?????????4</CoordinateSystemName><Dynamics z:Ref="i257"/><Limit z:Ref="i249"/><Mimic z:Ref="i265"/><NameAttribute z:Ref="i238"/><Origin z:Ref="i240"/><Parent z:Ref="i243"/><Safety z:Ref="i260"/><TypeAttribute z:Ref="i239"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i230"/><Inertial z:Ref="i204"/><Joint z:Ref="i237"/><NameAttribute z:Ref="i203"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>+CoAAAUAAAD//v8SdAB1AGkALQA0AEAAZwBhAHoAZQBiAG8AXwBkAGUAbQBvADEABAAAABAAAAABAAAAAQAAADkAAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i217"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link><Link z:Id="i269"><Attributes><Attribute z:Id="i270"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">RB_LINK</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i271" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i272" i:type="Origin"><Attributes><Attribute z:Id="i273"><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="i274"><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="i274"/><XYZAttribute z:Ref="i273"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i275" i:type="Mass"><Attributes><Attribute z:Id="i276"><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="i276"/></URDFElement><URDFElement z:Id="i277" i:type="Inertia"><Attributes><Attribute z:Id="i278"><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="i279"><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="i280"><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="i281"><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="i282"><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="i283"><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="i278"/><IxyAttribute z:Ref="i279"/><IxzAttribute z:Ref="i280"/><IyyAttribute z:Ref="i281"/><IyzAttribute z:Ref="i282"/><IzzAttribute z:Ref="i283"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i277"/><Mass z:Ref="i275"/><Origin z:Ref="i272"/></URDFElement><URDFElement z:Id="i284" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i285" i:type="Origin"><Attributes><Attribute z:Id="i286"><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="i287"><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="i287"/><XYZAttribute z:Ref="i286"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i288" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i289" i:type="Mesh"><Attributes><Attribute z:Id="i290"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i290"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i289"/></URDFElement><URDFElement z:Id="i291" i:type="Material"><Attributes><Attribute z:Id="i292"><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="i293" i:type="Color"><Attributes><Attribute z:Id="i294"><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="i294"/></URDFElement><URDFElement z:Id="i295" i:type="Texture"><Attributes><Attribute z:Id="i296"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i296"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i293"/><NameAttribute z:Ref="i292"/><Texture z:Ref="i295"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i288"/><Material z:Ref="i291"/><Origin z:Ref="i285"/></URDFElement><URDFElement z:Id="i297" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i298" i:type="Origin"><Attributes><Attribute z:Id="i299"><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="i300"><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="i300"/><XYZAttribute z:Ref="i299"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i301" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i302" i:type="Mesh"><Attributes><Attribute z:Id="i303"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i303"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i302"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i301"/><Origin z:Ref="i298"/></URDFElement><URDFElement z:Id="i304" i:type="Joint"><Attributes><Attribute z:Id="i305"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">RB_JOINT</Value></Attribute><Attribute z:Id="i306"><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="i307" i:type="Origin"><Attributes><Attribute z:Id="i308"><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="i309"><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="i309"/><XYZAttribute z:Ref="i308"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i310" i:type="ParentLink"><Attributes><Attribute z:Id="i311"><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="i311"/></URDFElement><URDFElement z:Id="i312" i:type="ChildLink"><Attributes><Attribute z:Id="i313"><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="i313"/></URDFElement><URDFElement z:Id="i314" i:type="Axis"><Attributes><Attribute z:Id="i315"><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="i315"/></URDFElement><URDFElement z:Id="i316" i:type="Limit"><Attributes><Attribute z:Id="i317"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i318"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i319"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i320"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i319"/><LowerAttribute z:Ref="i317"/><UpperAttribute z:Ref="i318"/><VelocityAttribute z:Ref="i320"/></URDFElement><URDFElement z:Id="i321" i:type="Calibration"><Attributes><Attribute z:Id="i322"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i323"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i323"/><RisingAttribute z:Ref="i322"/></URDFElement><URDFElement z:Id="i324" i:type="Dynamics"><Attributes><Attribute z:Id="i325"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i326"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i325"/><FrictionAttribute z:Ref="i326"/></URDFElement><URDFElement z:Id="i327" i:type="SafetyController"><Attributes><Attribute z:Id="i328"><AttributeType>soft_upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i329"><AttributeType>soft_lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i330"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i331"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i330"/><KVelocityAttribute z:Ref="i331"/><SoftLowerAttribute z:Ref="i329"/><SoftUpperAttribute z:Ref="i328"/></URDFElement><URDFElement z:Id="i332" i:type="Mimic"><Attributes><Attribute z:Id="i333"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i334"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i335"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i333"/><MultiplierAttribute z:Ref="i334"/><OffsetAttribute z:Ref="i335"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i314"/><AxisName>?????????5</AxisName><Calibration z:Ref="i321"/><Child z:Ref="i312"/><CoordinateSystemName>?????????5</CoordinateSystemName><Dynamics z:Ref="i324"/><Limit z:Ref="i316"/><Mimic z:Ref="i332"/><NameAttribute z:Ref="i305"/><Origin z:Ref="i307"/><Parent z:Ref="i310"/><Safety z:Ref="i327"/><TypeAttribute z:Ref="i306"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i297"/><Inertial z:Ref="i271"/><Joint z:Ref="i304"/><NameAttribute z:Ref="i270"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>+CoAAAUAAAD//v8SdAB1AGkALQAzAEAAZwBhAHoAZQBiAG8AXwBkAGUAbQBvADEABAAAABAAAAABAAAAAQAAACEAAAA=</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i284"/><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>+CoAAAUAAAD//v8R9pb2Ti0AMQBAAGcAYQB6AGUAYgBvAF8AZABlAG0AbwAxAAQAAAAQAAAAAQAAAAEAAAAXAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
2021-08-24 11:23:49,039 INFO  AssemblyExportForm.cs: 308 - Saving URDF package to C:\Users\Zhitong\Desktop\gazebo_demo2
2021-08-24 11:23:49,043 INFO  ExportHelper.cs: 147 - Beginning the export process
2021-08-24 11:23:49,045 INFO  ExportHelper.cs: 153 - Creating package directories with name gazebo_demo2 and save path C:\Users\Zhitong\Desktop
2021-08-24 11:23:50,444 INFO  ExportHelper.cs: 162 - Creating CMakeLists.txt at C:\Users\Zhitong\Desktop\gazebo_demo2\CMakeLists.txt
2021-08-24 11:23:50,445 INFO  ExportHelper.cs: 166 - Creating joint names config at C:\Users\Zhitong\Desktop\gazebo_demo2\config\joint_names_gazebo_demo2.yaml
2021-08-24 11:23:50,448 INFO  ExportHelper.cs: 170 - Creating package.xml at C:\Users\Zhitong\Desktop\gazebo_demo2\package.xml
2021-08-24 11:23:50,450 INFO  PackageXMLWriter.cs: 21 - Creating package.xml at C:\Users\Zhitong\Desktop\gazebo_demo2\package.xml
2021-08-24 11:23:50,456 INFO  ExportHelper.cs: 177 - Creating RVIZ launch file in C:\Users\Zhitong\Desktop\gazebo_demo2\launch\
2021-08-24 11:23:50,460 INFO  ExportHelper.cs: 182 - Creating Gazebo launch file in C:\Users\Zhitong\Desktop\gazebo_demo2\launch\
2021-08-24 11:23:50,462 INFO  ExportHelper.cs: 187 - Saving existing STL preferences
2021-08-24 11:23:50,463 INFO  ExportHelper.cs: 451 - Saving users preferences
2021-08-24 11:23:50,465 INFO  ExportHelper.cs: 190 - Modifying STL preferences
2021-08-24 11:23:50,466 INFO  ExportHelper.cs: 465 - Setting STL preferences
2021-08-24 11:23:50,475 INFO  ExportHelper.cs: 196 - Found 0 hidden components 
2021-08-24 11:23:50,475 INFO  ExportHelper.cs: 197 - Hiding all components
2021-08-24 11:23:50,598 INFO  ExportHelper.cs: 204 - Beginning individual files export
2021-08-24 11:23:50,602 INFO  ExportHelper.cs: 270 - Exporting link: base_link
2021-08-24 11:23:50,602 INFO  ExportHelper.cs: 272 - Link base_link has 4 children
2021-08-24 11:23:50,603 INFO  ExportHelper.cs: 270 - Exporting link: LF_LINK
2021-08-24 11:23:50,604 INFO  ExportHelper.cs: 272 - Link LF_LINK has 0 children
2021-08-24 11:23:50,611 INFO  ExportHelper.cs: 318 - LF_LINK: Exporting STL with coordinate frame 坐标系2
2021-08-24 11:23:50,612 INFO  ExportHelper.cs: 323 - LF_LINK: Reference geometry name 
2021-08-24 11:23:50,692 INFO  ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gazebo_demo2\meshes\LF_LINK.STL
2021-08-24 11:23:50,803 INFO  ExportHelper.cs: 406 - Removing SW header in STL file
2021-08-24 11:23:50,806 INFO  ExportHelper.cs: 270 - Exporting link: LB_LINK
2021-08-24 11:23:50,807 INFO  ExportHelper.cs: 272 - Link LB_LINK has 0 children
2021-08-24 11:23:50,809 INFO  ExportHelper.cs: 318 - LB_LINK: Exporting STL with coordinate frame 坐标系3
2021-08-24 11:23:50,810 INFO  ExportHelper.cs: 323 - LB_LINK: Reference geometry name 
2021-08-24 11:23:51,159 INFO  ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gazebo_demo2\meshes\LB_LINK.STL
2021-08-24 11:23:51,241 INFO  ExportHelper.cs: 406 - Removing SW header in STL file
2021-08-24 11:23:51,242 INFO  ExportHelper.cs: 270 - Exporting link: RF_LINK
2021-08-24 11:23:51,243 INFO  ExportHelper.cs: 272 - Link RF_LINK has 0 children
2021-08-24 11:23:51,243 INFO  ExportHelper.cs: 318 - RF_LINK: Exporting STL with coordinate frame 坐标系4
2021-08-24 11:23:51,244 INFO  ExportHelper.cs: 323 - RF_LINK: Reference geometry name 
2021-08-24 11:23:51,340 INFO  ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gazebo_demo2\meshes\RF_LINK.STL
2021-08-24 11:23:51,423 INFO  ExportHelper.cs: 406 - Removing SW header in STL file
2021-08-24 11:23:51,425 INFO  ExportHelper.cs: 270 - Exporting link: RB_LINK
2021-08-24 11:23:51,426 INFO  ExportHelper.cs: 272 - Link RB_LINK has 0 children
2021-08-24 11:23:51,427 INFO  ExportHelper.cs: 318 - RB_LINK: Exporting STL with coordinate frame 坐标系5
2021-08-24 11:23:51,427 INFO  ExportHelper.cs: 323 - RB_LINK: Reference geometry name 
2021-08-24 11:23:51,521 INFO  ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gazebo_demo2\meshes\RB_LINK.STL
2021-08-24 11:23:51,587 INFO  ExportHelper.cs: 406 - Removing SW header in STL file
2021-08-24 11:23:51,588 INFO  ExportHelper.cs: 318 - base_link: Exporting STL with coordinate frame 坐标系1
2021-08-24 11:23:51,589 INFO  ExportHelper.cs: 323 - base_link: Reference geometry name 
2021-08-24 11:23:51,673 INFO  ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gazebo_demo2\meshes\base_link.STL
2021-08-24 11:23:51,724 INFO  ExportHelper.cs: 406 - Removing SW header in STL file
2021-08-24 11:23:51,724 INFO  ExportHelper.cs: 145 - Showing all components except previously hidden components
2021-08-24 11:23:51,926 INFO  ExportHelper.cs: 145 - Resetting STL preferences
2021-08-24 11:23:51,927 INFO  ExportHelper.cs: 479 - Returning STL preferences to user preferences
2021-08-24 11:23:51,928 INFO  ExportHelper.cs: 228 - Writing URDF file to C:\Users\Zhitong\Desktop\gazebo_demo2\urdf\gazebo_demo2.urdf
2021-08-24 11:23:52,001 INFO  CSVImportExport.cs: 32 - Writing CSV file C:\Users\Zhitong\Desktop\gazebo_demo2\urdf\gazebo_demo2.csv
2021-08-24 11:23:52,037 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2021-08-24 11:23:52,038 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2021-08-24 11:23:52,038 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2021-08-24 11:23:52,040 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2021-08-24 11:23:52,041 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2021-08-24 11:23:52,042 INFO  ExportHelper.cs: 234 - Copying log file
2021-08-24 11:23:52,048 INFO  ExportHelper.cs: 440 - Copying C:\Users\Zhitong\sw2urdf_logs\sw2urdf.log to C:\Users\Zhitong\Desktop\gazebo_demo2\export.log