2026-04-02 10:22:02,486 INFO  Logger.cs: 70 - 
--------------------------------------------------------------------------------
2026-04-02 10:22:02,527 INFO  Logger.cs: 71 - Logging commencing for SW2URDF exporter
2026-04-02 10:22:02,528 INFO  Logger.cs: 73 - Commit version 1.6.0-4-g7f85cfe
2026-04-02 10:22:02,528 INFO  Logger.cs: 74 - Build version 1.6.7995.38578
2026-04-02 10:22:02,531 INFO  SwAddin.cs: 192 - Attempting to connect to SW
2026-04-02 10:22:02,531 INFO  SwAddin.cs: 197 - Setting up callbacks
2026-04-02 10:22:02,531 INFO  SwAddin.cs: 201 - Setting up command manager
2026-04-02 10:22:02,533 INFO  SwAddin.cs: 204 - Adding command manager
2026-04-02 10:22:02,535 INFO  SwAddin.cs: 263 - Adding Assembly export to file menu
2026-04-02 10:22:02,536 INFO  SwAddin.cs: 272 - Adding Part export to file menu
2026-04-02 10:22:02,537 INFO  SwAddin.cs: 210 - Adding event handlers
2026-04-02 10:22:02,539 INFO  SwAddin.cs: 217 - Connecting plugin to SolidWorks
2026-04-02 11:45:01,285 INFO  SwAddin.cs: 294 - Assembly export called for file pla00.SLDASM
2026-04-02 11:45:01,289 INFO  SwAddin.cs: 299 - Save is required
2026-04-02 11:45:01,289 INFO  SwAddin.cs: 313 - Saving assembly
2026-04-02 11:45:17,041 INFO  SwAddin.cs: 316 - Opening property manager
2026-04-02 11:45:17,075 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from pla00.SLDASM
2026-04-02 11:45:17,091 INFO  ExportHelperExtension.cs: 1136 - Found 68 in pla00.SLDASM
2026-04-02 11:45:17,092 INFO  ExportHelperExtension.cs: 1145 - Found 9 features of type [CoordSys] in pla00.SLDASM
2026-04-02 11:45:17,093 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-04-02 11:45:17,096 INFO  ExportHelperExtension.cs: 1160 - 20 components to check
2026-04-02 11:45:17,098 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LF43_ASM-1
2026-04-02 11:45:17,098 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF43_ASM-1
2026-04-02 11:45:17,100 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LF43_ASM-1
2026-04-02 11:45:17,100 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from PLA00_ASM_1-1
2026-04-02 11:45:17,101 INFO  ExportHelperExtension.cs: 1136 - Found 26 in PLA00_ASM_1-1
2026-04-02 11:45:17,102 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in PLA00_ASM_1-1
2026-04-02 11:45:17,103 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LF44-1
2026-04-02 11:45:17,104 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF44-1
2026-04-02 11:45:17,104 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LF44-1
2026-04-02 11:45:17,105 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LF44Z-1
2026-04-02 11:45:17,106 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF44Z-1
2026-04-02 11:45:17,107 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LF44Z-1
2026-04-02 11:45:17,107 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ROBOT_3D_MODEL-1
2026-04-02 11:45:17,120 INFO  ExportHelperExtension.cs: 1136 - Found 4858 in ROBOT_3D_MODEL-1
2026-04-02 11:45:17,144 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ROBOT_3D_MODEL-1
2026-04-02 11:45:17,145 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 4-10-4-1
2026-04-02 11:45:17,145 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 4-10-4-1
2026-04-02 11:45:17,146 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 4-10-4-1
2026-04-02 11:45:17,147 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-9
2026-04-02 11:45:17,147 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-9
2026-04-02 11:45:17,147 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-9
2026-04-02 11:45:17,148 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from PRT0003-1
2026-04-02 11:45:17,158 INFO  ExportHelperExtension.cs: 1136 - Found 4858 in PRT0003-1
2026-04-02 11:45:17,175 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in PRT0003-1
2026-04-02 11:45:17,177 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-3
2026-04-02 11:45:17,177 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-3
2026-04-02 11:45:17,177 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-3
2026-04-02 11:45:17,178 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-7
2026-04-02 11:45:17,178 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-7
2026-04-02 11:45:17,178 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-7
2026-04-02 11:45:17,179 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 00-3
2026-04-02 11:45:17,179 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-3
2026-04-02 11:45:17,180 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 00-3
2026-04-02 11:45:17,180 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LF-43-1
2026-04-02 11:45:17,181 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF-43-1
2026-04-02 11:45:17,181 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LF-43-1
2026-04-02 11:45:17,182 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-6
2026-04-02 11:45:17,182 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-6
2026-04-02 11:45:17,182 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-6
2026-04-02 11:45:17,183 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-4
2026-04-02 11:45:17,183 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-4
2026-04-02 11:45:17,184 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-4
2026-04-02 11:45:17,184 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-2
2026-04-02 11:45:17,184 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-2
2026-04-02 11:45:17,185 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-2
2026-04-02 11:45:17,185 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-8
2026-04-02 11:45:17,185 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-8
2026-04-02 11:45:17,185 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-8
2026-04-02 11:45:17,187 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-5
2026-04-02 11:45:17,187 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-5
2026-04-02 11:45:17,187 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-5
2026-04-02 11:45:17,188 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 00-1
2026-04-02 11:45:17,188 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-1
2026-04-02 11:45:17,189 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 00-1
2026-04-02 11:45:17,189 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 00-2
2026-04-02 11:45:17,189 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-2
2026-04-02 11:45:17,190 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 00-2
2026-04-02 11:45:17,190 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-1
2026-04-02 11:45:17,191 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-1
2026-04-02 11:45:17,191 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-1
2026-04-02 11:45:17,192 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from pla00.SLDASM
2026-04-02 11:45:17,193 INFO  ExportHelperExtension.cs: 1136 - Found 68 in pla00.SLDASM
2026-04-02 11:45:17,193 INFO  ExportHelperExtension.cs: 1145 - Found 8 features of type [RefAxis] in pla00.SLDASM
2026-04-02 11:45:17,193 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-04-02 11:45:17,193 INFO  ExportHelperExtension.cs: 1160 - 20 components to check
2026-04-02 11:45:17,195 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LF43_ASM-1
2026-04-02 11:45:17,195 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF43_ASM-1
2026-04-02 11:45:17,195 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LF43_ASM-1
2026-04-02 11:45:17,195 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from PLA00_ASM_1-1
2026-04-02 11:45:17,196 INFO  ExportHelperExtension.cs: 1136 - Found 26 in PLA00_ASM_1-1
2026-04-02 11:45:17,197 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in PLA00_ASM_1-1
2026-04-02 11:45:17,197 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LF44-1
2026-04-02 11:45:17,197 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF44-1
2026-04-02 11:45:17,198 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LF44-1
2026-04-02 11:45:17,198 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LF44Z-1
2026-04-02 11:45:17,198 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF44Z-1
2026-04-02 11:45:17,199 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LF44Z-1
2026-04-02 11:45:17,199 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ROBOT_3D_MODEL-1
2026-04-02 11:45:17,203 INFO  ExportHelperExtension.cs: 1136 - Found 4858 in ROBOT_3D_MODEL-1
2026-04-02 11:45:17,228 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ROBOT_3D_MODEL-1
2026-04-02 11:45:17,248 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 4-10-4-1
2026-04-02 11:45:17,249 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 4-10-4-1
2026-04-02 11:45:17,249 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 4-10-4-1
2026-04-02 11:45:17,251 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-9
2026-04-02 11:45:17,251 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-9
2026-04-02 11:45:17,251 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-9
2026-04-02 11:45:17,252 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from PRT0003-1
2026-04-02 11:45:17,259 INFO  ExportHelperExtension.cs: 1136 - Found 4858 in PRT0003-1
2026-04-02 11:45:17,270 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in PRT0003-1
2026-04-02 11:45:17,271 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-3
2026-04-02 11:45:17,271 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-3
2026-04-02 11:45:17,272 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-3
2026-04-02 11:45:17,272 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-7
2026-04-02 11:45:17,272 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-7
2026-04-02 11:45:17,273 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-7
2026-04-02 11:45:17,273 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 00-3
2026-04-02 11:45:17,273 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-3
2026-04-02 11:45:17,274 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 00-3
2026-04-02 11:45:17,274 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LF-43-1
2026-04-02 11:45:17,275 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF-43-1
2026-04-02 11:45:17,275 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LF-43-1
2026-04-02 11:45:17,275 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-6
2026-04-02 11:45:17,275 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-6
2026-04-02 11:45:17,276 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-6
2026-04-02 11:45:17,277 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-4
2026-04-02 11:45:17,277 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-4
2026-04-02 11:45:17,277 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-4
2026-04-02 11:45:17,277 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-2
2026-04-02 11:45:17,277 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-2
2026-04-02 11:45:17,278 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-2
2026-04-02 11:45:17,278 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-8
2026-04-02 11:45:17,279 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-8
2026-04-02 11:45:17,279 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-8
2026-04-02 11:45:17,279 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-5
2026-04-02 11:45:17,280 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-5
2026-04-02 11:45:17,280 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-5
2026-04-02 11:45:17,280 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 00-1
2026-04-02 11:45:17,281 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-1
2026-04-02 11:45:17,281 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 00-1
2026-04-02 11:45:17,281 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 00-2
2026-04-02 11:45:17,282 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-2
2026-04-02 11:45:17,282 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 00-2
2026-04-02 11:45:17,282 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-1
2026-04-02 11:45:17,282 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-1
2026-04-02 11:45:17,283 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-1
2026-04-02 11:45:18,085 INFO  SwAddin.cs: 339 - Loading config tree
2026-04-02 11:45:18,088 INFO  ExportPropertyManagerExtension.cs: 520 - Starting new configuration
2026-04-02 11:45:18,096 INFO  SwAddin.cs: 344 - Showing property manager
2026-04-02 11:47:04,530 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 11:47:21,562 INFO  ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 12:47:06,204 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 12:47:08,357 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 12:47:15,051 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 12:47:16,776 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 12:47:18,911 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 12:47:23,837 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 12:48:22,737 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 12:48:34,289 INFO  ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 12:49:00,453 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 12:49:16,525 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 12:49:32,536 INFO  ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 12:50:08,892 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 12:50:14,442 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 12:50:35,960 INFO  ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 12:50:38,918 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 12:57:35,138 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 12:57:36,799 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:08:03,770 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:08:20,758 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:08:23,736 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:09:17,075 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:09:20,088 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:09:22,827 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:09:27,555 INFO  ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:09:55,338 INFO  SwAddin.cs: 294 - Assembly export called for file pla00.SLDASM
2026-04-02 13:09:58,399 INFO  SwAddin.cs: 313 - Saving assembly
2026-04-02 13:09:59,757 INFO  SwAddin.cs: 316 - Opening property manager
2026-04-02 13:09:59,757 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from pla00.SLDASM
2026-04-02 13:09:59,758 INFO  ExportHelperExtension.cs: 1136 - Found 68 in pla00.SLDASM
2026-04-02 13:09:59,759 INFO  ExportHelperExtension.cs: 1145 - Found 9 features of type [CoordSys] in pla00.SLDASM
2026-04-02 13:09:59,759 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-04-02 13:09:59,760 INFO  ExportHelperExtension.cs: 1160 - 20 components to check
2026-04-02 13:09:59,760 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LF43_ASM-1
2026-04-02 13:09:59,760 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF43_ASM-1
2026-04-02 13:09:59,762 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LF43_ASM-1
2026-04-02 13:09:59,762 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from PLA00_ASM_1-1
2026-04-02 13:09:59,762 INFO  ExportHelperExtension.cs: 1136 - Found 26 in PLA00_ASM_1-1
2026-04-02 13:09:59,762 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in PLA00_ASM_1-1
2026-04-02 13:09:59,763 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LF44-1
2026-04-02 13:09:59,763 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF44-1
2026-04-02 13:09:59,764 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LF44-1
2026-04-02 13:09:59,764 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LF44Z-1
2026-04-02 13:09:59,765 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF44Z-1
2026-04-02 13:09:59,765 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LF44Z-1
2026-04-02 13:09:59,765 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ROBOT_3D_MODEL-1
2026-04-02 13:09:59,777 INFO  ExportHelperExtension.cs: 1136 - Found 4858 in ROBOT_3D_MODEL-1
2026-04-02 13:09:59,789 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ROBOT_3D_MODEL-1
2026-04-02 13:09:59,790 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 4-10-4-1
2026-04-02 13:09:59,790 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 4-10-4-1
2026-04-02 13:09:59,790 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 4-10-4-1
2026-04-02 13:09:59,791 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-9
2026-04-02 13:09:59,792 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-9
2026-04-02 13:09:59,792 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-9
2026-04-02 13:09:59,793 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from PRT0003-1
2026-04-02 13:09:59,803 INFO  ExportHelperExtension.cs: 1136 - Found 4858 in PRT0003-1
2026-04-02 13:09:59,816 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in PRT0003-1
2026-04-02 13:09:59,818 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-3
2026-04-02 13:09:59,818 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-3
2026-04-02 13:09:59,819 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-3
2026-04-02 13:09:59,820 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-7
2026-04-02 13:09:59,820 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-7
2026-04-02 13:09:59,820 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-7
2026-04-02 13:09:59,821 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 00-3
2026-04-02 13:09:59,822 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-3
2026-04-02 13:09:59,822 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 00-3
2026-04-02 13:09:59,822 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LF-43-1
2026-04-02 13:09:59,823 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF-43-1
2026-04-02 13:09:59,823 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LF-43-1
2026-04-02 13:09:59,824 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-6
2026-04-02 13:09:59,824 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-6
2026-04-02 13:09:59,825 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-6
2026-04-02 13:09:59,825 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-4
2026-04-02 13:09:59,826 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-4
2026-04-02 13:09:59,826 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-4
2026-04-02 13:09:59,826 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-2
2026-04-02 13:09:59,828 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-2
2026-04-02 13:09:59,828 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-2
2026-04-02 13:09:59,828 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-8
2026-04-02 13:09:59,829 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-8
2026-04-02 13:09:59,829 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-8
2026-04-02 13:09:59,829 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-5
2026-04-02 13:09:59,829 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-5
2026-04-02 13:09:59,831 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-5
2026-04-02 13:09:59,831 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 00-1
2026-04-02 13:09:59,832 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-1
2026-04-02 13:09:59,832 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 00-1
2026-04-02 13:09:59,832 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 00-2
2026-04-02 13:09:59,833 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-2
2026-04-02 13:09:59,833 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 00-2
2026-04-02 13:09:59,833 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-1
2026-04-02 13:09:59,835 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-1
2026-04-02 13:09:59,835 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-1
2026-04-02 13:09:59,835 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from pla00.SLDASM
2026-04-02 13:09:59,836 INFO  ExportHelperExtension.cs: 1136 - Found 68 in pla00.SLDASM
2026-04-02 13:09:59,836 INFO  ExportHelperExtension.cs: 1145 - Found 8 features of type [RefAxis] in pla00.SLDASM
2026-04-02 13:09:59,837 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-04-02 13:09:59,837 INFO  ExportHelperExtension.cs: 1160 - 20 components to check
2026-04-02 13:09:59,837 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LF43_ASM-1
2026-04-02 13:09:59,838 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF43_ASM-1
2026-04-02 13:09:59,838 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LF43_ASM-1
2026-04-02 13:09:59,838 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from PLA00_ASM_1-1
2026-04-02 13:09:59,838 INFO  ExportHelperExtension.cs: 1136 - Found 26 in PLA00_ASM_1-1
2026-04-02 13:09:59,839 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in PLA00_ASM_1-1
2026-04-02 13:09:59,839 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LF44-1
2026-04-02 13:09:59,839 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF44-1
2026-04-02 13:09:59,840 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LF44-1
2026-04-02 13:09:59,840 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LF44Z-1
2026-04-02 13:09:59,840 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF44Z-1
2026-04-02 13:09:59,841 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LF44Z-1
2026-04-02 13:09:59,841 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ROBOT_3D_MODEL-1
2026-04-02 13:09:59,845 INFO  ExportHelperExtension.cs: 1136 - Found 4858 in ROBOT_3D_MODEL-1
2026-04-02 13:09:59,854 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ROBOT_3D_MODEL-1
2026-04-02 13:09:59,854 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 4-10-4-1
2026-04-02 13:09:59,855 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 4-10-4-1
2026-04-02 13:09:59,855 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 4-10-4-1
2026-04-02 13:09:59,855 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-9
2026-04-02 13:09:59,856 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-9
2026-04-02 13:09:59,856 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-9
2026-04-02 13:09:59,856 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from PRT0003-1
2026-04-02 13:09:59,860 INFO  ExportHelperExtension.cs: 1136 - Found 4858 in PRT0003-1
2026-04-02 13:09:59,870 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in PRT0003-1
2026-04-02 13:09:59,870 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-3
2026-04-02 13:09:59,870 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-3
2026-04-02 13:09:59,871 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-3
2026-04-02 13:09:59,872 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-7
2026-04-02 13:09:59,872 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-7
2026-04-02 13:09:59,872 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-7
2026-04-02 13:09:59,872 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 00-3
2026-04-02 13:09:59,873 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-3
2026-04-02 13:09:59,873 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 00-3
2026-04-02 13:09:59,873 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LF-43-1
2026-04-02 13:09:59,874 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF-43-1
2026-04-02 13:09:59,874 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LF-43-1
2026-04-02 13:09:59,874 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-6
2026-04-02 13:09:59,875 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-6
2026-04-02 13:09:59,875 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-6
2026-04-02 13:09:59,875 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-4
2026-04-02 13:09:59,876 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-4
2026-04-02 13:09:59,876 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-4
2026-04-02 13:09:59,876 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-2
2026-04-02 13:09:59,877 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-2
2026-04-02 13:09:59,877 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-2
2026-04-02 13:09:59,877 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-8
2026-04-02 13:09:59,878 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-8
2026-04-02 13:09:59,878 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-8
2026-04-02 13:09:59,878 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-5
2026-04-02 13:09:59,879 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-5
2026-04-02 13:09:59,879 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-5
2026-04-02 13:09:59,879 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 00-1
2026-04-02 13:09:59,885 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-1
2026-04-02 13:09:59,885 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 00-1
2026-04-02 13:09:59,886 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 00-2
2026-04-02 13:09:59,886 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-2
2026-04-02 13:09:59,886 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 00-2
2026-04-02 13:09:59,917 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-1
2026-04-02 13:09:59,918 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-1
2026-04-02 13:09:59,919 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-1
2026-04-02 13:10:00,164 INFO  SwAddin.cs: 339 - Loading config tree
2026-04-02 13:10:00,166 INFO  ExportPropertyManagerExtension.cs: 520 - Starting new configuration
2026-04-02 13:10:00,168 INFO  SwAddin.cs: 344 - Showing property manager
2026-04-02 13:10:06,163 INFO  ExportPropertyManager.cs: 416 - Configuration canceled
2026-04-02 13:10:06,297 INFO  ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:10:28,536 INFO  SwAddin.cs: 294 - Assembly export called for file pla00.SLDASM
2026-04-02 13:10:34,719 INFO  SwAddin.cs: 294 - Assembly export called for file pla00.SLDASM
2026-04-02 13:10:35,850 INFO  SwAddin.cs: 313 - Saving assembly
2026-04-02 13:10:36,994 INFO  SwAddin.cs: 316 - Opening property manager
2026-04-02 13:10:36,996 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from pla00.SLDASM
2026-04-02 13:10:36,998 INFO  ExportHelperExtension.cs: 1136 - Found 68 in pla00.SLDASM
2026-04-02 13:10:36,999 INFO  ExportHelperExtension.cs: 1145 - Found 9 features of type [CoordSys] in pla00.SLDASM
2026-04-02 13:10:37,000 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-04-02 13:10:37,000 INFO  ExportHelperExtension.cs: 1160 - 20 components to check
2026-04-02 13:10:37,000 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LF43_ASM-1
2026-04-02 13:10:37,002 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF43_ASM-1
2026-04-02 13:10:37,002 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LF43_ASM-1
2026-04-02 13:10:37,003 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from PLA00_ASM_1-1
2026-04-02 13:10:37,003 INFO  ExportHelperExtension.cs: 1136 - Found 26 in PLA00_ASM_1-1
2026-04-02 13:10:37,003 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in PLA00_ASM_1-1
2026-04-02 13:10:37,004 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LF44-1
2026-04-02 13:10:37,004 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF44-1
2026-04-02 13:10:37,005 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LF44-1
2026-04-02 13:10:37,006 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LF44Z-1
2026-04-02 13:10:37,007 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF44Z-1
2026-04-02 13:10:37,008 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LF44Z-1
2026-04-02 13:10:37,008 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ROBOT_3D_MODEL-1
2026-04-02 13:10:37,013 INFO  ExportHelperExtension.cs: 1136 - Found 4858 in ROBOT_3D_MODEL-1
2026-04-02 13:10:37,025 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ROBOT_3D_MODEL-1
2026-04-02 13:10:37,026 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 4-10-4-1
2026-04-02 13:10:37,027 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 4-10-4-1
2026-04-02 13:10:37,028 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 4-10-4-1
2026-04-02 13:10:37,029 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-9
2026-04-02 13:10:37,029 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-9
2026-04-02 13:10:37,030 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-9
2026-04-02 13:10:37,030 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from PRT0003-1
2026-04-02 13:10:37,039 INFO  ExportHelperExtension.cs: 1136 - Found 4858 in PRT0003-1
2026-04-02 13:10:37,050 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in PRT0003-1
2026-04-02 13:10:37,052 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-3
2026-04-02 13:10:37,053 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-3
2026-04-02 13:10:37,053 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-3
2026-04-02 13:10:37,053 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-7
2026-04-02 13:10:37,054 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-7
2026-04-02 13:10:37,054 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-7
2026-04-02 13:10:37,054 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 00-3
2026-04-02 13:10:37,055 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-3
2026-04-02 13:10:37,055 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 00-3
2026-04-02 13:10:37,056 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LF-43-1
2026-04-02 13:10:37,056 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF-43-1
2026-04-02 13:10:37,056 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LF-43-1
2026-04-02 13:10:37,057 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-6
2026-04-02 13:10:37,057 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-6
2026-04-02 13:10:37,057 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-6
2026-04-02 13:10:37,057 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-4
2026-04-02 13:10:37,058 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-4
2026-04-02 13:10:37,058 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-4
2026-04-02 13:10:37,058 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-2
2026-04-02 13:10:37,059 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-2
2026-04-02 13:10:37,059 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-2
2026-04-02 13:10:37,059 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-8
2026-04-02 13:10:37,059 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-8
2026-04-02 13:10:37,059 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-8
2026-04-02 13:10:37,060 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-5
2026-04-02 13:10:37,060 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-5
2026-04-02 13:10:37,060 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-5
2026-04-02 13:10:37,060 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 00-1
2026-04-02 13:10:37,061 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-1
2026-04-02 13:10:37,061 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 00-1
2026-04-02 13:10:37,061 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 00-2
2026-04-02 13:10:37,062 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-2
2026-04-02 13:10:37,063 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 00-2
2026-04-02 13:10:37,063 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-1
2026-04-02 13:10:37,063 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-1
2026-04-02 13:10:37,063 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-1
2026-04-02 13:10:37,064 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from pla00.SLDASM
2026-04-02 13:10:37,064 INFO  ExportHelperExtension.cs: 1136 - Found 68 in pla00.SLDASM
2026-04-02 13:10:37,065 INFO  ExportHelperExtension.cs: 1145 - Found 8 features of type [RefAxis] in pla00.SLDASM
2026-04-02 13:10:37,065 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-04-02 13:10:37,065 INFO  ExportHelperExtension.cs: 1160 - 20 components to check
2026-04-02 13:10:37,065 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LF43_ASM-1
2026-04-02 13:10:37,066 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF43_ASM-1
2026-04-02 13:10:37,066 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LF43_ASM-1
2026-04-02 13:10:37,066 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from PLA00_ASM_1-1
2026-04-02 13:10:37,067 INFO  ExportHelperExtension.cs: 1136 - Found 26 in PLA00_ASM_1-1
2026-04-02 13:10:37,067 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in PLA00_ASM_1-1
2026-04-02 13:10:37,067 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LF44-1
2026-04-02 13:10:37,068 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF44-1
2026-04-02 13:10:37,068 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LF44-1
2026-04-02 13:10:37,069 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LF44Z-1
2026-04-02 13:10:37,069 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF44Z-1
2026-04-02 13:10:37,069 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LF44Z-1
2026-04-02 13:10:37,069 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ROBOT_3D_MODEL-1
2026-04-02 13:10:37,074 INFO  ExportHelperExtension.cs: 1136 - Found 4858 in ROBOT_3D_MODEL-1
2026-04-02 13:10:37,082 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ROBOT_3D_MODEL-1
2026-04-02 13:10:37,083 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 4-10-4-1
2026-04-02 13:10:37,083 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 4-10-4-1
2026-04-02 13:10:37,083 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 4-10-4-1
2026-04-02 13:10:37,084 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-9
2026-04-02 13:10:37,084 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-9
2026-04-02 13:10:37,085 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-9
2026-04-02 13:10:37,085 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from PRT0003-1
2026-04-02 13:10:37,089 INFO  ExportHelperExtension.cs: 1136 - Found 4858 in PRT0003-1
2026-04-02 13:10:37,097 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in PRT0003-1
2026-04-02 13:10:37,098 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-3
2026-04-02 13:10:37,098 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-3
2026-04-02 13:10:37,098 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-3
2026-04-02 13:10:37,099 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-7
2026-04-02 13:10:37,099 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-7
2026-04-02 13:10:37,100 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-7
2026-04-02 13:10:37,100 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 00-3
2026-04-02 13:10:37,100 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-3
2026-04-02 13:10:37,101 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 00-3
2026-04-02 13:10:37,101 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LF-43-1
2026-04-02 13:10:37,101 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF-43-1
2026-04-02 13:10:37,102 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LF-43-1
2026-04-02 13:10:37,103 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-6
2026-04-02 13:10:37,103 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-6
2026-04-02 13:10:37,103 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-6
2026-04-02 13:10:37,103 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-4
2026-04-02 13:10:37,103 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-4
2026-04-02 13:10:37,104 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-4
2026-04-02 13:10:37,104 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-2
2026-04-02 13:10:37,108 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-2
2026-04-02 13:10:37,108 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-2
2026-04-02 13:10:37,109 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-8
2026-04-02 13:10:37,109 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-8
2026-04-02 13:10:37,110 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-8
2026-04-02 13:10:37,110 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-5
2026-04-02 13:10:37,110 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-5
2026-04-02 13:10:37,110 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-5
2026-04-02 13:10:37,111 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 00-1
2026-04-02 13:10:37,160 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-1
2026-04-02 13:10:37,161 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 00-1
2026-04-02 13:10:37,162 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 00-2
2026-04-02 13:10:37,163 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-2
2026-04-02 13:10:37,164 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 00-2
2026-04-02 13:10:37,164 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-1
2026-04-02 13:10:37,165 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-1
2026-04-02 13:10:37,165 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-1
2026-04-02 13:10:37,317 INFO  SwAddin.cs: 339 - Loading config tree
2026-04-02 13:10:37,318 INFO  ExportPropertyManagerExtension.cs: 520 - Starting new configuration
2026-04-02 13:10:37,319 INFO  SwAddin.cs: 344 - Showing property manager
2026-04-02 13:10:42,988 INFO  ExportPropertyManager.cs: 416 - Configuration canceled
2026-04-02 13:10:43,132 INFO  ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:10:59,193 INFO  SwAddin.cs: 294 - Assembly export called for file pla00.SLDASM
2026-04-02 13:11:25,502 INFO  SwAddin.cs: 313 - Saving assembly
2026-04-02 13:11:26,612 INFO  SwAddin.cs: 316 - Opening property manager
2026-04-02 13:11:26,613 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from pla00.SLDASM
2026-04-02 13:11:26,613 INFO  ExportHelperExtension.cs: 1136 - Found 68 in pla00.SLDASM
2026-04-02 13:11:26,614 INFO  ExportHelperExtension.cs: 1145 - Found 9 features of type [CoordSys] in pla00.SLDASM
2026-04-02 13:11:26,614 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-04-02 13:11:26,615 INFO  ExportHelperExtension.cs: 1160 - 20 components to check
2026-04-02 13:11:26,615 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LF43_ASM-1
2026-04-02 13:11:26,615 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF43_ASM-1
2026-04-02 13:11:26,617 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LF43_ASM-1
2026-04-02 13:11:26,617 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from PLA00_ASM_1-1
2026-04-02 13:11:26,617 INFO  ExportHelperExtension.cs: 1136 - Found 26 in PLA00_ASM_1-1
2026-04-02 13:11:26,617 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in PLA00_ASM_1-1
2026-04-02 13:11:26,618 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LF44-1
2026-04-02 13:11:26,618 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF44-1
2026-04-02 13:11:26,618 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LF44-1
2026-04-02 13:11:26,620 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LF44Z-1
2026-04-02 13:11:26,620 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF44Z-1
2026-04-02 13:11:26,620 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LF44Z-1
2026-04-02 13:11:26,621 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ROBOT_3D_MODEL-1
2026-04-02 13:11:26,625 INFO  ExportHelperExtension.cs: 1136 - Found 4858 in ROBOT_3D_MODEL-1
2026-04-02 13:11:26,636 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ROBOT_3D_MODEL-1
2026-04-02 13:11:26,638 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 4-10-4-1
2026-04-02 13:11:26,639 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 4-10-4-1
2026-04-02 13:11:26,640 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 4-10-4-1
2026-04-02 13:11:26,640 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-9
2026-04-02 13:11:26,641 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-9
2026-04-02 13:11:26,641 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-9
2026-04-02 13:11:26,643 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from PRT0003-1
2026-04-02 13:11:26,651 INFO  ExportHelperExtension.cs: 1136 - Found 4858 in PRT0003-1
2026-04-02 13:11:26,661 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in PRT0003-1
2026-04-02 13:11:26,661 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-3
2026-04-02 13:11:26,662 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-3
2026-04-02 13:11:26,663 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-3
2026-04-02 13:11:26,663 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-7
2026-04-02 13:11:26,663 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-7
2026-04-02 13:11:26,663 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-7
2026-04-02 13:11:26,664 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 00-3
2026-04-02 13:11:26,664 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-3
2026-04-02 13:11:26,665 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 00-3
2026-04-02 13:11:26,665 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LF-43-1
2026-04-02 13:11:26,665 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF-43-1
2026-04-02 13:11:26,666 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LF-43-1
2026-04-02 13:11:26,666 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-6
2026-04-02 13:11:26,666 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-6
2026-04-02 13:11:26,667 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-6
2026-04-02 13:11:26,667 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-4
2026-04-02 13:11:26,667 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-4
2026-04-02 13:11:26,667 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-4
2026-04-02 13:11:26,669 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-2
2026-04-02 13:11:26,669 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-2
2026-04-02 13:11:26,669 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-2
2026-04-02 13:11:26,669 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-8
2026-04-02 13:11:26,670 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-8
2026-04-02 13:11:26,670 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-8
2026-04-02 13:11:26,670 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-5
2026-04-02 13:11:26,670 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-5
2026-04-02 13:11:26,671 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-5
2026-04-02 13:11:26,671 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 00-1
2026-04-02 13:11:26,671 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-1
2026-04-02 13:11:26,671 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 00-1
2026-04-02 13:11:26,673 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 00-2
2026-04-02 13:11:26,673 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-2
2026-04-02 13:11:26,673 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 00-2
2026-04-02 13:11:26,673 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-1
2026-04-02 13:11:26,674 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-1
2026-04-02 13:11:26,674 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-1
2026-04-02 13:11:26,674 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from pla00.SLDASM
2026-04-02 13:11:26,675 INFO  ExportHelperExtension.cs: 1136 - Found 68 in pla00.SLDASM
2026-04-02 13:11:26,675 INFO  ExportHelperExtension.cs: 1145 - Found 8 features of type [RefAxis] in pla00.SLDASM
2026-04-02 13:11:26,675 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-04-02 13:11:26,676 INFO  ExportHelperExtension.cs: 1160 - 20 components to check
2026-04-02 13:11:26,676 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LF43_ASM-1
2026-04-02 13:11:26,676 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF43_ASM-1
2026-04-02 13:11:26,676 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LF43_ASM-1
2026-04-02 13:11:26,678 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from PLA00_ASM_1-1
2026-04-02 13:11:26,678 INFO  ExportHelperExtension.cs: 1136 - Found 26 in PLA00_ASM_1-1
2026-04-02 13:11:26,678 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in PLA00_ASM_1-1
2026-04-02 13:11:26,679 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LF44-1
2026-04-02 13:11:26,679 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF44-1
2026-04-02 13:11:26,679 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LF44-1
2026-04-02 13:11:26,680 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LF44Z-1
2026-04-02 13:11:26,680 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF44Z-1
2026-04-02 13:11:26,680 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LF44Z-1
2026-04-02 13:11:26,680 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ROBOT_3D_MODEL-1
2026-04-02 13:11:26,684 INFO  ExportHelperExtension.cs: 1136 - Found 4858 in ROBOT_3D_MODEL-1
2026-04-02 13:11:26,694 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ROBOT_3D_MODEL-1
2026-04-02 13:11:26,694 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 4-10-4-1
2026-04-02 13:11:26,694 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 4-10-4-1
2026-04-02 13:11:26,694 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 4-10-4-1
2026-04-02 13:11:26,695 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-9
2026-04-02 13:11:26,695 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-9
2026-04-02 13:11:26,695 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-9
2026-04-02 13:11:26,697 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from PRT0003-1
2026-04-02 13:11:26,700 INFO  ExportHelperExtension.cs: 1136 - Found 4858 in PRT0003-1
2026-04-02 13:11:26,709 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in PRT0003-1
2026-04-02 13:11:26,710 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-3
2026-04-02 13:11:26,710 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-3
2026-04-02 13:11:26,710 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-3
2026-04-02 13:11:26,710 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-7
2026-04-02 13:11:26,712 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-7
2026-04-02 13:11:26,712 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-7
2026-04-02 13:11:26,712 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 00-3
2026-04-02 13:11:26,713 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-3
2026-04-02 13:11:26,713 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 00-3
2026-04-02 13:11:26,717 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LF-43-1
2026-04-02 13:11:26,758 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF-43-1
2026-04-02 13:11:26,759 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LF-43-1
2026-04-02 13:11:26,759 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-6
2026-04-02 13:11:26,759 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-6
2026-04-02 13:11:26,760 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-6
2026-04-02 13:11:26,760 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-4
2026-04-02 13:11:26,760 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-4
2026-04-02 13:11:26,761 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-4
2026-04-02 13:11:26,761 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-2
2026-04-02 13:11:26,761 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-2
2026-04-02 13:11:26,763 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-2
2026-04-02 13:11:26,764 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-8
2026-04-02 13:11:26,764 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-8
2026-04-02 13:11:26,765 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-8
2026-04-02 13:11:26,766 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-5
2026-04-02 13:11:26,767 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-5
2026-04-02 13:11:26,767 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-5
2026-04-02 13:11:26,768 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 00-1
2026-04-02 13:11:26,768 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-1
2026-04-02 13:11:26,769 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 00-1
2026-04-02 13:11:26,769 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 00-2
2026-04-02 13:11:26,770 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-2
2026-04-02 13:11:26,770 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 00-2
2026-04-02 13:11:26,772 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-1
2026-04-02 13:11:26,772 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-1
2026-04-02 13:11:26,772 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-1
2026-04-02 13:11:26,925 INFO  SwAddin.cs: 339 - Loading config tree
2026-04-02 13:11:26,926 INFO  ExportPropertyManagerExtension.cs: 520 - Starting new configuration
2026-04-02 13:11:26,937 INFO  SwAddin.cs: 344 - Showing property manager
2026-04-02 13:11:33,064 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:11:44,167 INFO  ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:12:13,893 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:12:15,268 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:12:17,200 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:12:33,082 INFO  ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:12:55,847 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:13:00,338 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:13:09,569 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:13:12,241 INFO  ExportPropertyManager.cs: 1036 - OnListboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:13:41,125 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:13:43,200 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:14:00,447 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:14:06,901 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:14:08,220 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:14:23,463 INFO  ExportPropertyManager.cs: 1036 - OnListboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:14:36,178 INFO  ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:15:03,636 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:15:09,060 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:15:12,260 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:15:25,404 INFO  ExportPropertyManager.cs: 1036 - OnListboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:15:28,581 INFO  ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:19:45,077 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:19:50,747 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:19:52,558 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:20:22,123 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:20:24,006 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:20:25,779 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:20:32,696 INFO  ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:20:59,579 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:21:02,263 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:21:10,779 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:21:13,281 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:21:22,836 INFO  ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:21:54,316 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:21:56,921 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:21:58,310 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:22:05,350 INFO  ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:22:19,018 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:22:20,733 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:22:22,484 INFO  ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:22:42,902 INFO  ExportPropertyManager.cs: 422 - Configuration saved
2026-04-02 13:22:43,628 INFO  ExportHelperExtension.cs: 347 - Creating joint left_hip_pitch_link
2026-04-02 13:22:44,196 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child left_hip_pitch_link failed
2026-04-02 13:22:44,275 INFO  ExportHelperExtension.cs: 347 - Creating joint left_knee_pitch_link
2026-04-02 13:22:44,331 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent left_hip_pitch_link to child left_knee_pitch_link failed
2026-04-02 13:22:44,446 INFO  ExportHelperExtension.cs: 347 - Creating joint left_ankle_pitch_link
2026-04-02 13:22:44,511 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent left_knee_pitch_link to child left_ankle_pitch_link failed
2026-04-02 13:22:44,528 INFO  ExportHelperExtension.cs: 347 - Creating joint left_foot_link
2026-04-02 13:22:44,649 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent left_ankle_pitch_link to child left_foot_link failed
2026-04-02 13:22:44,916 INFO  ExportHelperExtension.cs: 347 - Creating joint right_hip_pitch_link
2026-04-02 13:22:44,988 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child right_hip_pitch_link failed
2026-04-02 13:22:45,135 INFO  ExportHelperExtension.cs: 347 - Creating joint right_knee_pitch_link
2026-04-02 13:22:45,265 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent right_hip_pitch_link to child right_knee_pitch_link failed
2026-04-02 13:22:45,426 INFO  ExportHelperExtension.cs: 347 - Creating joint right_ankle_pitch_link
2026-04-02 13:22:45,502 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent right_knee_pitch_link to child right_ankle_pitch_link failed
2026-04-02 13:22:45,534 INFO  ExportHelperExtension.cs: 347 - Creating joint right_foot_link
2026-04-02 13:22:45,643 WARN  ExportHelperExtension.cs: 351 - Creating joint from parent right_ankle_pitch_link to child right_foot_link failed
2026-04-02 13:22:46,188 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from pla00.SLDASM
2026-04-02 13:22:46,192 INFO  ExportHelperExtension.cs: 1136 - Found 69 in pla00.SLDASM
2026-04-02 13:22:46,192 INFO  ExportHelperExtension.cs: 1145 - Found 9 features of type [CoordSys] in pla00.SLDASM
2026-04-02 13:22:46,192 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-04-02 13:22:46,193 INFO  ExportHelperExtension.cs: 1160 - 20 components to check
2026-04-02 13:22:46,193 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LF43_ASM-1
2026-04-02 13:22:46,194 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF43_ASM-1
2026-04-02 13:22:46,194 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LF43_ASM-1
2026-04-02 13:22:46,194 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from PLA00_ASM_1-1
2026-04-02 13:22:46,195 INFO  ExportHelperExtension.cs: 1136 - Found 26 in PLA00_ASM_1-1
2026-04-02 13:22:46,195 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in PLA00_ASM_1-1
2026-04-02 13:22:46,195 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LF44-1
2026-04-02 13:22:46,195 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF44-1
2026-04-02 13:22:46,196 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LF44-1
2026-04-02 13:22:46,196 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LF44Z-1
2026-04-02 13:22:46,196 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF44Z-1
2026-04-02 13:22:46,196 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LF44Z-1
2026-04-02 13:22:46,197 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ROBOT_3D_MODEL-1
2026-04-02 13:22:46,201 INFO  ExportHelperExtension.cs: 1136 - Found 4858 in ROBOT_3D_MODEL-1
2026-04-02 13:22:46,209 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ROBOT_3D_MODEL-1
2026-04-02 13:22:46,209 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 4-10-4-1
2026-04-02 13:22:46,209 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 4-10-4-1
2026-04-02 13:22:46,209 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 4-10-4-1
2026-04-02 13:22:46,211 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-9
2026-04-02 13:22:46,211 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-9
2026-04-02 13:22:46,211 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-9
2026-04-02 13:22:46,212 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from PRT0003-1
2026-04-02 13:22:46,219 INFO  ExportHelperExtension.cs: 1136 - Found 4858 in PRT0003-1
2026-04-02 13:22:46,228 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in PRT0003-1
2026-04-02 13:22:46,229 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-3
2026-04-02 13:22:46,229 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-3
2026-04-02 13:22:46,229 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-3
2026-04-02 13:22:46,230 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-7
2026-04-02 13:22:46,243 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-7
2026-04-02 13:22:46,243 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-7
2026-04-02 13:22:46,244 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 00-3
2026-04-02 13:22:46,244 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-3
2026-04-02 13:22:46,245 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 00-3
2026-04-02 13:22:46,275 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LF-43-1
2026-04-02 13:22:46,275 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF-43-1
2026-04-02 13:22:46,276 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LF-43-1
2026-04-02 13:22:46,276 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-6
2026-04-02 13:22:46,276 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-6
2026-04-02 13:22:46,276 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-6
2026-04-02 13:22:46,278 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-4
2026-04-02 13:22:46,278 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-4
2026-04-02 13:22:46,278 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-4
2026-04-02 13:22:46,278 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-2
2026-04-02 13:22:46,278 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-2
2026-04-02 13:22:46,279 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-2
2026-04-02 13:22:46,279 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-8
2026-04-02 13:22:46,279 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-8
2026-04-02 13:22:46,279 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-8
2026-04-02 13:22:46,281 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-5
2026-04-02 13:22:46,281 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-5
2026-04-02 13:22:46,281 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-5
2026-04-02 13:22:46,282 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 00-1
2026-04-02 13:22:46,282 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-1
2026-04-02 13:22:46,282 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 00-1
2026-04-02 13:22:46,282 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 00-2
2026-04-02 13:22:46,282 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-2
2026-04-02 13:22:46,283 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 00-2
2026-04-02 13:22:46,283 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from RS00_ASM-1
2026-04-02 13:22:46,283 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-1
2026-04-02 13:22:46,284 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in RS00_ASM-1
2026-04-02 13:22:46,284 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from pla00.SLDASM
2026-04-02 13:22:46,284 INFO  ExportHelperExtension.cs: 1136 - Found 69 in pla00.SLDASM
2026-04-02 13:22:46,285 INFO  ExportHelperExtension.cs: 1145 - Found 8 features of type [RefAxis] in pla00.SLDASM
2026-04-02 13:22:46,285 INFO  ExportHelperExtension.cs: 1148 - Proceeding through assembly components
2026-04-02 13:22:46,285 INFO  ExportHelperExtension.cs: 1160 - 20 components to check
2026-04-02 13:22:46,286 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LF43_ASM-1
2026-04-02 13:22:46,286 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF43_ASM-1
2026-04-02 13:22:46,286 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LF43_ASM-1
2026-04-02 13:22:46,286 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from PLA00_ASM_1-1
2026-04-02 13:22:46,288 INFO  ExportHelperExtension.cs: 1136 - Found 26 in PLA00_ASM_1-1
2026-04-02 13:22:46,288 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in PLA00_ASM_1-1
2026-04-02 13:22:46,289 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LF44-1
2026-04-02 13:22:46,289 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF44-1
2026-04-02 13:22:46,289 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LF44-1
2026-04-02 13:22:46,289 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LF44Z-1
2026-04-02 13:22:46,290 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF44Z-1
2026-04-02 13:22:46,290 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LF44Z-1
2026-04-02 13:22:46,291 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ROBOT_3D_MODEL-1
2026-04-02 13:22:46,299 INFO  ExportHelperExtension.cs: 1136 - Found 4858 in ROBOT_3D_MODEL-1
2026-04-02 13:22:46,308 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ROBOT_3D_MODEL-1
2026-04-02 13:22:46,309 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 4-10-4-1
2026-04-02 13:22:46,309 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 4-10-4-1
2026-04-02 13:22:46,309 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 4-10-4-1
2026-04-02 13:22:46,309 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-9
2026-04-02 13:22:46,311 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-9
2026-04-02 13:22:46,311 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-9
2026-04-02 13:22:46,311 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from PRT0003-1
2026-04-02 13:22:46,318 INFO  ExportHelperExtension.cs: 1136 - Found 4858 in PRT0003-1
2026-04-02 13:22:46,328 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in PRT0003-1
2026-04-02 13:22:46,328 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-3
2026-04-02 13:22:46,329 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-3
2026-04-02 13:22:46,329 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-3
2026-04-02 13:22:46,329 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-7
2026-04-02 13:22:46,330 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-7
2026-04-02 13:22:46,330 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-7
2026-04-02 13:22:46,330 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 00-3
2026-04-02 13:22:46,331 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-3
2026-04-02 13:22:46,331 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 00-3
2026-04-02 13:22:46,331 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LF-43-1
2026-04-02 13:22:46,332 INFO  ExportHelperExtension.cs: 1136 - Found 25 in LF-43-1
2026-04-02 13:22:46,332 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LF-43-1
2026-04-02 13:22:46,332 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-6
2026-04-02 13:22:46,333 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-6
2026-04-02 13:22:46,333 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-6
2026-04-02 13:22:46,333 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-4
2026-04-02 13:22:46,334 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-4
2026-04-02 13:22:46,335 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-4
2026-04-02 13:22:46,335 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-2
2026-04-02 13:22:46,335 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-2
2026-04-02 13:22:46,336 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-2
2026-04-02 13:22:46,336 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-8
2026-04-02 13:22:46,336 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-8
2026-04-02 13:22:46,337 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-8
2026-04-02 13:22:46,337 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-5
2026-04-02 13:22:46,337 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-5
2026-04-02 13:22:46,338 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-5
2026-04-02 13:22:46,338 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 00-1
2026-04-02 13:22:46,338 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-1
2026-04-02 13:22:46,339 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 00-1
2026-04-02 13:22:46,339 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 00-2
2026-04-02 13:22:46,339 INFO  ExportHelperExtension.cs: 1136 - Found 25 in 00-2
2026-04-02 13:22:46,340 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 00-2
2026-04-02 13:22:46,340 INFO  ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from RS00_ASM-1
2026-04-02 13:22:46,340 INFO  ExportHelperExtension.cs: 1136 - Found 25 in RS00_ASM-1
2026-04-02 13:22:46,341 INFO  ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in RS00_ASM-1
2026-04-02 13:22:46,619 INFO  ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
2026-04-02 13:24:06,897 INFO  AssemblyExportForm.cs: 253 - Completing URDF export
2026-04-02 13:24:06,902 INFO  ConfigurationSerialization.cs: 276 - URDF Configuration found
<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">base_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i6"/><XYZAttribute z:Ref="i5"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i7" i:type="Mass"><Attributes><Attribute z:Id="i8"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i8"/></URDFElement><URDFElement z:Id="i9" i:type="Inertia"><Attributes><Attribute z:Id="i10"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i11"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i12"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i13"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i14"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i15"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i10"/><IxyAttribute z:Ref="i11"/><IxzAttribute z:Ref="i12"/><IyyAttribute z:Ref="i13"/><IyzAttribute z:Ref="i14"/><IzzAttribute z:Ref="i15"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i9"/><Mass z:Ref="i7"/><Origin z:Ref="i4"/></URDFElement><URDFElement z:Id="i16" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i17" i:type="Origin"><Attributes><Attribute z:Id="i18"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i19"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i19"/><XYZAttribute z:Ref="i18"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i20" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i21" i:type="Mesh"><Attributes><Attribute z:Id="i22"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i22"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i21"/></URDFElement><URDFElement z:Id="i23" i:type="Material"><Attributes><Attribute z:Id="i24"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i25" i:type="Color"><Attributes><Attribute z:Id="i26"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i26"/></URDFElement><URDFElement z:Id="i27" i:type="Texture"><Attributes><Attribute z:Id="i28"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i28"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i25"/><NameAttribute z:Ref="i24"/><Texture z:Ref="i27"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i20"/><Material z:Ref="i23"/><Origin z:Ref="i17"/></URDFElement><URDFElement z:Id="i29" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i30" i:type="Origin"><Attributes><Attribute z:Id="i31"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i32"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i32"/><XYZAttribute z:Ref="i31"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i33" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i34" i:type="Mesh"><Attributes><Attribute z:Id="i35"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i35"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i34"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i33"/><Origin z:Ref="i30"/></URDFElement><URDFElement z:Id="i36" i:type="Joint"><Attributes><Attribute z:Id="i37"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute><Attribute z:Id="i38"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i39" i:type="Origin"><Attributes><Attribute z:Id="i40"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i41"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i41"/><XYZAttribute z:Ref="i40"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i42" i:type="ParentLink"><Attributes><Attribute z:Id="i43"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i43"/></URDFElement><URDFElement z:Id="i44" i:type="ChildLink"><Attributes><Attribute z:Id="i45"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i45"/></URDFElement><URDFElement z:Id="i46" i:type="Axis"><Attributes><Attribute z:Id="i47"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i47"/></URDFElement><URDFElement z:Id="i48" i:type="Limit"><Attributes><Attribute z:Id="i49"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i50"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i51"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i52"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i51"/><LowerAttribute z:Ref="i49"/><UpperAttribute z:Ref="i50"/><VelocityAttribute z:Ref="i52"/></URDFElement><URDFElement z:Id="i53" i:type="Calibration"><Attributes><Attribute z:Id="i54"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i55"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i55"/><RisingAttribute z:Ref="i54"/></URDFElement><URDFElement z:Id="i56" i:type="Dynamics"><Attributes><Attribute z:Id="i57"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i58"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i57"/><FrictionAttribute z:Ref="i58"/></URDFElement><URDFElement z:Id="i59" i:type="SafetyController"><Attributes><Attribute z:Id="i60"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i61"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i62"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i63"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i62"/><KVelocityAttribute z:Ref="i63"/><SoftLowerAttribute z:Ref="i61"/><SoftUpperAttribute z:Ref="i60"/></URDFElement><URDFElement z:Id="i64" i:type="Mimic"><Attributes><Attribute z:Id="i65"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i66"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i67"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i65"/><MultiplierAttribute z:Ref="i66"/><OffsetAttribute z:Ref="i67"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i46"/><AxisName/><Calibration z:Ref="i53"/><Child z:Ref="i44"/><CoordinateSystemName>base</CoordinateSystemName><Dynamics z:Ref="i56"/><Limit z:Ref="i48"/><Mimic z:Ref="i64"/><NameAttribute z:Ref="i37"/><Origin z:Ref="i39"/><Parent z:Ref="i42"/><Safety z:Ref="i59"/><TypeAttribute z:Ref="i38"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i68"><Attributes><Attribute z:Id="i69"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">left_hip_pitch_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">eft_hip_pitch_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">revolute</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_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>left_hip_pitch-z</AxisName><Calibration z:Ref="i120"/><Child z:Ref="i111"/><CoordinateSystemName>left_hip_pitch</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" xmlns:a="http://www.w3.org/2001/XMLSchema">left_knee_pitch_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">left_knee_pitch_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_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>left_knee_pitch-z</AxisName><Calibration z:Ref="i187"/><Child z:Ref="i178"/><CoordinateSystemName>left_knee_pitch</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><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">left_ankle_pitch_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">left_ankle_pitch_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">revolute</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_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i262"><AttributeType>soft_lower_limit</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>left_ankle-z</AxisName><Calibration z:Ref="i254"/><Child z:Ref="i245"/><CoordinateSystemName>left_ankle_pitch</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><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">left_foot_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">left_ankle_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">revolute</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_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i329"><AttributeType>soft_lower_limit</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>left_ankle-z</AxisName><Calibration z:Ref="i321"/><Child z:Ref="i312"/><CoordinateSystemName>left_ankl</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="i202"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>gD4AAAUAAAD//v8MTABGADQANAAtADEAQABwAGwAYQAwADAABAAAABAAAAABAAAAAQAAACgAAAA=</a:base64Binary><a:base64Binary>gD4AAAUAAAD//v8QUgBTADAAMABfAEEAUwBNAC0AOQBAAHAAbABhADAAMAAEAAAAEAAAAAEAAAABAAAAKgAAAA==</a:base64Binary><a:base64Binary>gD4AAAUAAAD//v8QUgBTADAAMABfAEEAUwBNAC0ANABAAHAAbABhADAAMAAEAAAAEAAAAAEAAAABAAAAGwAAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i284"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i230"/><Inertial z:Ref="i204"/><Joint z:Ref="i237"/><NameAttribute z:Ref="i203"/><Parent z:Ref="i135"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>gD4AAAUAAAD//v9FUABMAEEAMAAwAF8AQQBTAE0AXwAxAC0AMQBAAHAAbABhADAAMAAvAFAATABBAEwARgBfAEEAUwBNAF8AMQAtADEAQABQAEwAQQAwADAAXwBBAFMATQBfADEALwBQAEwAQQBBAEMALQA0AF8AMQAtADEAQABQAEwAQQBMAEYAXwBBAFMATQBfADEABAAAABAAAAABAAAAAwAAACsAAAAZAAAAGgAAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i217"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i163"/><Inertial z:Ref="i137"/><Joint z:Ref="i170"/><NameAttribute z:Ref="i136"/><Parent z:Ref="i68"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>gD4AAAUAAAD//v9FUABMAEEAMAAwAF8AQQBTAE0AXwAxAC0AMQBAAHAAbABhADAAMAAvAFAATABBAEwARgBfAEEAUwBNAF8AMQAtADEAQABQAEwAQQAwADAAXwBBAFMATQBfADEALwBQAEwAQQBBAEMALQAzAF8AMQAtADEAQABQAEwAQQBMAEYAXwBBAFMATQBfADEABAAAABAAAAABAAAAAwAAACsAAAAZAAAAGQAAAA==</a:base64Binary><a:base64Binary>gD4AAAUAAAD//v8QUgBTADAAMABfAEEAUwBNAC0AMwBAAHAAbABhADAAMAAEAAAAEAAAAAEAAAABAAAAGgAAAA==</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>gD4AAAUAAAD//v9FUABMAEEAMAAwAF8AQQBTAE0AXwAxAC0AMQBAAHAAbABhADAAMAAvAFAATABBAEwARgBfAEEAUwBNAF8AMQAtADEAQABQAEwAQQAwADAAXwBBAFMATQBfADEALwBQAEwAQQBBAEMALQAyAF8AMQAtADEAQABQAEwAQQBMAEYAXwBBAFMATQBfADEABAAAABAAAAABAAAAAwAAACsAAAAZAAAAGAAAAA==</a:base64Binary><a:base64Binary>gD4AAAUAAAD//v8QUgBTADAAMABfAEEAUwBNAC0AMgBAAHAAbABhADAAMAAEAAAAEAAAAAEAAAABAAAAGQAAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i83"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link><Link z:Id="i336"><Attributes><Attribute z:Id="i337"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">right_hip_pitch_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i338" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i339" i:type="Origin"><Attributes><Attribute z:Id="i340"><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="i341"><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="i341"/><XYZAttribute z:Ref="i340"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i342" i:type="Mass"><Attributes><Attribute z:Id="i343"><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="i343"/></URDFElement><URDFElement z:Id="i344" i:type="Inertia"><Attributes><Attribute z:Id="i345"><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="i346"><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="i347"><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="i348"><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="i349"><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="i350"><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="i345"/><IxyAttribute z:Ref="i346"/><IxzAttribute z:Ref="i347"/><IyyAttribute z:Ref="i348"/><IyzAttribute z:Ref="i349"/><IzzAttribute z:Ref="i350"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i344"/><Mass z:Ref="i342"/><Origin z:Ref="i339"/></URDFElement><URDFElement z:Id="i351" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i352" i:type="Origin"><Attributes><Attribute z:Id="i353"><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="i354"><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="i354"/><XYZAttribute z:Ref="i353"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i355" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i356" i:type="Mesh"><Attributes><Attribute z:Id="i357"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i357"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i356"/></URDFElement><URDFElement z:Id="i358" i:type="Material"><Attributes><Attribute z:Id="i359"><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="i360" i:type="Color"><Attributes><Attribute z:Id="i361"><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="i361"/></URDFElement><URDFElement z:Id="i362" i:type="Texture"><Attributes><Attribute z:Id="i363"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i363"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i360"/><NameAttribute z:Ref="i359"/><Texture z:Ref="i362"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i355"/><Material z:Ref="i358"/><Origin z:Ref="i352"/></URDFElement><URDFElement z:Id="i364" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i365" i:type="Origin"><Attributes><Attribute z:Id="i366"><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="i367"><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="i367"/><XYZAttribute z:Ref="i366"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i368" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i369" i:type="Mesh"><Attributes><Attribute z:Id="i370"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i370"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i369"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i368"/><Origin z:Ref="i365"/></URDFElement><URDFElement z:Id="i371" i:type="Joint"><Attributes><Attribute z:Id="i372"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">right_hip_pitch_joint</Value></Attribute><Attribute z:Id="i373"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i374" i:type="Origin"><Attributes><Attribute z:Id="i375"><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="i376"><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="i376"/><XYZAttribute z:Ref="i375"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i377" i:type="ParentLink"><Attributes><Attribute z:Id="i378"><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="i378"/></URDFElement><URDFElement z:Id="i379" i:type="ChildLink"><Attributes><Attribute z:Id="i380"><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="i380"/></URDFElement><URDFElement z:Id="i381" i:type="Axis"><Attributes><Attribute z:Id="i382"><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="i382"/></URDFElement><URDFElement z:Id="i383" i:type="Limit"><Attributes><Attribute z:Id="i384"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i385"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i386"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i387"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i386"/><LowerAttribute z:Ref="i384"/><UpperAttribute z:Ref="i385"/><VelocityAttribute z:Ref="i387"/></URDFElement><URDFElement z:Id="i388" i:type="Calibration"><Attributes><Attribute z:Id="i389"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i390"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i390"/><RisingAttribute z:Ref="i389"/></URDFElement><URDFElement z:Id="i391" i:type="Dynamics"><Attributes><Attribute z:Id="i392"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i393"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i392"/><FrictionAttribute z:Ref="i393"/></URDFElement><URDFElement z:Id="i394" i:type="SafetyController"><Attributes><Attribute z:Id="i395"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i396"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i397"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i398"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i397"/><KVelocityAttribute z:Ref="i398"/><SoftLowerAttribute z:Ref="i396"/><SoftUpperAttribute z:Ref="i395"/></URDFElement><URDFElement z:Id="i399" i:type="Mimic"><Attributes><Attribute z:Id="i400"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i401"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i402"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i400"/><MultiplierAttribute z:Ref="i401"/><OffsetAttribute z:Ref="i402"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i381"/><AxisName>right_hip_pitch-z</AxisName><Calibration z:Ref="i388"/><Child z:Ref="i379"/><CoordinateSystemName>right_hip_pitch</CoordinateSystemName><Dynamics z:Ref="i391"/><Limit z:Ref="i383"/><Mimic z:Ref="i399"/><NameAttribute z:Ref="i372"/><Origin z:Ref="i374"/><Parent z:Ref="i377"/><Safety z:Ref="i394"/><TypeAttribute z:Ref="i373"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i403"><Attributes><Attribute z:Id="i404"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">right_knee_pitch_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i405" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i406" i:type="Origin"><Attributes><Attribute z:Id="i407"><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="i408"><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="i408"/><XYZAttribute z:Ref="i407"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i409" i:type="Mass"><Attributes><Attribute z:Id="i410"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i410"/></URDFElement><URDFElement z:Id="i411" i:type="Inertia"><Attributes><Attribute z:Id="i412"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i413"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i414"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i415"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i416"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i417"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i412"/><IxyAttribute z:Ref="i413"/><IxzAttribute z:Ref="i414"/><IyyAttribute z:Ref="i415"/><IyzAttribute z:Ref="i416"/><IzzAttribute z:Ref="i417"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i411"/><Mass z:Ref="i409"/><Origin z:Ref="i406"/></URDFElement><URDFElement z:Id="i418" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i419" i:type="Origin"><Attributes><Attribute z:Id="i420"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i421"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i421"/><XYZAttribute z:Ref="i420"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i422" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i423" i:type="Mesh"><Attributes><Attribute z:Id="i424"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i424"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i423"/></URDFElement><URDFElement z:Id="i425" i:type="Material"><Attributes><Attribute z:Id="i426"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i427" i:type="Color"><Attributes><Attribute z:Id="i428"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i428"/></URDFElement><URDFElement z:Id="i429" i:type="Texture"><Attributes><Attribute z:Id="i430"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i430"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i427"/><NameAttribute z:Ref="i426"/><Texture z:Ref="i429"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i422"/><Material z:Ref="i425"/><Origin z:Ref="i419"/></URDFElement><URDFElement z:Id="i431" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i432" i:type="Origin"><Attributes><Attribute z:Id="i433"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i434"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i434"/><XYZAttribute z:Ref="i433"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i435" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i436" i:type="Mesh"><Attributes><Attribute z:Id="i437"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i437"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i436"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i435"/><Origin z:Ref="i432"/></URDFElement><URDFElement z:Id="i438" i:type="Joint"><Attributes><Attribute z:Id="i439"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">right_knee_pitch_joint</Value></Attribute><Attribute z:Id="i440"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i441" i:type="Origin"><Attributes><Attribute z:Id="i442"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i443"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i443"/><XYZAttribute z:Ref="i442"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i444" i:type="ParentLink"><Attributes><Attribute z:Id="i445"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i445"/></URDFElement><URDFElement z:Id="i446" i:type="ChildLink"><Attributes><Attribute z:Id="i447"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i447"/></URDFElement><URDFElement z:Id="i448" i:type="Axis"><Attributes><Attribute z:Id="i449"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i449"/></URDFElement><URDFElement z:Id="i450" i:type="Limit"><Attributes><Attribute z:Id="i451"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i452"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i453"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i454"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i453"/><LowerAttribute z:Ref="i451"/><UpperAttribute z:Ref="i452"/><VelocityAttribute z:Ref="i454"/></URDFElement><URDFElement z:Id="i455" i:type="Calibration"><Attributes><Attribute z:Id="i456"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i457"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i457"/><RisingAttribute z:Ref="i456"/></URDFElement><URDFElement z:Id="i458" i:type="Dynamics"><Attributes><Attribute z:Id="i459"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i460"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i459"/><FrictionAttribute z:Ref="i460"/></URDFElement><URDFElement z:Id="i461" i:type="SafetyController"><Attributes><Attribute z:Id="i462"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i463"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i464"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i465"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i464"/><KVelocityAttribute z:Ref="i465"/><SoftLowerAttribute z:Ref="i463"/><SoftUpperAttribute z:Ref="i462"/></URDFElement><URDFElement z:Id="i466" i:type="Mimic"><Attributes><Attribute z:Id="i467"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i468"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i469"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i467"/><MultiplierAttribute z:Ref="i468"/><OffsetAttribute z:Ref="i469"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i448"/><AxisName>right_knee-z</AxisName><Calibration z:Ref="i455"/><Child z:Ref="i446"/><CoordinateSystemName>right_knee_pitch</CoordinateSystemName><Dynamics z:Ref="i458"/><Limit z:Ref="i450"/><Mimic z:Ref="i466"/><NameAttribute z:Ref="i439"/><Origin z:Ref="i441"/><Parent z:Ref="i444"/><Safety z:Ref="i461"/><TypeAttribute z:Ref="i440"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i470"><Attributes><Attribute z:Id="i471"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">right_ankle_pitch_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i472" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i473" i:type="Origin"><Attributes><Attribute z:Id="i474"><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="i475"><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="i475"/><XYZAttribute z:Ref="i474"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i476" i:type="Mass"><Attributes><Attribute z:Id="i477"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i477"/></URDFElement><URDFElement z:Id="i478" i:type="Inertia"><Attributes><Attribute z:Id="i479"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i480"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i481"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i482"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i483"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i484"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i479"/><IxyAttribute z:Ref="i480"/><IxzAttribute z:Ref="i481"/><IyyAttribute z:Ref="i482"/><IyzAttribute z:Ref="i483"/><IzzAttribute z:Ref="i484"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i478"/><Mass z:Ref="i476"/><Origin z:Ref="i473"/></URDFElement><URDFElement z:Id="i485" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i486" i:type="Origin"><Attributes><Attribute z:Id="i487"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i488"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i488"/><XYZAttribute z:Ref="i487"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i489" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i490" i:type="Mesh"><Attributes><Attribute z:Id="i491"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i491"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i490"/></URDFElement><URDFElement z:Id="i492" i:type="Material"><Attributes><Attribute z:Id="i493"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i494" i:type="Color"><Attributes><Attribute z:Id="i495"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i495"/></URDFElement><URDFElement z:Id="i496" i:type="Texture"><Attributes><Attribute z:Id="i497"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i497"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i494"/><NameAttribute z:Ref="i493"/><Texture z:Ref="i496"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i489"/><Material z:Ref="i492"/><Origin z:Ref="i486"/></URDFElement><URDFElement z:Id="i498" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i499" i:type="Origin"><Attributes><Attribute z:Id="i500"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i501"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i501"/><XYZAttribute z:Ref="i500"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i502" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i503" i:type="Mesh"><Attributes><Attribute z:Id="i504"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i504"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i503"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i502"/><Origin z:Ref="i499"/></URDFElement><URDFElement z:Id="i505" i:type="Joint"><Attributes><Attribute z:Id="i506"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">right_ankle_pitch_joint</Value></Attribute><Attribute z:Id="i507"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">continuous</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i508" i:type="Origin"><Attributes><Attribute z:Id="i509"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i510"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i510"/><XYZAttribute z:Ref="i509"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i511" i:type="ParentLink"><Attributes><Attribute z:Id="i512"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i512"/></URDFElement><URDFElement z:Id="i513" i:type="ChildLink"><Attributes><Attribute z:Id="i514"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i514"/></URDFElement><URDFElement z:Id="i515" i:type="Axis"><Attributes><Attribute z:Id="i516"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i516"/></URDFElement><URDFElement z:Id="i517" i:type="Limit"><Attributes><Attribute z:Id="i518"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i519"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i520"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i521"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i520"/><LowerAttribute z:Ref="i518"/><UpperAttribute z:Ref="i519"/><VelocityAttribute z:Ref="i521"/></URDFElement><URDFElement z:Id="i522" i:type="Calibration"><Attributes><Attribute z:Id="i523"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i524"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i524"/><RisingAttribute z:Ref="i523"/></URDFElement><URDFElement z:Id="i525" i:type="Dynamics"><Attributes><Attribute z:Id="i526"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i527"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i526"/><FrictionAttribute z:Ref="i527"/></URDFElement><URDFElement z:Id="i528" i:type="SafetyController"><Attributes><Attribute z:Id="i529"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i530"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i531"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i532"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i531"/><KVelocityAttribute z:Ref="i532"/><SoftLowerAttribute z:Ref="i530"/><SoftUpperAttribute z:Ref="i529"/></URDFElement><URDFElement z:Id="i533" i:type="Mimic"><Attributes><Attribute z:Id="i534"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i535"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i536"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i534"/><MultiplierAttribute z:Ref="i535"/><OffsetAttribute z:Ref="i536"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i515"/><AxisName>right_ankle_pitch-z</AxisName><Calibration z:Ref="i522"/><Child z:Ref="i513"/><CoordinateSystemName>right_ankle_pitch</CoordinateSystemName><Dynamics z:Ref="i525"/><Limit z:Ref="i517"/><Mimic z:Ref="i533"/><NameAttribute z:Ref="i506"/><Origin z:Ref="i508"/><Parent z:Ref="i511"/><Safety z:Ref="i528"/><TypeAttribute z:Ref="i507"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i537"><Attributes><Attribute z:Id="i538"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">right_foot_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i539" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i540" i:type="Origin"><Attributes><Attribute z:Id="i541"><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="i542"><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="i542"/><XYZAttribute z:Ref="i541"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i543" i:type="Mass"><Attributes><Attribute z:Id="i544"><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="i544"/></URDFElement><URDFElement z:Id="i545" i:type="Inertia"><Attributes><Attribute z:Id="i546"><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="i547"><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="i548"><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="i549"><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="i550"><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="i551"><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="i546"/><IxyAttribute z:Ref="i547"/><IxzAttribute z:Ref="i548"/><IyyAttribute z:Ref="i549"/><IyzAttribute z:Ref="i550"/><IzzAttribute z:Ref="i551"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i545"/><Mass z:Ref="i543"/><Origin z:Ref="i540"/></URDFElement><URDFElement z:Id="i552" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i553" i:type="Origin"><Attributes><Attribute z:Id="i554"><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="i555"><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="i555"/><XYZAttribute z:Ref="i554"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i556" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i557" i:type="Mesh"><Attributes><Attribute z:Id="i558"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i558"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i557"/></URDFElement><URDFElement z:Id="i559" i:type="Material"><Attributes><Attribute z:Id="i560"><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="i561" i:type="Color"><Attributes><Attribute z:Id="i562"><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="i562"/></URDFElement><URDFElement z:Id="i563" i:type="Texture"><Attributes><Attribute z:Id="i564"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i564"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i561"/><NameAttribute z:Ref="i560"/><Texture z:Ref="i563"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i556"/><Material z:Ref="i559"/><Origin z:Ref="i553"/></URDFElement><URDFElement z:Id="i565" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i566" i:type="Origin"><Attributes><Attribute z:Id="i567"><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="i568"><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="i568"/><XYZAttribute z:Ref="i567"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i569" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i570" i:type="Mesh"><Attributes><Attribute z:Id="i571"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i571"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i570"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i569"/><Origin z:Ref="i566"/></URDFElement><URDFElement z:Id="i572" i:type="Joint"><Attributes><Attribute z:Id="i573"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">right_ankle_joint</Value></Attribute><Attribute z:Id="i574"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i575" i:type="Origin"><Attributes><Attribute z:Id="i576"><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="i577"><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="i577"/><XYZAttribute z:Ref="i576"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i578" i:type="ParentLink"><Attributes><Attribute z:Id="i579"><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="i579"/></URDFElement><URDFElement z:Id="i580" i:type="ChildLink"><Attributes><Attribute z:Id="i581"><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="i581"/></URDFElement><URDFElement z:Id="i582" i:type="Axis"><Attributes><Attribute z:Id="i583"><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="i583"/></URDFElement><URDFElement z:Id="i584" i:type="Limit"><Attributes><Attribute z:Id="i585"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i586"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i587"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i588"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i587"/><LowerAttribute z:Ref="i585"/><UpperAttribute z:Ref="i586"/><VelocityAttribute z:Ref="i588"/></URDFElement><URDFElement z:Id="i589" i:type="Calibration"><Attributes><Attribute z:Id="i590"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i591"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i591"/><RisingAttribute z:Ref="i590"/></URDFElement><URDFElement z:Id="i592" i:type="Dynamics"><Attributes><Attribute z:Id="i593"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i594"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i593"/><FrictionAttribute z:Ref="i594"/></URDFElement><URDFElement z:Id="i595" i:type="SafetyController"><Attributes><Attribute z:Id="i596"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i597"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i598"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i599"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i598"/><KVelocityAttribute z:Ref="i599"/><SoftLowerAttribute z:Ref="i597"/><SoftUpperAttribute z:Ref="i596"/></URDFElement><URDFElement z:Id="i600" i:type="Mimic"><Attributes><Attribute z:Id="i601"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i602"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i603"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i601"/><MultiplierAttribute z:Ref="i602"/><OffsetAttribute z:Ref="i603"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i582"/><AxisName>right_ankle-z</AxisName><Calibration z:Ref="i589"/><Child z:Ref="i580"/><CoordinateSystemName>right_ankle</CoordinateSystemName><Dynamics z:Ref="i592"/><Limit z:Ref="i584"/><Mimic z:Ref="i600"/><NameAttribute z:Ref="i573"/><Origin z:Ref="i575"/><Parent z:Ref="i578"/><Safety z:Ref="i595"/><TypeAttribute z:Ref="i574"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i565"/><Inertial z:Ref="i539"/><Joint z:Ref="i572"/><NameAttribute z:Ref="i538"/><Parent z:Ref="i470"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>gD4AAAUAAAD//v8NTABGADQANABaAC0AMQBAAHAAbABhADAAMAAEAAAAEAAAAAEAAAABAAAAKQAAAA==</a:base64Binary><a:base64Binary>gD4AAAUAAAD//v8QUgBTADAAMABfAEEAUwBNAC0AOABAAHAAbABhADAAMAAEAAAAEAAAAAEAAAABAAAAIgAAAA==</a:base64Binary><a:base64Binary>gD4AAAUAAAD//v8NTABGAC0ANAAzAC0AMQBAAHAAbABhADAAMAAEAAAAEAAAAAEAAAABAAAAIwAAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i552"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i498"/><Inertial z:Ref="i472"/><Joint z:Ref="i505"/><NameAttribute z:Ref="i471"/><Parent z:Ref="i403"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>gD4AAAUAAAD//v9JUABMAEEAMAAwAF8AQQBTAE0AXwAxAC0AMQBAAHAAbABhADAAMAAvAFAATABBAFIARgBfAEEAUwBNAF8AMQAtADEAQABQAEwAQQAwADAAXwBBAFMATQBfADEALwBQAEwAQQBBAEMALQA0AF8ATQBJAFIAXwAxAC0AMQBAAFAATABBAFIARgBfAEEAUwBNAF8AMQAEAAAAEAAAAAEAAAADAAAAKwAAABoAAAAaAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i485"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i431"/><Inertial z:Ref="i405"/><Joint z:Ref="i438"/><NameAttribute z:Ref="i404"/><Parent z:Ref="i336"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>gD4AAAUAAAD//v9JUABMAEEAMAAwAF8AQQBTAE0AXwAxAC0AMQBAAHAAbABhADAAMAAvAFAATABBAFIARgBfAEEAUwBNAF8AMQAtADEAQABQAEwAQQAwADAAXwBBAFMATQBfADEALwBQAEwAQQBBAEMALQAzAF8ATQBJAFIAXwAxAC0AMQBAAFAATABBAFIARgBfAEEAUwBNAF8AMQAEAAAAEAAAAAEAAAADAAAAKwAAABoAAAAZAAAA</a:base64Binary><a:base64Binary>gD4AAAUAAAD//v8QUgBTADAAMABfAEEAUwBNAC0ANwBAAHAAbABhADAAMAAEAAAAEAAAAAEAAAABAAAAIAAAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i418"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i364"/><Inertial z:Ref="i338"/><Joint z:Ref="i371"/><NameAttribute z:Ref="i337"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>gD4AAAUAAAD//v9JUABMAEEAMAAwAF8AQQBTAE0AXwAxAC0AMQBAAHAAbABhADAAMAAvAFAATABBAFIARgBfAEEAUwBNAF8AMQAtADEAQABQAEwAQQAwADAAXwBBAFMATQBfADEALwBQAEwAQQBBAEMALQAyAF8ATQBJAFIAXwAxAC0AMQBAAFAATABBAFIARgBfAEEAUwBNAF8AMQAEAAAAEAAAAAEAAAADAAAAKwAAABoAAAAYAAAA</a:base64Binary><a:base64Binary>gD4AAAUAAAD//v8QUgBTADAAMABfAEEAUwBNAC0ANgBAAHAAbABhADAAMAAEAAAAEAAAAAEAAAABAAAAHwAAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i351"/><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>gD4AAAUAAAD//v8rUABMAEEAMAAwAF8AQQBTAE0AXwAxAC0AMQBAAHAAbABhADAAMAAvAFAATABBAEEAQwAtADEAXwAxAC0AMQBAAFAATABBADAAMABfAEEAUwBNAF8AMQAEAAAAEAAAAAEAAAACAAAAKwAAABgAAAA=</a:base64Binary><a:base64Binary>gD4AAAUAAAD//v8nUABMAEEAMAAwAF8AQQBTAE0AXwAxAC0AMQBAAHAAbABhADAAMAAvAFAATABBADAAMAAtADEAQABQAEwAQQAwADAAXwBBAFMATQBfADEABAAAABAAAAABAAAAAgAAACsAAAAbAAAA</a:base64Binary><a:base64Binary>gD4AAAUAAAD//v8QUgBTADAAMABfAEEAUwBNAC0ANQBAAHAAbABhADAAMAAEAAAAEAAAAAEAAAABAAAAHgAAAA==</a:base64Binary><a:base64Binary>gD4AAAUAAAD//v8QUgBTADAAMABfAEEAUwBNAC0AMQBAAHAAbABhADAAMAAEAAAAEAAAAAEAAAABAAAAGAAAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
2026-04-02 13:27:42,572 INFO  AssemblyExportForm.cs: 309 - Saving URDF package to C:\Users\MECHREVO\guguji
2026-04-02 13:27:42,574 INFO  ExportHelper.cs: 147 - Beginning the export process
2026-04-02 13:27:42,588 INFO  ExportHelper.cs: 153 - Creating package directories with name guguji and save path C:\Users\MECHREVO
2026-04-02 13:27:45,225 INFO  ExportHelper.cs: 162 - Creating CMakeLists.txt at C:\Users\MECHREVO\guguji\CMakeLists.txt
2026-04-02 13:27:45,227 INFO  ExportHelper.cs: 166 - Creating joint names config at C:\Users\MECHREVO\guguji\config\joint_names_guguji.yaml
2026-04-02 13:27:45,229 INFO  ExportHelper.cs: 170 - Creating package.xml at C:\Users\MECHREVO\guguji\package.xml
2026-04-02 13:27:45,231 INFO  PackageXMLWriter.cs: 21 - Creating package.xml at C:\Users\MECHREVO\guguji\package.xml
2026-04-02 13:27:45,236 INFO  ExportHelper.cs: 177 - Creating RVIZ launch file in C:\Users\MECHREVO\guguji\launch\
2026-04-02 13:27:45,238 INFO  ExportHelper.cs: 182 - Creating Gazebo launch file in C:\Users\MECHREVO\guguji\launch\
2026-04-02 13:27:45,239 INFO  ExportHelper.cs: 187 - Saving existing STL preferences
2026-04-02 13:27:45,239 INFO  ExportHelper.cs: 450 - Saving users preferences
2026-04-02 13:27:45,241 INFO  ExportHelper.cs: 190 - Modifying STL preferences
2026-04-02 13:27:45,241 INFO  ExportHelper.cs: 464 - Setting STL preferences
2026-04-02 13:27:45,248 INFO  ExportHelper.cs: 196 - Found 0 hidden components 
2026-04-02 13:27:45,248 INFO  ExportHelper.cs: 197 - Hiding all components
2026-04-02 13:27:49,178 INFO  ExportHelper.cs: 204 - Beginning individual files export
2026-04-02 13:27:49,190 INFO  ExportHelper.cs: 270 - Exporting link: base_link
2026-04-02 13:27:49,191 INFO  ExportHelper.cs: 272 - Link base_link has 2 children
2026-04-02 13:27:49,195 INFO  ExportHelper.cs: 270 - Exporting link: left_hip_pitch_link
2026-04-02 13:27:49,196 INFO  ExportHelper.cs: 272 - Link left_hip_pitch_link has 1 children
2026-04-02 13:27:49,206 INFO  ExportHelper.cs: 270 - Exporting link: left_knee_pitch_link
2026-04-02 13:27:49,207 INFO  ExportHelper.cs: 272 - Link left_knee_pitch_link has 1 children
2026-04-02 13:27:49,218 INFO  ExportHelper.cs: 270 - Exporting link: left_ankle_pitch_link
2026-04-02 13:27:49,219 INFO  ExportHelper.cs: 272 - Link left_ankle_pitch_link has 1 children
2026-04-02 13:27:49,224 INFO  ExportHelper.cs: 270 - Exporting link: left_foot_link
2026-04-02 13:27:49,225 INFO  ExportHelper.cs: 272 - Link left_foot_link has 0 children
2026-04-02 13:27:49,225 INFO  ExportHelper.cs: 317 - left_foot_link: Exporting STL with coordinate frame left_ankl
2026-04-02 13:27:49,226 INFO  ExportHelper.cs: 322 - left_foot_link: Reference geometry name 
2026-04-02 13:27:49,446 INFO  ExportHelper.cs: 330 - Saving STL to C:\Users\MECHREVO\guguji\meshes\left_foot_link.STL
2026-04-02 13:27:50,013 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
2026-04-02 13:27:50,014 INFO  ExportHelper.cs: 317 - left_ankle_pitch_link: Exporting STL with coordinate frame left_ankle_pitch
2026-04-02 13:27:50,014 INFO  ExportHelper.cs: 322 - left_ankle_pitch_link: Reference geometry name 
2026-04-02 13:27:51,734 INFO  ExportHelper.cs: 330 - Saving STL to C:\Users\MECHREVO\guguji\meshes\left_ankle_pitch_link.STL
2026-04-02 13:27:51,820 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
2026-04-02 13:27:51,821 INFO  ExportHelper.cs: 317 - left_knee_pitch_link: Exporting STL with coordinate frame left_knee_pitch
2026-04-02 13:27:51,822 INFO  ExportHelper.cs: 322 - left_knee_pitch_link: Reference geometry name 
2026-04-02 13:27:51,860 INFO  ExportHelper.cs: 330 - Saving STL to C:\Users\MECHREVO\guguji\meshes\left_knee_pitch_link.STL
2026-04-02 13:27:52,536 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
2026-04-02 13:27:52,538 INFO  ExportHelper.cs: 317 - left_hip_pitch_link: Exporting STL with coordinate frame left_hip_pitch
2026-04-02 13:27:52,538 INFO  ExportHelper.cs: 322 - left_hip_pitch_link: Reference geometry name 
2026-04-02 13:27:52,642 INFO  ExportHelper.cs: 330 - Saving STL to C:\Users\MECHREVO\guguji\meshes\left_hip_pitch_link.STL
2026-04-02 13:27:53,050 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
2026-04-02 13:27:53,086 INFO  ExportHelper.cs: 270 - Exporting link: right_hip_pitch_link
2026-04-02 13:27:53,088 INFO  ExportHelper.cs: 272 - Link right_hip_pitch_link has 1 children
2026-04-02 13:27:53,138 INFO  ExportHelper.cs: 270 - Exporting link: right_knee_pitch_link
2026-04-02 13:27:53,140 INFO  ExportHelper.cs: 272 - Link right_knee_pitch_link has 1 children
2026-04-02 13:27:53,188 INFO  ExportHelper.cs: 270 - Exporting link: right_ankle_pitch_link
2026-04-02 13:27:53,189 INFO  ExportHelper.cs: 272 - Link right_ankle_pitch_link has 1 children
2026-04-02 13:27:53,238 INFO  ExportHelper.cs: 270 - Exporting link: right_foot_link
2026-04-02 13:27:53,238 INFO  ExportHelper.cs: 272 - Link right_foot_link has 0 children
2026-04-02 13:27:53,239 INFO  ExportHelper.cs: 317 - right_foot_link: Exporting STL with coordinate frame right_ankle
2026-04-02 13:27:53,239 INFO  ExportHelper.cs: 322 - right_foot_link: Reference geometry name 
2026-04-02 13:27:53,479 INFO  ExportHelper.cs: 330 - Saving STL to C:\Users\MECHREVO\guguji\meshes\right_foot_link.STL
2026-04-02 13:27:54,223 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
2026-04-02 13:27:54,223 INFO  ExportHelper.cs: 317 - right_ankle_pitch_link: Exporting STL with coordinate frame right_ankle_pitch
2026-04-02 13:27:54,225 INFO  ExportHelper.cs: 322 - right_ankle_pitch_link: Reference geometry name 
2026-04-02 13:27:54,941 INFO  ExportHelper.cs: 330 - Saving STL to C:\Users\MECHREVO\guguji\meshes\right_ankle_pitch_link.STL
2026-04-02 13:27:55,077 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
2026-04-02 13:27:55,079 INFO  ExportHelper.cs: 317 - right_knee_pitch_link: Exporting STL with coordinate frame right_knee_pitch
2026-04-02 13:27:55,079 INFO  ExportHelper.cs: 322 - right_knee_pitch_link: Reference geometry name 
2026-04-02 13:27:55,125 INFO  ExportHelper.cs: 330 - Saving STL to C:\Users\MECHREVO\guguji\meshes\right_knee_pitch_link.STL
2026-04-02 13:27:55,350 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
2026-04-02 13:27:55,352 INFO  ExportHelper.cs: 317 - right_hip_pitch_link: Exporting STL with coordinate frame right_hip_pitch
2026-04-02 13:27:55,352 INFO  ExportHelper.cs: 322 - right_hip_pitch_link: Reference geometry name 
2026-04-02 13:27:55,399 INFO  ExportHelper.cs: 330 - Saving STL to C:\Users\MECHREVO\guguji\meshes\right_hip_pitch_link.STL
2026-04-02 13:27:55,818 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
2026-04-02 13:27:55,819 INFO  ExportHelper.cs: 317 - base_link: Exporting STL with coordinate frame base
2026-04-02 13:27:55,819 INFO  ExportHelper.cs: 322 - base_link: Reference geometry name 
2026-04-02 13:27:56,116 INFO  ExportHelper.cs: 330 - Saving STL to C:\Users\MECHREVO\guguji\meshes\base_link.STL
2026-04-02 13:27:56,838 INFO  ExportHelper.cs: 405 - Removing SW header in STL file
2026-04-02 13:27:56,840 INFO  ExportHelper.cs: 145 - Showing all components except previously hidden components
2026-04-02 13:28:00,830 INFO  ExportHelper.cs: 145 - Resetting STL preferences
2026-04-02 13:28:00,831 INFO  ExportHelper.cs: 478 - Returning STL preferences to user preferences
2026-04-02 13:28:00,831 INFO  ExportHelper.cs: 228 - Writing URDF file to C:\Users\MECHREVO\guguji\urdf\guguji.urdf
2026-04-02 13:28:00,991 INFO  CSVImportExport.cs: 32 - Writing CSV file C:\Users\MECHREVO\guguji\urdf\guguji.csv
2026-04-02 13:28:01,028 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2026-04-02 13:28:01,029 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2026-04-02 13:28:01,029 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2026-04-02 13:28:01,031 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2026-04-02 13:28:01,031 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2026-04-02 13:28:01,031 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2026-04-02 13:28:01,032 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2026-04-02 13:28:01,032 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2026-04-02 13:28:01,033 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
2026-04-02 13:28:01,033 INFO  ExportHelper.cs: 234 - Copying log file
2026-04-02 13:28:01,039 INFO  ExportHelper.cs: 439 - Copying C:\Users\MECHREVO\sw2urdf_logs\sw2urdf.log to C:\Users\MECHREVO\guguji\export.log