diff --git a/gou2/gou2/CMakeLists.txt b/gou2/gou2/CMakeLists.txt new file mode 100644 index 0000000..b95c7cf --- /dev/null +++ b/gou2/gou2/CMakeLists.txt @@ -0,0 +1,45 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(gou2) + +find_package(catkin REQUIRED) + +catkin_package() + +find_package(roslaunch) + +find_package(catkin REQUIRED COMPONENTS + controller_manager + gazebo_ros + gazebo_ros_control + joint_state_publisher + robot_state_publisher + roscpp + rospy + rviz + xacro + kdl_parser + tf + sensor_msgs + std_msgs + trac_ik_lib + serial +) + + + + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${orocos_kdl_INCLUDE_DIRS} +) + + +add_executable(gou2 src/gou2.cpp) +target_link_libraries(gou2 ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES}) + +foreach(dir config launch meshes urdf) + install(DIRECTORY ${dir}/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) +endforeach(dir) diff --git a/gou2/gou2/config/gou2.yaml b/gou2/gou2/config/gou2.yaml new file mode 100644 index 0000000..ad82f19 --- /dev/null +++ b/gou2/gou2/config/gou2.yaml @@ -0,0 +1,54 @@ +gou2: + # Publish all joint states ----------------------------------- + joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 + + # Position Controllers --------------------------------------- + lf_zhou_con: + type: position_controllers/JointPositionController + joint: LF_ZHOU_JOINT + #pid: {p: 10.0, i: 0.01, d: 0.0} + lf_xi_con: + type: position_controllers/JointPositionController + joint: LF_XI_JOINT + #pid: {p: 10.0, i: 0.01, d: 0.0} + lb_zhou_con: + type: position_controllers/JointPositionController + joint: LB_ZHOU_JOINT + #pid: {p: 10.0, i: 0.01, d: 0.0} + lb_xi_con: + type: position_controllers/JointPositionController + joint: LB_XI_JOINT + #pid: {p: 10.0, i: 0.01, d: 0.0} + rf_zhou_con: + type: position_controllers/JointPositionController + joint: RF_ZHOU_JOINT + #pid: {p: 10.0, i: 0.01, d: 0.0} + rf_xi_con: + type: position_controllers/JointPositionController + joint: RF_XI_JOINT + #pid: {p: 10.0, i: 0.01, d: 0.0} + rb_zhou_con: + type: position_controllers/JointPositionController + joint: RB_ZHOU_JOINT + #pid: {p: 10.0, i: 0.01, d: 0.0} + rb_xi_con: + type: position_controllers/JointPositionController + joint: RB_XI_JOINT + #pid: {p: 10.0, i: 0.01, d: 0.0} + + + + +gou2/gazebo_ros_control/pid_gains: + LF_ZHOU_JOINT: {p: 10.0, i: 0.0, d: 0.0} + LF_XI_JOINT: {p: 10.0, i: 0.0, d: 0.0} + LB_ZHOU_JOINT: {p: 10.0, i: 0.0, d: 0.0} + LB_XI_JOINT: {p: 10.0, i: 0.0, d: 0.0} + RF_ZHOU_JOINT: {p: 10.0, i: 0.0, d: 0.0} + RF_XI_JOINT: {p: 10.0, i: 0.0, d: 0.0} + RB_ZHOU_JOINT: {p: 10.0, i: 0.0, d: 0.0} + RB_XI_JOINT: {p: 10.0, i: 0.0, d: 0.0} + + diff --git a/gou2/gou2/export.log b/gou2/gou2/export.log new file mode 100644 index 0000000..e95b9f6 --- /dev/null +++ b/gou2/gou2/export.log @@ -0,0 +1,1973 @@ +2021-08-30 19:44:02,436 INFO Logger.cs: 70 - +-------------------------------------------------------------------------------- +2021-08-30 19:44:02,488 INFO Logger.cs: 71 - Logging commencing for SW2URDF exporter +2021-08-30 19:44:02,490 INFO Logger.cs: 73 - Commit version 1.5.1-0-g916b5db +2021-08-30 19:44:02,491 INFO Logger.cs: 74 - Build version 1.5.7152.31018 +2021-08-30 19:44:02,507 INFO SwAddin.cs: 250 - Adding Assembly export to file menu +2021-08-30 19:44:02,508 INFO SwAddin.cs: 253 - Adding Part export to file menu +2021-08-30 19:44:02,555 INFO SwAddin.cs: 218 - Connecting plugin to SolidWorks +2021-08-30 20:03:02,706 INFO SwAddin.cs: 271 - Assembly export called for file Gou-2.SLDASM +2021-08-30 20:03:07,878 INFO SwAddin.cs: 290 - Saving assembly +2021-08-30 20:03:08,552 INFO SwAddin.cs: 293 - Opening property manager +2021-08-30 20:03:08,593 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2.SLDASM +2021-08-30 20:03:08,607 INFO ExportHelperExtension.cs: 1142 - Found 82 in Gou-2.SLDASM +2021-08-30 20:03:08,612 INFO ExportHelperExtension.cs: 1152 - Found 9 features of type [CoordSys] in Gou-2.SLDASM +2021-08-30 20:03:08,612 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2021-08-30 20:03:08,614 INFO ExportHelperExtension.cs: 1167 - 10 components to check +2021-08-30 20:03:08,616 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-2 +2021-08-30 20:03:08,616 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-2 +2021-08-30 20:03:08,617 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-2 +2021-08-30 20:03:08,618 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from JIJIA-1 +2021-08-30 20:03:08,619 INFO ExportHelperExtension.cs: 1142 - Found 66 in JIJIA-1 +2021-08-30 20:03:08,621 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in JIJIA-1 +2021-08-30 20:03:08,621 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-4 +2021-08-30 20:03:08,622 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-4 +2021-08-30 20:03:08,623 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-4 +2021-08-30 20:03:08,624 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui-1 +2021-08-30 20:03:08,625 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-1 +2021-08-30 20:03:08,626 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui-1 +2021-08-30 20:03:08,626 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-1 +2021-08-30 20:03:08,627 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-1 +2021-08-30 20:03:08,631 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-1 +2021-08-30 20:03:08,631 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-3 +2021-08-30 20:03:08,632 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-3 +2021-08-30 20:03:08,633 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-3 +2021-08-30 20:03:08,635 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui2-1 +2021-08-30 20:03:08,638 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-1 +2021-08-30 20:03:08,640 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui2-1 +2021-08-30 20:03:08,642 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from mpu6050-1 +2021-08-30 20:03:08,644 INFO ExportHelperExtension.cs: 1142 - Found 23 in mpu6050-1 +2021-08-30 20:03:08,644 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in mpu6050-1 +2021-08-30 20:03:08,645 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui-2 +2021-08-30 20:03:08,646 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-2 +2021-08-30 20:03:08,647 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui-2 +2021-08-30 20:03:08,650 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui2-2 +2021-08-30 20:03:08,790 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-2 +2021-08-30 20:03:08,791 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui2-2 +2021-08-30 20:03:08,796 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2.SLDASM +2021-08-30 20:03:08,805 INFO ExportHelperExtension.cs: 1142 - Found 82 in Gou-2.SLDASM +2021-08-30 20:03:08,807 INFO ExportHelperExtension.cs: 1152 - Found 9 features of type [RefAxis] in Gou-2.SLDASM +2021-08-30 20:03:08,808 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2021-08-30 20:03:08,808 INFO ExportHelperExtension.cs: 1167 - 10 components to check +2021-08-30 20:03:08,809 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-2 +2021-08-30 20:03:08,810 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-2 +2021-08-30 20:03:08,813 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-2 +2021-08-30 20:03:08,814 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from JIJIA-1 +2021-08-30 20:03:08,815 INFO ExportHelperExtension.cs: 1142 - Found 66 in JIJIA-1 +2021-08-30 20:03:08,816 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in JIJIA-1 +2021-08-30 20:03:08,817 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-4 +2021-08-30 20:03:08,818 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-4 +2021-08-30 20:03:08,819 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-4 +2021-08-30 20:03:08,820 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui-1 +2021-08-30 20:03:08,820 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-1 +2021-08-30 20:03:08,820 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui-1 +2021-08-30 20:03:08,821 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-1 +2021-08-30 20:03:08,822 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-1 +2021-08-30 20:03:08,823 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-1 +2021-08-30 20:03:08,825 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-3 +2021-08-30 20:03:08,825 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-3 +2021-08-30 20:03:08,826 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-3 +2021-08-30 20:03:08,828 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui2-1 +2021-08-30 20:03:08,829 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-1 +2021-08-30 20:03:08,830 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui2-1 +2021-08-30 20:03:08,830 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from mpu6050-1 +2021-08-30 20:03:08,844 INFO ExportHelperExtension.cs: 1142 - Found 23 in mpu6050-1 +2021-08-30 20:03:08,846 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in mpu6050-1 +2021-08-30 20:03:08,846 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui-2 +2021-08-30 20:03:08,847 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-2 +2021-08-30 20:03:08,848 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui-2 +2021-08-30 20:03:08,850 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui2-2 +2021-08-30 20:03:08,851 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-2 +2021-08-30 20:03:08,852 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui2-2 +2021-08-30 20:03:09,767 INFO SwAddin.cs: 316 - Loading config tree +2021-08-30 20:03:09,773 INFO ExportPropertyManagerExtension.cs: 597 - Starting new configuration +2021-08-30 20:03:09,777 INFO SwAddin.cs: 321 - Showing property manager +2021-08-30 20:03:33,728 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:03:39,818 INFO ExportPropertyManager.cs: 1078 - OnListboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:03:47,981 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:03:55,087 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:03:55,702 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:03:56,195 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:03:56,677 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:04:08,304 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:04:10,447 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:04:13,527 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:04:20,082 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:04:32,785 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:04:34,606 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:04:36,662 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:05:22,608 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:05:24,471 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:05:26,017 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:05:31,578 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:05:49,274 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:05:51,379 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:05:53,311 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:06:12,266 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:06:14,702 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:06:16,637 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:06:23,979 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:07:19,057 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:07:21,031 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:07:22,808 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:07:40,783 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:07:42,563 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:07:44,161 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:07:49,724 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:08:00,659 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:08:02,186 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:08:03,604 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:10:37,450 INFO ExportPropertyManager.cs: 456 - Configuration saved +2021-08-30 20:10:41,483 INFO ExportHelperExtension.cs: 338 - Creating joint LF_GU_LINK +2021-08-30 20:10:41,974 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child LF_GU_LINK failed +2021-08-30 20:10:42,001 INFO ExportHelperExtension.cs: 338 - Creating joint LF_XI_LINK +2021-08-30 20:10:42,117 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LF_GU_LINK to child LF_XI_LINK failed +2021-08-30 20:10:42,174 INFO ExportHelperExtension.cs: 338 - Creating joint LB_GU_LINK +2021-08-30 20:10:42,296 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child LB_GU_LINK failed +2021-08-30 20:10:42,323 INFO ExportHelperExtension.cs: 338 - Creating joint LB_XI_LINK +2021-08-30 20:10:42,443 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LB_GU_LINK to child LB_XI_LINK failed +2021-08-30 20:10:42,495 INFO ExportHelperExtension.cs: 338 - Creating joint RF_GU_LINK +2021-08-30 20:10:42,614 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child RF_GU_LINK failed +2021-08-30 20:10:42,642 INFO ExportHelperExtension.cs: 338 - Creating joint RF_XI_LINK +2021-08-30 20:10:42,751 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RF_GU_LINK to child RF_XI_LINK failed +2021-08-30 20:10:42,810 INFO ExportHelperExtension.cs: 338 - Creating joint RB_GU_LINK +2021-08-30 20:10:42,925 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child RB_GU_LINK failed +2021-08-30 20:10:42,954 INFO ExportHelperExtension.cs: 338 - Creating joint RB_XI_LINK +2021-08-30 20:10:43,085 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RB_GU_LINK to child RB_XI_LINK failed +2021-08-30 20:10:43,274 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2.SLDASM +2021-08-30 20:10:43,280 INFO ExportHelperExtension.cs: 1142 - Found 83 in Gou-2.SLDASM +2021-08-30 20:10:43,281 INFO ExportHelperExtension.cs: 1152 - Found 9 features of type [CoordSys] in Gou-2.SLDASM +2021-08-30 20:10:43,281 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2021-08-30 20:10:43,286 INFO ExportHelperExtension.cs: 1167 - 10 components to check +2021-08-30 20:10:43,287 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-2 +2021-08-30 20:10:43,355 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-2 +2021-08-30 20:10:43,356 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-2 +2021-08-30 20:10:43,356 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from JIJIA-1 +2021-08-30 20:10:43,358 INFO ExportHelperExtension.cs: 1142 - Found 66 in JIJIA-1 +2021-08-30 20:10:43,359 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in JIJIA-1 +2021-08-30 20:10:43,359 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-4 +2021-08-30 20:10:43,360 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-4 +2021-08-30 20:10:43,361 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-4 +2021-08-30 20:10:43,361 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui-1 +2021-08-30 20:10:43,361 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-1 +2021-08-30 20:10:43,362 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui-1 +2021-08-30 20:10:43,363 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-1 +2021-08-30 20:10:43,363 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-1 +2021-08-30 20:10:43,364 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-1 +2021-08-30 20:10:43,365 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-3 +2021-08-30 20:10:43,366 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-3 +2021-08-30 20:10:43,366 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-3 +2021-08-30 20:10:43,367 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui2-1 +2021-08-30 20:10:43,368 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-1 +2021-08-30 20:10:43,368 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui2-1 +2021-08-30 20:10:43,369 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from mpu6050-1 +2021-08-30 20:10:43,369 INFO ExportHelperExtension.cs: 1142 - Found 23 in mpu6050-1 +2021-08-30 20:10:43,370 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in mpu6050-1 +2021-08-30 20:10:43,370 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui-2 +2021-08-30 20:10:43,371 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-2 +2021-08-30 20:10:43,372 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui-2 +2021-08-30 20:10:43,372 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui2-2 +2021-08-30 20:10:43,373 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-2 +2021-08-30 20:10:43,374 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui2-2 +2021-08-30 20:10:43,375 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2.SLDASM +2021-08-30 20:10:43,376 INFO ExportHelperExtension.cs: 1142 - Found 83 in Gou-2.SLDASM +2021-08-30 20:10:43,377 INFO ExportHelperExtension.cs: 1152 - Found 9 features of type [RefAxis] in Gou-2.SLDASM +2021-08-30 20:10:43,378 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2021-08-30 20:10:43,379 INFO ExportHelperExtension.cs: 1167 - 10 components to check +2021-08-30 20:10:43,379 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-2 +2021-08-30 20:10:43,380 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-2 +2021-08-30 20:10:43,381 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-2 +2021-08-30 20:10:43,382 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from JIJIA-1 +2021-08-30 20:10:43,382 INFO ExportHelperExtension.cs: 1142 - Found 66 in JIJIA-1 +2021-08-30 20:10:43,383 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in JIJIA-1 +2021-08-30 20:10:43,384 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-4 +2021-08-30 20:10:43,384 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-4 +2021-08-30 20:10:43,385 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-4 +2021-08-30 20:10:43,385 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui-1 +2021-08-30 20:10:43,386 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-1 +2021-08-30 20:10:43,387 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui-1 +2021-08-30 20:10:43,387 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-1 +2021-08-30 20:10:43,388 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-1 +2021-08-30 20:10:43,389 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-1 +2021-08-30 20:10:43,389 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-3 +2021-08-30 20:10:43,390 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-3 +2021-08-30 20:10:43,391 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-3 +2021-08-30 20:10:43,392 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui2-1 +2021-08-30 20:10:43,392 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-1 +2021-08-30 20:10:43,393 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui2-1 +2021-08-30 20:10:43,394 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from mpu6050-1 +2021-08-30 20:10:43,395 INFO ExportHelperExtension.cs: 1142 - Found 23 in mpu6050-1 +2021-08-30 20:10:43,396 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in mpu6050-1 +2021-08-30 20:10:43,396 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui-2 +2021-08-30 20:10:43,397 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-2 +2021-08-30 20:10:43,398 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui-2 +2021-08-30 20:10:43,398 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui2-2 +2021-08-30 20:10:43,399 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-2 +2021-08-30 20:10:43,400 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui2-2 +2021-08-30 20:10:43,468 INFO ExportPropertyManager.cs: 1184 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 20:13:21,845 INFO AssemblyExportForm.cs: 254 - Completing URDF export +2021-08-30 20:13:21,852 INFO Serialization.cs: 275 - URDF Configuration found +nametruebase_linkxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????1linktruenametrueLF_GU_LINKxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueLF_GU_JOINTtypetruerevolutexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????2?????????2linktruenametrueLF_XI_LINKxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueLF_XI_JOINTtypetruerevolutexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????3?????????3linktruefalse+CoAAAUAAAD//v8VRwBvAHUALQAyAC0AWABpAGEAbwB0AHUAaQAtADEAQABHAG8AdQAtADIABAAAABAAAAABAAAAAQAAAH8AAAA=falsefalsefalse+CoAAAUAAAD//v8TRwBvAHUALQAyAC0ARABhAHQAdQBpAC0AMQBAAEcAbwB1AC0AMgAEAAAAEAAAAAEAAAABAAAAawAAAA==falsefalsenametrueLB_GU_LINKxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueLB_GU_JOINTtypetruerevolutexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????4?????????4linktruenametrueLB_XI_LINKxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueLB_XI_JOINTtypetruerevolutexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????5?????????5linktruefalse+CoAAAUAAAD//v8VRwBvAHUALQAyAC0AWABpAGEAbwB0AHUAaQAtADIAQABHAG8AdQAtADIABAAAABAAAAABAAAAAQAAAIIAAAA=falsefalsefalse+CoAAAUAAAD//v8TRwBvAHUALQAyAC0ARABhAHQAdQBpAC0AMgBAAEcAbwB1AC0AMgAEAAAAEAAAAAEAAAABAAAAbgAAAA==falsefalsenametrueRF_GU_LINKxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueRF_GU_JOINTtypetruerevolutexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????6?????????6linktruenametrueRF_XI_LINKxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueRF_XI_JOINTtypetruerevolutexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????7?????????7linktruefalse+CoAAAUAAAD//v8WRwBvAHUALQAyAC0AWABpAGEAbwB0AHUAaQAyAC0AMgBAAEcAbwB1AC0AMgAEAAAAEAAAAAEAAAABAAAAiAAAAA==falsefalsefalse+CoAAAUAAAD//v8TRwBvAHUALQAyAC0ARABhAHQAdQBpAC0AMwBAAEcAbwB1AC0AMgAEAAAAEAAAAAEAAAABAAAAcQAAAA==falsefalsenametrueRB_GU_LINKxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueRB_GU_JOINTtypetruerevolutexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????8?????????8linktruenametrueRB_XI_LINKxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueRB_XI_JOINTtypetruerevolutexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????9?????????9linktruefalse+CoAAAUAAAD//v8WRwBvAHUALQAyAC0AWABpAGEAbwB0AHUAaQAyAC0AMQBAAEcAbwB1AC0AMgAEAAAAEAAAAAEAAAABAAAAhwAAAA==falsefalsefalse+CoAAAUAAAD//v8TRwBvAHUALQAyAC0ARABhAHQAdQBpAC0ANABAAEcAbwB1AC0AMgAEAAAAEAAAAAEAAAABAAAAdAAAAA==falsefalsefalse+CoAAAUAAAD//v8NSgBJAEoASQBBAC0AMQBAAEcAbwB1AC0AMgAEAAAAEAAAAAEAAAABAAAAoQAAAA==+CoAAAUAAAD//v8PbQBwAHUANgAwADUAMAAtADEAQABHAG8AdQAtADIABAAAABAAAAABAAAAAQAAAJgAAAA=falsefalse +2021-08-30 20:13:34,993 INFO AssemblyExportForm.cs: 308 - Saving URDF package to C:\Users\Zhitong\Desktop\Gou-2 +2021-08-30 20:13:34,995 INFO ExportHelper.cs: 147 - Beginning the export process +2021-08-30 20:13:34,998 INFO ExportHelper.cs: 153 - Creating package directories with name Gou-2 and save path C:\Users\Zhitong\Desktop +2021-08-30 20:13:36,479 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at C:\Users\Zhitong\Desktop\Gou-2\CMakeLists.txt +2021-08-30 20:13:36,481 INFO ExportHelper.cs: 166 - Creating joint names config at C:\Users\Zhitong\Desktop\Gou-2\config\joint_names_Gou-2.yaml +2021-08-30 20:13:36,483 INFO ExportHelper.cs: 170 - Creating package.xml at C:\Users\Zhitong\Desktop\Gou-2\package.xml +2021-08-30 20:13:36,485 INFO PackageXMLWriter.cs: 21 - Creating package.xml at C:\Users\Zhitong\Desktop\Gou-2\package.xml +2021-08-30 20:13:36,488 INFO ExportHelper.cs: 177 - Creating RVIZ launch file in C:\Users\Zhitong\Desktop\Gou-2\launch\ +2021-08-30 20:13:36,491 INFO ExportHelper.cs: 182 - Creating Gazebo launch file in C:\Users\Zhitong\Desktop\Gou-2\launch\ +2021-08-30 20:13:36,491 INFO ExportHelper.cs: 187 - Saving existing STL preferences +2021-08-30 20:13:36,492 INFO ExportHelper.cs: 451 - Saving users preferences +2021-08-30 20:13:36,494 INFO ExportHelper.cs: 190 - Modifying STL preferences +2021-08-30 20:13:36,495 INFO ExportHelper.cs: 465 - Setting STL preferences +2021-08-30 20:13:36,508 INFO ExportHelper.cs: 196 - Found 0 hidden components +2021-08-30 20:13:36,508 INFO ExportHelper.cs: 197 - Hiding all components +2021-08-30 20:13:36,929 INFO ExportHelper.cs: 204 - Beginning individual files export +2021-08-30 20:13:36,931 INFO ExportHelper.cs: 270 - Exporting link: base_link +2021-08-30 20:13:36,932 INFO ExportHelper.cs: 272 - Link base_link has 4 children +2021-08-30 20:13:36,933 INFO ExportHelper.cs: 270 - Exporting link: LF_GU_LINK +2021-08-30 20:13:36,934 INFO ExportHelper.cs: 272 - Link LF_GU_LINK has 1 children +2021-08-30 20:13:36,935 INFO ExportHelper.cs: 270 - Exporting link: LF_XI_LINK +2021-08-30 20:13:36,935 INFO ExportHelper.cs: 272 - Link LF_XI_LINK has 0 children +2021-08-30 20:13:36,937 INFO ExportHelper.cs: 318 - LF_XI_LINK: Exporting STL with coordinate frame ×ø±êϵ3 +2021-08-30 20:13:36,938 INFO ExportHelper.cs: 323 - LF_XI_LINK: Reference geometry name +2021-08-30 20:13:37,039 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\Gou-2\meshes\LF_XI_LINK.STL +2021-08-30 20:13:37,228 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 20:13:37,230 INFO ExportHelper.cs: 318 - LF_GU_LINK: Exporting STL with coordinate frame ×ø±êϵ2 +2021-08-30 20:13:37,231 INFO ExportHelper.cs: 323 - LF_GU_LINK: Reference geometry name +2021-08-30 20:13:37,386 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\Gou-2\meshes\LF_GU_LINK.STL +2021-08-30 20:13:37,512 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 20:13:37,514 INFO ExportHelper.cs: 270 - Exporting link: LB_GU_LINK +2021-08-30 20:13:37,514 INFO ExportHelper.cs: 272 - Link LB_GU_LINK has 1 children +2021-08-30 20:13:37,516 INFO ExportHelper.cs: 270 - Exporting link: LB_XI_LINK +2021-08-30 20:13:37,516 INFO ExportHelper.cs: 272 - Link LB_XI_LINK has 0 children +2021-08-30 20:13:37,517 INFO ExportHelper.cs: 318 - LB_XI_LINK: Exporting STL with coordinate frame ×ø±êϵ5 +2021-08-30 20:13:37,517 INFO ExportHelper.cs: 323 - LB_XI_LINK: Reference geometry name +2021-08-30 20:13:37,643 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\Gou-2\meshes\LB_XI_LINK.STL +2021-08-30 20:13:37,763 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 20:13:37,764 INFO ExportHelper.cs: 318 - LB_GU_LINK: Exporting STL with coordinate frame ×ø±êϵ4 +2021-08-30 20:13:37,765 INFO ExportHelper.cs: 323 - LB_GU_LINK: Reference geometry name +2021-08-30 20:13:37,885 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\Gou-2\meshes\LB_GU_LINK.STL +2021-08-30 20:13:37,996 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 20:13:37,997 INFO ExportHelper.cs: 270 - Exporting link: RF_GU_LINK +2021-08-30 20:13:37,997 INFO ExportHelper.cs: 272 - Link RF_GU_LINK has 1 children +2021-08-30 20:13:37,998 INFO ExportHelper.cs: 270 - Exporting link: RF_XI_LINK +2021-08-30 20:13:37,998 INFO ExportHelper.cs: 272 - Link RF_XI_LINK has 0 children +2021-08-30 20:13:37,998 INFO ExportHelper.cs: 318 - RF_XI_LINK: Exporting STL with coordinate frame ×ø±êϵ7 +2021-08-30 20:13:37,998 INFO ExportHelper.cs: 323 - RF_XI_LINK: Reference geometry name +2021-08-30 20:13:38,149 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\Gou-2\meshes\RF_XI_LINK.STL +2021-08-30 20:13:38,316 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 20:13:38,317 INFO ExportHelper.cs: 318 - RF_GU_LINK: Exporting STL with coordinate frame ×ø±êϵ6 +2021-08-30 20:13:38,318 INFO ExportHelper.cs: 323 - RF_GU_LINK: Reference geometry name +2021-08-30 20:13:38,602 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\Gou-2\meshes\RF_GU_LINK.STL +2021-08-30 20:13:38,846 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 20:13:38,848 INFO ExportHelper.cs: 270 - Exporting link: RB_GU_LINK +2021-08-30 20:13:38,848 INFO ExportHelper.cs: 272 - Link RB_GU_LINK has 1 children +2021-08-30 20:13:38,850 INFO ExportHelper.cs: 270 - Exporting link: RB_XI_LINK +2021-08-30 20:13:38,851 INFO ExportHelper.cs: 272 - Link RB_XI_LINK has 0 children +2021-08-30 20:13:38,851 INFO ExportHelper.cs: 318 - RB_XI_LINK: Exporting STL with coordinate frame ×ø±êϵ9 +2021-08-30 20:13:38,852 INFO ExportHelper.cs: 323 - RB_XI_LINK: Reference geometry name +2021-08-30 20:13:39,005 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\Gou-2\meshes\RB_XI_LINK.STL +2021-08-30 20:13:39,123 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 20:13:39,124 INFO ExportHelper.cs: 318 - RB_GU_LINK: Exporting STL with coordinate frame ×ø±êϵ8 +2021-08-30 20:13:39,124 INFO ExportHelper.cs: 323 - RB_GU_LINK: Reference geometry name +2021-08-30 20:13:39,217 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\Gou-2\meshes\RB_GU_LINK.STL +2021-08-30 20:13:39,337 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 20:13:39,339 INFO ExportHelper.cs: 318 - base_link: Exporting STL with coordinate frame ×ø±êϵ1 +2021-08-30 20:13:39,339 INFO ExportHelper.cs: 323 - base_link: Reference geometry name +2021-08-30 20:13:39,566 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\Gou-2\meshes\base_link.STL +2021-08-30 20:13:42,065 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 20:13:42,066 INFO ExportHelper.cs: 145 - Showing all components except previously hidden components +2021-08-30 20:13:46,300 INFO ExportHelper.cs: 145 - Resetting STL preferences +2021-08-30 20:13:46,300 INFO ExportHelper.cs: 479 - Returning STL preferences to user preferences +2021-08-30 20:13:46,301 INFO ExportHelper.cs: 228 - Writing URDF file to C:\Users\Zhitong\Desktop\Gou-2\urdf\Gou-2.urdf +2021-08-30 20:13:46,362 INFO CSVImportExport.cs: 32 - Writing CSV file C:\Users\Zhitong\Desktop\Gou-2\urdf\Gou-2.csv +2021-08-30 20:13:46,389 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 20:13:46,389 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 20:13:46,390 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 20:13:46,391 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 20:13:46,391 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 20:13:46,392 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 20:13:46,392 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 20:13:46,393 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 20:13:46,393 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 20:13:46,394 INFO ExportHelper.cs: 234 - Copying log file +2021-08-30 20:13:46,399 INFO ExportHelper.cs: 440 - Copying C:\Users\Zhitong\sw2urdf_logs\sw2urdf.log to C:\Users\Zhitong\Desktop\Gou-2\export.log +2021-08-30 20:13:46,401 INFO ExportHelper.cs: 237 - Resetting STL preferences +2021-08-30 20:13:46,401 INFO ExportHelper.cs: 479 - Returning STL preferences to user preferences +2021-08-30 22:05:24,975 INFO SwAddin.cs: 271 - Assembly export called for file Gou-2.SLDASM +2021-08-30 22:05:24,977 INFO SwAddin.cs: 276 - Save is required +2021-08-30 22:05:24,977 INFO SwAddin.cs: 290 - Saving assembly +2021-08-30 22:05:26,890 INFO SwAddin.cs: 293 - Opening property manager +2021-08-30 22:05:26,891 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2.SLDASM +2021-08-30 22:05:26,905 INFO ExportHelperExtension.cs: 1142 - Found 178 in Gou-2.SLDASM +2021-08-30 22:05:26,911 INFO ExportHelperExtension.cs: 1152 - Found 25 features of type [CoordSys] in Gou-2.SLDASM +2021-08-30 22:05:26,912 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2021-08-30 22:05:26,913 INFO ExportHelperExtension.cs: 1167 - 26 components to check +2021-08-30 22:05:26,913 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-2 +2021-08-30 22:05:26,915 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-2 +2021-08-30 22:05:26,917 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-2 +2021-08-30 22:05:26,917 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from JIJIA-1 +2021-08-30 22:05:26,919 INFO ExportHelperExtension.cs: 1142 - Found 66 in JIJIA-1 +2021-08-30 22:05:26,921 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in JIJIA-1 +2021-08-30 22:05:26,921 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-1 +2021-08-30 22:05:26,922 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-1 +2021-08-30 22:05:26,923 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-1 +2021-08-30 22:05:26,924 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-3 +2021-08-30 22:05:26,925 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-3 +2021-08-30 22:05:26,926 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-3 +2021-08-30 22:05:26,926 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-4 +2021-08-30 22:05:26,927 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-4 +2021-08-30 22:05:26,928 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-4 +2021-08-30 22:05:26,929 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui-1 +2021-08-30 22:05:26,929 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-1 +2021-08-30 22:05:26,930 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui-1 +2021-08-30 22:05:26,931 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui-2 +2021-08-30 22:05:26,932 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-2 +2021-08-30 22:05:26,933 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui-2 +2021-08-30 22:05:26,933 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from mpu6050-1 +2021-08-30 22:05:26,935 INFO ExportHelperExtension.cs: 1142 - Found 23 in mpu6050-1 +2021-08-30 22:05:26,936 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in mpu6050-1 +2021-08-30 22:05:26,936 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-11 +2021-08-30 22:05:26,937 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-11 +2021-08-30 22:05:26,938 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-11 +2021-08-30 22:05:26,939 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui2-1 +2021-08-30 22:05:27,107 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-1 +2021-08-30 22:05:27,108 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui2-1 +2021-08-30 22:05:27,108 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-1 +2021-08-30 22:05:27,109 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-1 +2021-08-30 22:05:27,109 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-1 +2021-08-30 22:05:27,111 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-2 +2021-08-30 22:05:27,111 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-2 +2021-08-30 22:05:27,112 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-2 +2021-08-30 22:05:27,113 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-9 +2021-08-30 22:05:27,113 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-9 +2021-08-30 22:05:27,114 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-9 +2021-08-30 22:05:27,114 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-3 +2021-08-30 22:05:27,115 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-3 +2021-08-30 22:05:27,116 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-3 +2021-08-30 22:05:27,117 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-4 +2021-08-30 22:05:27,117 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-4 +2021-08-30 22:05:27,117 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-4 +2021-08-30 22:05:27,118 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-6 +2021-08-30 22:05:27,118 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-6 +2021-08-30 22:05:27,119 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-6 +2021-08-30 22:05:27,120 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-7 +2021-08-30 22:05:27,120 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-7 +2021-08-30 22:05:27,121 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-7 +2021-08-30 22:05:27,121 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-10 +2021-08-30 22:05:27,121 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-10 +2021-08-30 22:05:27,122 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-10 +2021-08-30 22:05:27,122 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-12 +2021-08-30 22:05:27,122 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-12 +2021-08-30 22:05:27,123 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-12 +2021-08-30 22:05:27,123 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-15 +2021-08-30 22:05:27,124 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-15 +2021-08-30 22:05:27,124 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-15 +2021-08-30 22:05:27,124 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-5 +2021-08-30 22:05:27,125 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-5 +2021-08-30 22:05:27,125 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-5 +2021-08-30 22:05:27,125 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-16 +2021-08-30 22:05:27,126 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-16 +2021-08-30 22:05:27,126 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-16 +2021-08-30 22:05:27,127 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui2-2 +2021-08-30 22:05:27,127 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-2 +2021-08-30 22:05:27,127 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui2-2 +2021-08-30 22:05:27,128 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-14 +2021-08-30 22:05:27,129 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-14 +2021-08-30 22:05:27,129 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-14 +2021-08-30 22:05:27,130 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-8 +2021-08-30 22:05:27,130 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-8 +2021-08-30 22:05:27,130 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-8 +2021-08-30 22:05:27,131 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-13 +2021-08-30 22:05:27,132 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-13 +2021-08-30 22:05:27,132 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-13 +2021-08-30 22:05:27,134 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2.SLDASM +2021-08-30 22:05:27,134 INFO ExportHelperExtension.cs: 1142 - Found 178 in Gou-2.SLDASM +2021-08-30 22:05:27,136 INFO ExportHelperExtension.cs: 1152 - Found 25 features of type [RefAxis] in Gou-2.SLDASM +2021-08-30 22:05:27,137 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2021-08-30 22:05:27,137 INFO ExportHelperExtension.cs: 1167 - 26 components to check +2021-08-30 22:05:27,138 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-2 +2021-08-30 22:05:27,139 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-2 +2021-08-30 22:05:27,139 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-2 +2021-08-30 22:05:27,140 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from JIJIA-1 +2021-08-30 22:05:27,141 INFO ExportHelperExtension.cs: 1142 - Found 66 in JIJIA-1 +2021-08-30 22:05:27,142 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in JIJIA-1 +2021-08-30 22:05:27,143 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-1 +2021-08-30 22:05:27,143 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-1 +2021-08-30 22:05:27,144 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-1 +2021-08-30 22:05:27,145 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-3 +2021-08-30 22:05:27,145 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-3 +2021-08-30 22:05:27,146 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-3 +2021-08-30 22:05:27,146 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-4 +2021-08-30 22:05:27,146 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-4 +2021-08-30 22:05:27,147 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-4 +2021-08-30 22:05:27,147 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui-1 +2021-08-30 22:05:27,148 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-1 +2021-08-30 22:05:27,148 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui-1 +2021-08-30 22:05:27,149 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui-2 +2021-08-30 22:05:27,149 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-2 +2021-08-30 22:05:27,149 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui-2 +2021-08-30 22:05:27,149 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from mpu6050-1 +2021-08-30 22:05:27,149 INFO ExportHelperExtension.cs: 1142 - Found 23 in mpu6050-1 +2021-08-30 22:05:27,150 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in mpu6050-1 +2021-08-30 22:05:27,150 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-11 +2021-08-30 22:05:27,151 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-11 +2021-08-30 22:05:27,152 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-11 +2021-08-30 22:05:27,152 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui2-1 +2021-08-30 22:05:27,153 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-1 +2021-08-30 22:05:27,154 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui2-1 +2021-08-30 22:05:27,155 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-1 +2021-08-30 22:05:27,155 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-1 +2021-08-30 22:05:27,156 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-1 +2021-08-30 22:05:27,157 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-2 +2021-08-30 22:05:27,157 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-2 +2021-08-30 22:05:27,158 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-2 +2021-08-30 22:05:27,158 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-9 +2021-08-30 22:05:27,159 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-9 +2021-08-30 22:05:27,160 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-9 +2021-08-30 22:05:27,161 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-3 +2021-08-30 22:05:27,161 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-3 +2021-08-30 22:05:27,162 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-3 +2021-08-30 22:05:27,162 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-4 +2021-08-30 22:05:27,163 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-4 +2021-08-30 22:05:27,164 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-4 +2021-08-30 22:05:27,164 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-6 +2021-08-30 22:05:27,165 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-6 +2021-08-30 22:05:27,165 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-6 +2021-08-30 22:05:27,166 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-7 +2021-08-30 22:05:27,166 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-7 +2021-08-30 22:05:27,167 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-7 +2021-08-30 22:05:27,167 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-10 +2021-08-30 22:05:27,168 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-10 +2021-08-30 22:05:27,168 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-10 +2021-08-30 22:05:27,169 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-12 +2021-08-30 22:05:27,169 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-12 +2021-08-30 22:05:27,169 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-12 +2021-08-30 22:05:27,170 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-15 +2021-08-30 22:05:27,170 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-15 +2021-08-30 22:05:27,171 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-15 +2021-08-30 22:05:27,171 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-5 +2021-08-30 22:05:27,171 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-5 +2021-08-30 22:05:27,171 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-5 +2021-08-30 22:05:27,172 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-16 +2021-08-30 22:05:27,172 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-16 +2021-08-30 22:05:27,173 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-16 +2021-08-30 22:05:27,173 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui2-2 +2021-08-30 22:05:27,173 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-2 +2021-08-30 22:05:27,174 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui2-2 +2021-08-30 22:05:27,174 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-14 +2021-08-30 22:05:27,174 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-14 +2021-08-30 22:05:27,175 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-14 +2021-08-30 22:05:27,175 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-8 +2021-08-30 22:05:27,175 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-8 +2021-08-30 22:05:27,176 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-8 +2021-08-30 22:05:27,176 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-13 +2021-08-30 22:05:27,176 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-13 +2021-08-30 22:05:27,177 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-13 +2021-08-30 22:05:27,646 INFO SwAddin.cs: 316 - Loading config tree +2021-08-30 22:05:27,649 INFO Serialization.cs: 275 - URDF Configuration found 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Building node RF_JIAN_LINK +2021-08-30 22:05:27,748 INFO LinkNode.cs: 35 - Building node RF_ZHOU_LINK +2021-08-30 22:05:27,749 INFO LinkNode.cs: 35 - Building node RF_XI_LINK +2021-08-30 22:05:27,749 INFO LinkNode.cs: 35 - Building node RF_R_LINK +2021-08-30 22:05:27,749 INFO LinkNode.cs: 35 - Building node RF_P_LINK +2021-08-30 22:05:27,749 INFO LinkNode.cs: 35 - Building node RF_Y_LINK +2021-08-30 22:05:27,750 INFO LinkNode.cs: 35 - Building node RB_JIAN_LINK +2021-08-30 22:05:27,750 INFO LinkNode.cs: 35 - Building node RB_ZHOU_LINK +2021-08-30 22:05:27,750 INFO LinkNode.cs: 35 - Building node RB_XI_LINK +2021-08-30 22:05:27,750 INFO LinkNode.cs: 35 - Building node RB_R_LINK +2021-08-30 22:05:27,751 INFO LinkNode.cs: 35 - Building node RB_P_LINK +2021-08-30 22:05:27,751 INFO LinkNode.cs: 35 - Building node RB_Y_LINK +2021-08-30 22:05:27,752 INFO Common.cs: 221 - Loading SolidWorks components for base_link from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,754 INFO Common.cs: 245 - Loading component with PID ?*??? JIJIA-1@Gou-2? +2021-08-30 22:05:27,831 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\JIJIA.SLDASM +2021-08-30 22:05:27,831 INFO Common.cs: 230 - Loaded 1 components for link base_link +2021-08-30 22:05:27,831 INFO Common.cs: 221 - Loading SolidWorks components for LF_JIAN_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,832 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-1@Gou-2? +2021-08-30 22:05:27,832 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:05:27,832 INFO Common.cs: 230 - Loaded 1 components for link LF_JIAN_LINK +2021-08-30 22:05:27,833 INFO Common.cs: 221 - Loading SolidWorks components for LF_ZHOU_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,834 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-Datui-1@Gou-2k +2021-08-30 22:05:27,835 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-Datui.SLDASM +2021-08-30 22:05:27,835 INFO Common.cs: 230 - Loaded 1 components for link LF_ZHOU_LINK +2021-08-30 22:05:27,835 INFO Common.cs: 221 - Loading SolidWorks components for LF_XI_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,835 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-Xiaotui-1@Gou-2 +2021-08-30 22:05:27,836 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-Xiaotui.SLDASM +2021-08-30 22:05:27,836 INFO Common.cs: 230 - Loaded 1 components for link LF_XI_LINK +2021-08-30 22:05:27,837 INFO Common.cs: 221 - Loading SolidWorks components for LF_R_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,837 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-3@Gou-2? +2021-08-30 22:05:27,838 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:05:27,838 INFO Common.cs: 230 - Loaded 1 components for link LF_R_LINK +2021-08-30 22:05:27,839 INFO Common.cs: 221 - Loading SolidWorks components for LF_P_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,840 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-4@Gou-2? +2021-08-30 22:05:27,840 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:05:27,841 INFO Common.cs: 230 - Loaded 1 components for link LF_P_LINK +2021-08-30 22:05:27,841 INFO Common.cs: 221 - Loading SolidWorks components for LF_Y_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,841 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-5@Gou-2? +2021-08-30 22:05:27,842 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:05:27,842 INFO Common.cs: 230 - Loaded 1 components for link LF_Y_LINK +2021-08-30 22:05:27,842 INFO Common.cs: 221 - Loading SolidWorks components for LB_JIAN_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,842 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-2@Gou-2? +2021-08-30 22:05:27,843 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:05:27,843 INFO Common.cs: 230 - Loaded 1 components for link LB_JIAN_LINK +2021-08-30 22:05:27,843 INFO Common.cs: 221 - Loading SolidWorks components for LB_ZHOU_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,844 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-Datui-2@Gou-2n +2021-08-30 22:05:27,844 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-Datui.SLDASM +2021-08-30 22:05:27,844 INFO Common.cs: 230 - Loaded 1 components for link LB_ZHOU_LINK +2021-08-30 22:05:27,845 INFO Common.cs: 221 - Loading SolidWorks components for LB_XI_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,845 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-Xiaotui-2@Gou-2? +2021-08-30 22:05:27,845 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-Xiaotui.SLDASM +2021-08-30 22:05:27,846 INFO Common.cs: 230 - Loaded 1 components for link LB_XI_LINK +2021-08-30 22:05:27,846 INFO Common.cs: 221 - Loading SolidWorks components for LB_R_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,846 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-6@Gou-2? +2021-08-30 22:05:27,847 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:05:27,847 INFO Common.cs: 230 - Loaded 1 components for link LB_R_LINK +2021-08-30 22:05:27,847 INFO Common.cs: 221 - Loading SolidWorks components for LB_P_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,847 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-7@Gou-2? +2021-08-30 22:05:27,848 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:05:27,848 INFO Common.cs: 230 - Loaded 1 components for link LB_P_LINK +2021-08-30 22:05:27,848 INFO Common.cs: 221 - Loading SolidWorks components for LB_Y_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,849 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-8@Gou-2 +2021-08-30 22:05:27,849 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:05:27,849 INFO Common.cs: 230 - Loaded 1 components for link LB_Y_LINK +2021-08-30 22:05:27,850 INFO Common.cs: 221 - Loading SolidWorks components for RF_JIAN_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,850 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-9@Gou-2  +2021-08-30 22:05:27,850 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:05:27,851 INFO Common.cs: 230 - Loaded 1 components for link RF_JIAN_LINK +2021-08-30 22:05:27,851 INFO Common.cs: 221 - Loading SolidWorks components for RF_ZHOU_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,852 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-Datui-3@Gou-2q +2021-08-30 22:05:27,852 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-Datui.SLDASM +2021-08-30 22:05:27,852 INFO Common.cs: 230 - Loaded 1 components for link RF_ZHOU_LINK +2021-08-30 22:05:27,853 INFO Common.cs: 221 - Loading SolidWorks components for RF_XI_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,853 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-Xiaotui2-2@Gou-2? +2021-08-30 22:05:27,854 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-Xiaotui2.SLDASM +2021-08-30 22:05:27,855 INFO Common.cs: 230 - Loaded 1 components for link RF_XI_LINK +2021-08-30 22:05:27,855 INFO Common.cs: 221 - Loading SolidWorks components for RF_R_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,855 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-10@Gou-2 +2021-08-30 22:05:27,855 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:05:27,855 INFO Common.cs: 230 - Loaded 1 components for link RF_R_LINK +2021-08-30 22:05:27,855 INFO Common.cs: 221 - Loading SolidWorks components for RF_P_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,856 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-11@Gou-2 +2021-08-30 22:05:27,856 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:05:27,857 INFO Common.cs: 230 - Loaded 1 components for link RF_P_LINK +2021-08-30 22:05:27,857 INFO Common.cs: 221 - Loading SolidWorks components for RF_Y_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,857 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-12@Gou-2 +2021-08-30 22:05:27,858 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:05:27,858 INFO Common.cs: 230 - Loaded 1 components for link RF_Y_LINK +2021-08-30 22:05:27,858 INFO Common.cs: 221 - Loading SolidWorks components for RB_JIAN_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,859 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-13@Gou-2* +2021-08-30 22:05:27,859 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:05:27,860 INFO Common.cs: 230 - Loaded 1 components for link RB_JIAN_LINK +2021-08-30 22:05:27,860 INFO Common.cs: 221 - Loading SolidWorks components for RB_ZHOU_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,860 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-Datui-4@Gou-2t +2021-08-30 22:05:27,861 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-Datui.SLDASM +2021-08-30 22:05:27,861 INFO Common.cs: 230 - Loaded 1 components for link RB_ZHOU_LINK +2021-08-30 22:05:27,862 INFO Common.cs: 221 - Loading SolidWorks components for RB_XI_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,862 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-Xiaotui2-1@Gou-2? +2021-08-30 22:05:27,863 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-Xiaotui2.SLDASM +2021-08-30 22:05:27,863 INFO Common.cs: 230 - Loaded 1 components for link RB_XI_LINK +2021-08-30 22:05:27,863 INFO Common.cs: 221 - Loading SolidWorks components for RB_R_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,863 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-14@Gou-29 +2021-08-30 22:05:27,864 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:05:27,864 INFO Common.cs: 230 - Loaded 1 components for link RB_R_LINK +2021-08-30 22:05:27,865 INFO Common.cs: 221 - Loading SolidWorks components for RB_P_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,865 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-15@Gou-2= +2021-08-30 22:05:27,865 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:05:27,866 INFO Common.cs: 230 - Loaded 1 components for link RB_P_LINK +2021-08-30 22:05:27,866 INFO Common.cs: 221 - Loading SolidWorks components for RB_Y_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:05:27,866 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-16@Gou-2A +2021-08-30 22:05:27,867 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:05:27,867 INFO Common.cs: 230 - Loaded 1 components for link RB_Y_LINK +2021-08-30 22:05:27,894 INFO SwAddin.cs: 321 - Showing property manager +2021-08-30 22:05:42,053 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:05:56,712 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:05:59,189 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:06:02,578 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:06:17,375 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:06:19,900 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:06:26,674 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:06:29,165 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:06:39,117 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:06:41,137 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:06:47,974 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:06:50,289 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:06:56,177 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:06:58,861 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:07:05,187 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:07:07,286 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:07:13,216 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:07:15,821 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:07:21,007 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:07:23,410 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:07:29,071 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:07:33,931 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:07:36,569 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:07:42,152 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:07:44,110 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:07:49,846 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:07:51,588 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:07:57,230 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:07:59,694 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:08:04,590 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:08:06,838 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:08:12,986 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:08:15,244 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:08:17,464 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:08:23,189 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:08:25,405 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:08:30,692 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:08:32,923 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:08:38,461 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:08:40,795 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:08:47,104 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:08:49,930 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:08:57,657 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:08:59,665 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:09:04,479 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:09:06,651 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:09:11,751 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:09:14,240 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:09:19,864 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:09:23,112 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:09:31,896 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:09:34,720 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:09:39,647 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:09:42,414 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:09:48,263 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:09:50,190 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:11:13,625 INFO ExportPropertyManager.cs: 456 - Configuration saved +2021-08-30 22:11:13,630 INFO Serialization.cs: 275 - URDF Configuration found 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lsefalse +2021-08-30 22:11:16,523 INFO ExportHelperExtension.cs: 338 - Creating joint LF_JIAN_LINK +2021-08-30 22:11:16,661 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child LF_JIAN_LINK failed +2021-08-30 22:11:16,665 INFO ExportHelperExtension.cs: 338 - Creating joint LF_ZHOU_LINK +2021-08-30 22:11:16,789 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LF_JIAN_LINK to child LF_ZHOU_LINK failed +2021-08-30 22:11:16,807 INFO ExportHelperExtension.cs: 338 - Creating joint LF_XI_LINK +2021-08-30 22:11:16,935 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LF_ZHOU_LINK to child LF_XI_LINK failed +2021-08-30 22:11:16,976 INFO ExportHelperExtension.cs: 338 - Creating joint LF_R_LINK +2021-08-30 22:11:17,100 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LF_XI_LINK to child LF_R_LINK failed +2021-08-30 22:11:17,105 INFO ExportHelperExtension.cs: 338 - Creating joint LF_P_LINK +2021-08-30 22:11:17,227 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LF_R_LINK to child LF_P_LINK failed +2021-08-30 22:11:17,229 INFO ExportHelperExtension.cs: 338 - Creating joint LF_Y_LINK +2021-08-30 22:11:17,356 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LF_P_LINK to child LF_Y_LINK failed +2021-08-30 22:11:17,359 INFO ExportHelperExtension.cs: 338 - Creating joint LB_JIAN_LINK +2021-08-30 22:11:17,479 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child LB_JIAN_LINK failed +2021-08-30 22:11:17,481 INFO ExportHelperExtension.cs: 338 - Creating joint LB_ZHOU_LINK +2021-08-30 22:11:17,607 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LB_JIAN_LINK to child LB_ZHOU_LINK failed +2021-08-30 22:11:17,627 INFO ExportHelperExtension.cs: 338 - Creating joint LB_XI_LINK +2021-08-30 22:11:17,753 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LB_ZHOU_LINK to child LB_XI_LINK failed +2021-08-30 22:11:17,793 INFO ExportHelperExtension.cs: 338 - Creating joint LB_R_LINK +2021-08-30 22:11:17,915 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LB_XI_LINK to child LB_R_LINK failed +2021-08-30 22:11:17,918 INFO ExportHelperExtension.cs: 338 - Creating joint LB_P_LINK +2021-08-30 22:11:18,047 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LB_R_LINK to child LB_P_LINK failed +2021-08-30 22:11:18,049 INFO ExportHelperExtension.cs: 338 - Creating joint LB_Y_LINK +2021-08-30 22:11:18,178 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LB_P_LINK to child LB_Y_LINK failed +2021-08-30 22:11:18,182 INFO ExportHelperExtension.cs: 338 - Creating joint RF_JIAN_LINK +2021-08-30 22:11:18,302 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child RF_JIAN_LINK failed +2021-08-30 22:11:18,305 INFO ExportHelperExtension.cs: 338 - Creating joint RF_ZHOU_LINK +2021-08-30 22:11:18,430 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RF_JIAN_LINK to child RF_ZHOU_LINK failed +2021-08-30 22:11:18,458 INFO ExportHelperExtension.cs: 338 - Creating joint RF_XI_LINK +2021-08-30 22:11:18,583 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RF_ZHOU_LINK to child RF_XI_LINK failed +2021-08-30 22:11:18,625 INFO ExportHelperExtension.cs: 338 - Creating joint RF_R_LINK +2021-08-30 22:11:18,742 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RF_XI_LINK to child RF_R_LINK failed +2021-08-30 22:11:18,744 INFO ExportHelperExtension.cs: 338 - Creating joint RF_P_LINK +2021-08-30 22:11:18,873 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RF_R_LINK to child RF_P_LINK failed +2021-08-30 22:11:18,876 INFO ExportHelperExtension.cs: 338 - Creating joint RF_Y_LINK +2021-08-30 22:11:18,995 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RF_P_LINK to child RF_Y_LINK failed +2021-08-30 22:11:18,998 INFO ExportHelperExtension.cs: 338 - Creating joint RB_JIAN_LINK +2021-08-30 22:11:19,120 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child RB_JIAN_LINK failed +2021-08-30 22:11:19,126 INFO ExportHelperExtension.cs: 338 - Creating joint RB_ZHOU_LINK +2021-08-30 22:11:19,242 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RB_JIAN_LINK to child RB_ZHOU_LINK failed +2021-08-30 22:11:19,261 INFO ExportHelperExtension.cs: 338 - Creating joint RB_XI_LINK +2021-08-30 22:11:19,377 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RB_ZHOU_LINK to child RB_XI_LINK failed +2021-08-30 22:11:19,420 INFO ExportHelperExtension.cs: 338 - Creating joint RB_R_LINK +2021-08-30 22:11:19,543 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RB_XI_LINK to child RB_R_LINK failed +2021-08-30 22:11:19,545 INFO ExportHelperExtension.cs: 338 - Creating joint RB_P_LINK +2021-08-30 22:11:19,670 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RB_R_LINK to child RB_P_LINK failed +2021-08-30 22:11:19,673 INFO ExportHelperExtension.cs: 338 - Creating joint RB_Y_LINK +2021-08-30 22:11:19,789 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RB_P_LINK to child RB_Y_LINK failed +2021-08-30 22:11:19,900 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2.SLDASM +2021-08-30 22:11:19,901 INFO ExportHelperExtension.cs: 1142 - Found 178 in Gou-2.SLDASM +2021-08-30 22:11:19,902 INFO ExportHelperExtension.cs: 1152 - Found 25 features of type [CoordSys] in Gou-2.SLDASM +2021-08-30 22:11:19,903 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2021-08-30 22:11:19,903 INFO ExportHelperExtension.cs: 1167 - 26 components to check +2021-08-30 22:11:19,903 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-2 +2021-08-30 22:11:19,904 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-2 +2021-08-30 22:11:19,904 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-2 +2021-08-30 22:11:19,905 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from JIJIA-1 +2021-08-30 22:11:19,905 INFO ExportHelperExtension.cs: 1142 - Found 66 in JIJIA-1 +2021-08-30 22:11:19,906 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in JIJIA-1 +2021-08-30 22:11:19,906 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-1 +2021-08-30 22:11:19,906 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-1 +2021-08-30 22:11:19,907 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-1 +2021-08-30 22:11:19,907 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-3 +2021-08-30 22:11:19,907 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-3 +2021-08-30 22:11:19,908 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-3 +2021-08-30 22:11:19,908 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-4 +2021-08-30 22:11:19,909 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-4 +2021-08-30 22:11:19,909 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-4 +2021-08-30 22:11:19,909 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui-1 +2021-08-30 22:11:19,910 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-1 +2021-08-30 22:11:19,910 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui-1 +2021-08-30 22:11:19,910 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui-2 +2021-08-30 22:11:19,910 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-2 +2021-08-30 22:11:19,910 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui-2 +2021-08-30 22:11:19,910 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from mpu6050-1 +2021-08-30 22:11:19,911 INFO ExportHelperExtension.cs: 1142 - Found 23 in mpu6050-1 +2021-08-30 22:11:19,911 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in mpu6050-1 +2021-08-30 22:11:19,912 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-11 +2021-08-30 22:11:19,912 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-11 +2021-08-30 22:11:19,912 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-11 +2021-08-30 22:11:19,913 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui2-1 +2021-08-30 22:11:19,913 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-1 +2021-08-30 22:11:19,914 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui2-1 +2021-08-30 22:11:19,914 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-1 +2021-08-30 22:11:19,914 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-1 +2021-08-30 22:11:19,915 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-1 +2021-08-30 22:11:19,915 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-2 +2021-08-30 22:11:19,916 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-2 +2021-08-30 22:11:19,916 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-2 +2021-08-30 22:11:19,916 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-9 +2021-08-30 22:11:19,917 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-9 +2021-08-30 22:11:19,917 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-9 +2021-08-30 22:11:19,917 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-3 +2021-08-30 22:11:19,918 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-3 +2021-08-30 22:11:19,918 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-3 +2021-08-30 22:11:19,918 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-4 +2021-08-30 22:11:19,919 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-4 +2021-08-30 22:11:19,919 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-4 +2021-08-30 22:11:19,919 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-6 +2021-08-30 22:11:19,920 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-6 +2021-08-30 22:11:19,920 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-6 +2021-08-30 22:11:19,920 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-7 +2021-08-30 22:11:19,921 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-7 +2021-08-30 22:11:19,921 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-7 +2021-08-30 22:11:19,922 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-10 +2021-08-30 22:11:19,922 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-10 +2021-08-30 22:11:19,922 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-10 +2021-08-30 22:11:19,923 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-12 +2021-08-30 22:11:19,923 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-12 +2021-08-30 22:11:19,923 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-12 +2021-08-30 22:11:19,924 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-15 +2021-08-30 22:11:19,924 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-15 +2021-08-30 22:11:19,924 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-15 +2021-08-30 22:11:19,925 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-5 +2021-08-30 22:11:19,925 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-5 +2021-08-30 22:11:19,926 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-5 +2021-08-30 22:11:19,926 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-16 +2021-08-30 22:11:19,926 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-16 +2021-08-30 22:11:19,927 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-16 +2021-08-30 22:11:19,927 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui2-2 +2021-08-30 22:11:19,928 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-2 +2021-08-30 22:11:19,928 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui2-2 +2021-08-30 22:11:19,929 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-14 +2021-08-30 22:11:19,929 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-14 +2021-08-30 22:11:19,929 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-14 +2021-08-30 22:11:19,930 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-8 +2021-08-30 22:11:19,930 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-8 +2021-08-30 22:11:19,930 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-8 +2021-08-30 22:11:19,931 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-13 +2021-08-30 22:11:19,931 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-13 +2021-08-30 22:11:19,932 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-13 +2021-08-30 22:11:19,933 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2.SLDASM +2021-08-30 22:11:19,934 INFO ExportHelperExtension.cs: 1142 - Found 178 in Gou-2.SLDASM +2021-08-30 22:11:19,935 INFO ExportHelperExtension.cs: 1152 - Found 25 features of type [RefAxis] in Gou-2.SLDASM +2021-08-30 22:11:19,935 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2021-08-30 22:11:19,936 INFO ExportHelperExtension.cs: 1167 - 26 components to check +2021-08-30 22:11:19,936 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-2 +2021-08-30 22:11:19,936 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-2 +2021-08-30 22:11:19,937 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-2 +2021-08-30 22:11:19,937 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from JIJIA-1 +2021-08-30 22:11:19,938 INFO ExportHelperExtension.cs: 1142 - Found 66 in JIJIA-1 +2021-08-30 22:11:19,938 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in JIJIA-1 +2021-08-30 22:11:19,938 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-1 +2021-08-30 22:11:19,939 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-1 +2021-08-30 22:11:19,939 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-1 +2021-08-30 22:11:19,940 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-3 +2021-08-30 22:11:19,940 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-3 +2021-08-30 22:11:19,941 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-3 +2021-08-30 22:11:19,941 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-4 +2021-08-30 22:11:19,941 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-4 +2021-08-30 22:11:19,942 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-4 +2021-08-30 22:11:19,942 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui-1 +2021-08-30 22:11:19,943 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-1 +2021-08-30 22:11:19,943 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui-1 +2021-08-30 22:11:19,943 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui-2 +2021-08-30 22:11:19,944 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-2 +2021-08-30 22:11:19,944 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui-2 +2021-08-30 22:11:19,949 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from mpu6050-1 +2021-08-30 22:11:19,956 INFO ExportHelperExtension.cs: 1142 - Found 23 in mpu6050-1 +2021-08-30 22:11:19,956 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in mpu6050-1 +2021-08-30 22:11:19,957 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-11 +2021-08-30 22:11:19,957 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-11 +2021-08-30 22:11:19,958 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-11 +2021-08-30 22:11:19,958 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui2-1 +2021-08-30 22:11:19,959 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-1 +2021-08-30 22:11:19,959 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui2-1 +2021-08-30 22:11:19,959 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-1 +2021-08-30 22:11:19,960 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-1 +2021-08-30 22:11:19,960 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-1 +2021-08-30 22:11:19,960 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-2 +2021-08-30 22:11:19,961 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-2 +2021-08-30 22:11:19,961 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-2 +2021-08-30 22:11:19,962 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-9 +2021-08-30 22:11:19,962 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-9 +2021-08-30 22:11:19,962 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-9 +2021-08-30 22:11:19,963 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-3 +2021-08-30 22:11:19,963 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-3 +2021-08-30 22:11:19,963 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-3 +2021-08-30 22:11:19,964 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-4 +2021-08-30 22:11:19,964 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-4 +2021-08-30 22:11:19,965 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-4 +2021-08-30 22:11:19,965 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-6 +2021-08-30 22:11:19,965 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-6 +2021-08-30 22:11:19,966 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-6 +2021-08-30 22:11:19,966 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-7 +2021-08-30 22:11:19,966 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-7 +2021-08-30 22:11:19,967 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-7 +2021-08-30 22:11:19,967 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-10 +2021-08-30 22:11:19,967 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-10 +2021-08-30 22:11:19,968 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-10 +2021-08-30 22:11:19,968 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-12 +2021-08-30 22:11:19,968 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-12 +2021-08-30 22:11:19,969 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-12 +2021-08-30 22:11:19,969 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-15 +2021-08-30 22:11:19,969 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-15 +2021-08-30 22:11:19,970 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-15 +2021-08-30 22:11:19,970 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-5 +2021-08-30 22:11:19,970 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-5 +2021-08-30 22:11:19,971 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-5 +2021-08-30 22:11:19,971 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-16 +2021-08-30 22:11:19,971 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-16 +2021-08-30 22:11:19,972 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-16 +2021-08-30 22:11:19,972 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui2-2 +2021-08-30 22:11:19,972 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-2 +2021-08-30 22:11:19,973 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui2-2 +2021-08-30 22:11:19,973 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-14 +2021-08-30 22:11:19,973 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-14 +2021-08-30 22:11:19,974 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-14 +2021-08-30 22:11:19,974 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-8 +2021-08-30 22:11:19,974 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-8 +2021-08-30 22:11:19,975 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-8 +2021-08-30 22:11:19,975 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-13 +2021-08-30 22:11:19,975 INFO ExportHelperExtension.cs: 1142 - Found 26 in Gou-2-xuniguanjie-13 +2021-08-30 22:11:19,976 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-13 +2021-08-30 22:11:20,067 INFO ExportPropertyManager.cs: 1184 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:12:06,426 INFO AssemblyExportForm.cs: 254 - Completing URDF export +2021-08-30 22:12:06,430 INFO Serialization.cs: 275 - URDF Configuration found 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+2021-08-30 22:12:18,289 INFO AssemblyExportForm.cs: 308 - Saving URDF package to C:\Users\Zhitong\Desktop\gou2 +2021-08-30 22:12:18,289 INFO ExportHelper.cs: 147 - Beginning the export process +2021-08-30 22:12:18,290 INFO ExportHelper.cs: 153 - Creating package directories with name gou2 and save path C:\Users\Zhitong\Desktop +2021-08-30 22:12:19,700 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at C:\Users\Zhitong\Desktop\gou2\CMakeLists.txt +2021-08-30 22:12:19,702 INFO ExportHelper.cs: 166 - Creating joint names config at C:\Users\Zhitong\Desktop\gou2\config\joint_names_gou2.yaml +2021-08-30 22:12:19,704 INFO ExportHelper.cs: 170 - Creating package.xml at C:\Users\Zhitong\Desktop\gou2\package.xml +2021-08-30 22:12:19,704 INFO PackageXMLWriter.cs: 21 - Creating package.xml at C:\Users\Zhitong\Desktop\gou2\package.xml +2021-08-30 22:12:19,705 INFO ExportHelper.cs: 177 - Creating RVIZ launch file in C:\Users\Zhitong\Desktop\gou2\launch\ +2021-08-30 22:12:19,706 INFO ExportHelper.cs: 182 - Creating Gazebo launch file in C:\Users\Zhitong\Desktop\gou2\launch\ +2021-08-30 22:12:19,707 INFO ExportHelper.cs: 187 - Saving existing STL preferences +2021-08-30 22:12:19,708 INFO ExportHelper.cs: 451 - Saving users preferences +2021-08-30 22:12:19,709 INFO ExportHelper.cs: 190 - Modifying STL preferences +2021-08-30 22:12:19,709 INFO ExportHelper.cs: 465 - Setting STL preferences +2021-08-30 22:12:19,721 INFO ExportHelper.cs: 196 - Found 0 hidden components +2021-08-30 22:12:19,721 INFO ExportHelper.cs: 197 - Hiding all components +2021-08-30 22:12:20,421 INFO ExportHelper.cs: 204 - Beginning individual files export +2021-08-30 22:12:20,423 INFO ExportHelper.cs: 270 - Exporting link: base_link +2021-08-30 22:12:20,423 INFO ExportHelper.cs: 272 - Link base_link has 4 children +2021-08-30 22:12:20,424 INFO ExportHelper.cs: 270 - Exporting link: LF_JIAN_LINK +2021-08-30 22:12:20,425 INFO ExportHelper.cs: 272 - Link LF_JIAN_LINK has 1 children +2021-08-30 22:12:20,425 INFO ExportHelper.cs: 270 - Exporting link: LF_ZHOU_LINK +2021-08-30 22:12:20,426 INFO ExportHelper.cs: 272 - Link LF_ZHOU_LINK has 1 children +2021-08-30 22:12:20,427 INFO ExportHelper.cs: 270 - Exporting link: LF_XI_LINK +2021-08-30 22:12:20,427 INFO ExportHelper.cs: 272 - Link LF_XI_LINK has 1 children +2021-08-30 22:12:20,428 INFO ExportHelper.cs: 270 - Exporting link: LF_R_LINK +2021-08-30 22:12:20,429 INFO ExportHelper.cs: 272 - Link LF_R_LINK has 1 children +2021-08-30 22:12:20,430 INFO ExportHelper.cs: 270 - Exporting link: LF_P_LINK +2021-08-30 22:12:20,431 INFO ExportHelper.cs: 272 - Link LF_P_LINK has 1 children +2021-08-30 22:12:20,432 INFO ExportHelper.cs: 270 - Exporting link: LF_Y_LINK +2021-08-30 22:12:20,432 INFO ExportHelper.cs: 272 - Link LF_Y_LINK has 0 children +2021-08-30 22:12:20,432 INFO ExportHelper.cs: 318 - LF_Y_LINK: Exporting STL with coordinate frame ×ø±êϵ7 +2021-08-30 22:12:20,433 INFO ExportHelper.cs: 323 - LF_Y_LINK: Reference geometry name +2021-08-30 22:12:20,544 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LF_Y_LINK.STL +2021-08-30 22:12:20,634 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:20,636 INFO ExportHelper.cs: 318 - LF_P_LINK: Exporting STL with coordinate frame ×ø±êϵ6 +2021-08-30 22:12:20,636 INFO ExportHelper.cs: 323 - LF_P_LINK: Reference geometry name +2021-08-30 22:12:20,721 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LF_P_LINK.STL +2021-08-30 22:12:20,836 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:20,837 INFO ExportHelper.cs: 318 - LF_R_LINK: Exporting STL with coordinate frame ×ø±êϵ5 +2021-08-30 22:12:20,837 INFO ExportHelper.cs: 323 - LF_R_LINK: Reference geometry name +2021-08-30 22:12:20,917 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LF_R_LINK.STL +2021-08-30 22:12:21,003 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:21,004 INFO ExportHelper.cs: 318 - LF_XI_LINK: Exporting STL with coordinate frame ×ø±êϵ4 +2021-08-30 22:12:21,005 INFO ExportHelper.cs: 323 - LF_XI_LINK: Reference geometry name +2021-08-30 22:12:21,106 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LF_XI_LINK.STL +2021-08-30 22:12:21,236 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:21,236 INFO ExportHelper.cs: 318 - LF_ZHOU_LINK: Exporting STL with coordinate frame ×ø±êϵ3 +2021-08-30 22:12:21,237 INFO ExportHelper.cs: 323 - LF_ZHOU_LINK: Reference geometry name +2021-08-30 22:12:21,547 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LF_ZHOU_LINK.STL +2021-08-30 22:12:21,743 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:21,744 INFO ExportHelper.cs: 318 - LF_JIAN_LINK: Exporting STL with coordinate frame ×ø±êϵ2 +2021-08-30 22:12:21,744 INFO ExportHelper.cs: 323 - LF_JIAN_LINK: Reference geometry name +2021-08-30 22:12:21,866 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LF_JIAN_LINK.STL +2021-08-30 22:12:22,006 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:22,011 INFO ExportHelper.cs: 270 - Exporting link: LB_JIAN_LINK +2021-08-30 22:12:22,012 INFO ExportHelper.cs: 272 - Link LB_JIAN_LINK has 1 children +2021-08-30 22:12:22,013 INFO ExportHelper.cs: 270 - Exporting link: LB_ZHOU_LINK +2021-08-30 22:12:22,014 INFO ExportHelper.cs: 272 - Link LB_ZHOU_LINK has 1 children +2021-08-30 22:12:22,015 INFO ExportHelper.cs: 270 - Exporting link: LB_XI_LINK +2021-08-30 22:12:22,016 INFO ExportHelper.cs: 272 - Link LB_XI_LINK has 1 children +2021-08-30 22:12:22,017 INFO ExportHelper.cs: 270 - Exporting link: LB_R_LINK +2021-08-30 22:12:22,018 INFO ExportHelper.cs: 272 - Link LB_R_LINK has 1 children +2021-08-30 22:12:22,019 INFO ExportHelper.cs: 270 - Exporting link: LB_P_LINK +2021-08-30 22:12:22,019 INFO ExportHelper.cs: 272 - Link LB_P_LINK has 1 children +2021-08-30 22:12:22,020 INFO ExportHelper.cs: 270 - Exporting link: LB_Y_LINK +2021-08-30 22:12:22,020 INFO ExportHelper.cs: 272 - Link LB_Y_LINK has 0 children +2021-08-30 22:12:22,021 INFO ExportHelper.cs: 318 - LB_Y_LINK: Exporting STL with coordinate frame ×ø±êϵ13 +2021-08-30 22:12:22,021 INFO ExportHelper.cs: 323 - LB_Y_LINK: Reference geometry name +2021-08-30 22:12:22,149 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LB_Y_LINK.STL +2021-08-30 22:12:22,288 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:22,289 INFO ExportHelper.cs: 318 - LB_P_LINK: Exporting STL with coordinate frame ×ø±êϵ12 +2021-08-30 22:12:22,290 INFO ExportHelper.cs: 323 - LB_P_LINK: Reference geometry name +2021-08-30 22:12:22,368 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LB_P_LINK.STL +2021-08-30 22:12:22,451 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:22,451 INFO ExportHelper.cs: 318 - LB_R_LINK: Exporting STL with coordinate frame ×ø±êϵ11 +2021-08-30 22:12:22,452 INFO ExportHelper.cs: 323 - LB_R_LINK: Reference geometry name +2021-08-30 22:12:22,523 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LB_R_LINK.STL +2021-08-30 22:12:22,603 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:22,604 INFO ExportHelper.cs: 318 - LB_XI_LINK: Exporting STL with coordinate frame ×ø±êϵ10 +2021-08-30 22:12:22,604 INFO ExportHelper.cs: 323 - LB_XI_LINK: Reference geometry name +2021-08-30 22:12:22,700 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LB_XI_LINK.STL +2021-08-30 22:12:22,821 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:22,822 INFO ExportHelper.cs: 318 - LB_ZHOU_LINK: Exporting STL with coordinate frame ×ø±êϵ9 +2021-08-30 22:12:22,823 INFO ExportHelper.cs: 323 - LB_ZHOU_LINK: Reference geometry name +2021-08-30 22:12:22,914 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LB_ZHOU_LINK.STL +2021-08-30 22:12:23,025 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:23,026 INFO ExportHelper.cs: 318 - LB_JIAN_LINK: Exporting STL with coordinate frame ×ø±êϵ8 +2021-08-30 22:12:23,026 INFO ExportHelper.cs: 323 - LB_JIAN_LINK: Reference geometry name +2021-08-30 22:12:23,102 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LB_JIAN_LINK.STL +2021-08-30 22:12:23,188 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:23,190 INFO ExportHelper.cs: 270 - Exporting link: RF_JIAN_LINK +2021-08-30 22:12:23,190 INFO ExportHelper.cs: 272 - Link RF_JIAN_LINK has 1 children +2021-08-30 22:12:23,191 INFO ExportHelper.cs: 270 - Exporting link: RF_ZHOU_LINK +2021-08-30 22:12:23,192 INFO ExportHelper.cs: 272 - Link RF_ZHOU_LINK has 1 children +2021-08-30 22:12:23,193 INFO ExportHelper.cs: 270 - Exporting link: RF_XI_LINK +2021-08-30 22:12:23,193 INFO ExportHelper.cs: 272 - Link RF_XI_LINK has 1 children +2021-08-30 22:12:23,194 INFO ExportHelper.cs: 270 - Exporting link: RF_R_LINK +2021-08-30 22:12:23,194 INFO ExportHelper.cs: 272 - Link RF_R_LINK has 1 children +2021-08-30 22:12:23,195 INFO ExportHelper.cs: 270 - Exporting link: RF_P_LINK +2021-08-30 22:12:23,195 INFO ExportHelper.cs: 272 - Link RF_P_LINK has 1 children +2021-08-30 22:12:23,196 INFO ExportHelper.cs: 270 - Exporting link: RF_Y_LINK +2021-08-30 22:12:23,197 INFO ExportHelper.cs: 272 - Link RF_Y_LINK has 0 children +2021-08-30 22:12:23,197 INFO ExportHelper.cs: 318 - RF_Y_LINK: Exporting STL with coordinate frame ×ø±êϵ19 +2021-08-30 22:12:23,197 INFO ExportHelper.cs: 323 - RF_Y_LINK: Reference geometry name +2021-08-30 22:12:23,273 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RF_Y_LINK.STL +2021-08-30 22:12:23,355 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:23,356 INFO ExportHelper.cs: 318 - RF_P_LINK: Exporting STL with coordinate frame ×ø±êϵ18 +2021-08-30 22:12:23,356 INFO ExportHelper.cs: 323 - RF_P_LINK: Reference geometry name +2021-08-30 22:12:23,440 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RF_P_LINK.STL +2021-08-30 22:12:23,523 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:23,524 INFO ExportHelper.cs: 318 - RF_R_LINK: Exporting STL with coordinate frame ×ø±êϵ17 +2021-08-30 22:12:23,525 INFO ExportHelper.cs: 323 - RF_R_LINK: Reference geometry name +2021-08-30 22:12:23,603 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RF_R_LINK.STL +2021-08-30 22:12:23,688 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:23,689 INFO ExportHelper.cs: 318 - RF_XI_LINK: Exporting STL with coordinate frame ×ø±êϵ16 +2021-08-30 22:12:23,694 INFO ExportHelper.cs: 323 - RF_XI_LINK: Reference geometry name +2021-08-30 22:12:23,788 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RF_XI_LINK.STL +2021-08-30 22:12:23,906 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:23,907 INFO ExportHelper.cs: 318 - RF_ZHOU_LINK: Exporting STL with coordinate frame ×ø±êϵ15 +2021-08-30 22:12:23,907 INFO ExportHelper.cs: 323 - RF_ZHOU_LINK: Reference geometry name +2021-08-30 22:12:23,982 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RF_ZHOU_LINK.STL +2021-08-30 22:12:24,111 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:24,112 INFO ExportHelper.cs: 318 - RF_JIAN_LINK: Exporting STL with coordinate frame ×ø±êϵ14 +2021-08-30 22:12:24,113 INFO ExportHelper.cs: 323 - RF_JIAN_LINK: Reference geometry name +2021-08-30 22:12:24,190 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RF_JIAN_LINK.STL +2021-08-30 22:12:24,274 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:24,275 INFO ExportHelper.cs: 270 - Exporting link: RB_JIAN_LINK +2021-08-30 22:12:24,276 INFO ExportHelper.cs: 272 - Link RB_JIAN_LINK has 1 children +2021-08-30 22:12:24,277 INFO ExportHelper.cs: 270 - Exporting link: RB_ZHOU_LINK +2021-08-30 22:12:24,277 INFO ExportHelper.cs: 272 - Link RB_ZHOU_LINK has 1 children +2021-08-30 22:12:24,279 INFO ExportHelper.cs: 270 - Exporting link: RB_XI_LINK +2021-08-30 22:12:24,279 INFO ExportHelper.cs: 272 - Link RB_XI_LINK has 1 children +2021-08-30 22:12:24,281 INFO ExportHelper.cs: 270 - Exporting link: RB_R_LINK +2021-08-30 22:12:24,281 INFO ExportHelper.cs: 272 - Link RB_R_LINK has 1 children +2021-08-30 22:12:24,282 INFO ExportHelper.cs: 270 - Exporting link: RB_P_LINK +2021-08-30 22:12:24,283 INFO ExportHelper.cs: 272 - Link RB_P_LINK has 1 children +2021-08-30 22:12:24,283 INFO ExportHelper.cs: 270 - Exporting link: RB_Y_LINK +2021-08-30 22:12:24,284 INFO ExportHelper.cs: 272 - Link RB_Y_LINK has 0 children +2021-08-30 22:12:24,285 INFO ExportHelper.cs: 318 - RB_Y_LINK: Exporting STL with coordinate frame ×ø±êϵ25 +2021-08-30 22:12:24,285 INFO ExportHelper.cs: 323 - RB_Y_LINK: Reference geometry name +2021-08-30 22:12:24,358 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RB_Y_LINK.STL +2021-08-30 22:12:24,461 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:24,462 INFO ExportHelper.cs: 318 - RB_P_LINK: Exporting STL with coordinate frame ×ø±êϵ24 +2021-08-30 22:12:24,463 INFO ExportHelper.cs: 323 - RB_P_LINK: Reference geometry name +2021-08-30 22:12:24,566 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RB_P_LINK.STL +2021-08-30 22:12:24,694 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:24,695 INFO ExportHelper.cs: 318 - RB_R_LINK: Exporting STL with coordinate frame ×ø±êϵ23 +2021-08-30 22:12:24,696 INFO ExportHelper.cs: 323 - RB_R_LINK: Reference geometry name +2021-08-30 22:12:24,802 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RB_R_LINK.STL +2021-08-30 22:12:24,927 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:24,928 INFO ExportHelper.cs: 318 - RB_XI_LINK: Exporting STL with coordinate frame ×ø±êϵ22 +2021-08-30 22:12:24,929 INFO ExportHelper.cs: 323 - RB_XI_LINK: Reference geometry name +2021-08-30 22:12:25,029 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RB_XI_LINK.STL +2021-08-30 22:12:25,178 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:25,179 INFO ExportHelper.cs: 318 - RB_ZHOU_LINK: Exporting STL with coordinate frame ×ø±êϵ21 +2021-08-30 22:12:25,179 INFO ExportHelper.cs: 323 - RB_ZHOU_LINK: Reference geometry name +2021-08-30 22:12:25,275 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RB_ZHOU_LINK.STL +2021-08-30 22:12:25,414 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:25,415 INFO ExportHelper.cs: 318 - RB_JIAN_LINK: Exporting STL with coordinate frame ×ø±êϵ20 +2021-08-30 22:12:25,416 INFO ExportHelper.cs: 323 - RB_JIAN_LINK: Reference geometry name +2021-08-30 22:12:25,497 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RB_JIAN_LINK.STL +2021-08-30 22:12:25,593 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:25,594 INFO ExportHelper.cs: 318 - base_link: Exporting STL with coordinate frame ×ø±êϵ1 +2021-08-30 22:12:25,594 INFO ExportHelper.cs: 323 - base_link: Reference geometry name +2021-08-30 22:12:25,893 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\base_link.STL +2021-08-30 22:12:28,826 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:12:28,827 INFO ExportHelper.cs: 145 - Showing all components except previously hidden components +2021-08-30 22:12:39,253 INFO ExportHelper.cs: 145 - Resetting STL preferences +2021-08-30 22:12:39,254 INFO ExportHelper.cs: 479 - Returning STL preferences to user preferences +2021-08-30 22:12:39,254 INFO ExportHelper.cs: 228 - Writing URDF file to C:\Users\Zhitong\Desktop\gou2\urdf\gou2.urdf +2021-08-30 22:12:39,257 INFO CSVImportExport.cs: 32 - Writing CSV file C:\Users\Zhitong\Desktop\gou2\urdf\gou2.csv +2021-08-30 22:12:39,258 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,259 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,260 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,260 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,261 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,261 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,262 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,263 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,263 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,264 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,264 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,265 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,265 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,265 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,266 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,266 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,267 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,267 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,267 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,268 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,268 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,269 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,269 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,269 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,270 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:12:39,270 INFO ExportHelper.cs: 234 - Copying log file +2021-08-30 22:12:39,271 INFO ExportHelper.cs: 440 - Copying C:\Users\Zhitong\sw2urdf_logs\sw2urdf.log to C:\Users\Zhitong\Desktop\gou2\export.log +2021-08-30 22:12:39,272 INFO ExportHelper.cs: 237 - Resetting STL preferences +2021-08-30 22:12:39,273 INFO ExportHelper.cs: 479 - Returning STL preferences to user preferences +2021-08-30 22:24:50,061 INFO SwAddin.cs: 271 - Assembly export called for file Gou-2.SLDASM +2021-08-30 22:24:50,061 INFO SwAddin.cs: 276 - Save is required +2021-08-30 22:24:50,061 INFO SwAddin.cs: 290 - Saving assembly +2021-08-30 22:24:51,912 INFO SwAddin.cs: 293 - Opening property manager +2021-08-30 22:24:51,913 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2.SLDASM +2021-08-30 22:24:51,914 INFO ExportHelperExtension.cs: 1142 - Found 178 in Gou-2.SLDASM +2021-08-30 22:24:51,918 INFO ExportHelperExtension.cs: 1152 - Found 25 features of type [CoordSys] in Gou-2.SLDASM +2021-08-30 22:24:51,919 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2021-08-30 22:24:51,920 INFO ExportHelperExtension.cs: 1167 - 26 components to check +2021-08-30 22:24:51,920 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-2 +2021-08-30 22:24:51,922 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-2 +2021-08-30 22:24:51,923 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-2 +2021-08-30 22:24:51,924 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from JIJIA-1 +2021-08-30 22:24:51,925 INFO ExportHelperExtension.cs: 1142 - Found 66 in JIJIA-1 +2021-08-30 22:24:51,927 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in JIJIA-1 +2021-08-30 22:24:51,928 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-1 +2021-08-30 22:24:51,929 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-1 +2021-08-30 22:24:51,930 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-1 +2021-08-30 22:24:51,931 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-3 +2021-08-30 22:24:51,932 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-3 +2021-08-30 22:24:51,934 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-3 +2021-08-30 22:24:51,934 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-4 +2021-08-30 22:24:51,935 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-4 +2021-08-30 22:24:51,937 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-4 +2021-08-30 22:24:51,937 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui-1 +2021-08-30 22:24:51,938 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-1 +2021-08-30 22:24:51,939 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui-1 +2021-08-30 22:24:51,940 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui-2 +2021-08-30 22:24:51,940 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-2 +2021-08-30 22:24:51,942 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui-2 +2021-08-30 22:24:51,942 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from mpu6050-1 +2021-08-30 22:24:51,943 INFO ExportHelperExtension.cs: 1142 - Found 23 in mpu6050-1 +2021-08-30 22:24:51,944 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in mpu6050-1 +2021-08-30 22:24:51,945 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-11 +2021-08-30 22:24:51,946 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-11 +2021-08-30 22:24:51,947 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-11 +2021-08-30 22:24:51,950 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui2-1 +2021-08-30 22:24:51,957 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-1 +2021-08-30 22:24:51,958 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui2-1 +2021-08-30 22:24:51,959 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-1 +2021-08-30 22:24:51,959 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-1 +2021-08-30 22:24:51,960 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-1 +2021-08-30 22:24:51,961 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-2 +2021-08-30 22:24:51,961 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-2 +2021-08-30 22:24:51,962 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-2 +2021-08-30 22:24:51,965 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-9 +2021-08-30 22:24:51,966 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-9 +2021-08-30 22:24:51,967 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-9 +2021-08-30 22:24:51,968 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-3 +2021-08-30 22:24:51,968 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-3 +2021-08-30 22:24:51,969 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-3 +2021-08-30 22:24:51,970 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-4 +2021-08-30 22:24:51,971 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-4 +2021-08-30 22:24:51,972 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-4 +2021-08-30 22:24:51,974 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-6 +2021-08-30 22:24:51,975 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-6 +2021-08-30 22:24:51,976 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-6 +2021-08-30 22:24:51,977 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-7 +2021-08-30 22:24:51,978 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-7 +2021-08-30 22:24:51,978 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-7 +2021-08-30 22:24:51,979 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-10 +2021-08-30 22:24:51,980 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-10 +2021-08-30 22:24:51,981 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-10 +2021-08-30 22:24:51,981 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-12 +2021-08-30 22:24:51,982 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-12 +2021-08-30 22:24:51,984 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-12 +2021-08-30 22:24:51,985 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-15 +2021-08-30 22:24:51,986 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-15 +2021-08-30 22:24:51,988 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-15 +2021-08-30 22:24:51,989 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-5 +2021-08-30 22:24:51,990 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-5 +2021-08-30 22:24:51,991 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-5 +2021-08-30 22:24:51,991 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-16 +2021-08-30 22:24:51,992 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-16 +2021-08-30 22:24:51,993 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-16 +2021-08-30 22:24:51,994 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui2-2 +2021-08-30 22:24:51,994 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-2 +2021-08-30 22:24:51,995 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui2-2 +2021-08-30 22:24:51,996 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-14 +2021-08-30 22:24:51,997 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-14 +2021-08-30 22:24:51,998 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-14 +2021-08-30 22:24:51,998 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-8 +2021-08-30 22:24:51,999 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-8 +2021-08-30 22:24:52,000 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-8 +2021-08-30 22:24:52,001 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-13 +2021-08-30 22:24:52,002 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-13 +2021-08-30 22:24:52,002 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-13 +2021-08-30 22:24:52,005 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2.SLDASM +2021-08-30 22:24:52,006 INFO ExportHelperExtension.cs: 1142 - Found 178 in Gou-2.SLDASM +2021-08-30 22:24:52,008 INFO ExportHelperExtension.cs: 1152 - Found 25 features of type [RefAxis] in Gou-2.SLDASM +2021-08-30 22:24:52,009 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2021-08-30 22:24:52,010 INFO ExportHelperExtension.cs: 1167 - 26 components to check +2021-08-30 22:24:52,010 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-2 +2021-08-30 22:24:52,011 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-2 +2021-08-30 22:24:52,012 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-2 +2021-08-30 22:24:52,013 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from JIJIA-1 +2021-08-30 22:24:52,014 INFO ExportHelperExtension.cs: 1142 - Found 66 in JIJIA-1 +2021-08-30 22:24:52,015 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in JIJIA-1 +2021-08-30 22:24:52,015 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-1 +2021-08-30 22:24:52,016 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-1 +2021-08-30 22:24:52,017 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-1 +2021-08-30 22:24:52,018 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-3 +2021-08-30 22:24:52,018 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-3 +2021-08-30 22:24:52,019 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-3 +2021-08-30 22:24:52,019 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-4 +2021-08-30 22:24:52,020 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-4 +2021-08-30 22:24:52,021 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-4 +2021-08-30 22:24:52,021 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui-1 +2021-08-30 22:24:52,022 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-1 +2021-08-30 22:24:52,022 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui-1 +2021-08-30 22:24:52,022 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui-2 +2021-08-30 22:24:52,023 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-2 +2021-08-30 22:24:52,023 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui-2 +2021-08-30 22:24:52,024 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from mpu6050-1 +2021-08-30 22:24:52,024 INFO ExportHelperExtension.cs: 1142 - Found 23 in mpu6050-1 +2021-08-30 22:24:52,025 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in mpu6050-1 +2021-08-30 22:24:52,025 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-11 +2021-08-30 22:24:52,025 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-11 +2021-08-30 22:24:52,026 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-11 +2021-08-30 22:24:52,026 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui2-1 +2021-08-30 22:24:52,026 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-1 +2021-08-30 22:24:52,027 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui2-1 +2021-08-30 22:24:52,027 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-1 +2021-08-30 22:24:52,027 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-1 +2021-08-30 22:24:52,028 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-1 +2021-08-30 22:24:52,028 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-2 +2021-08-30 22:24:52,028 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-2 +2021-08-30 22:24:52,029 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-2 +2021-08-30 22:24:52,029 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-9 +2021-08-30 22:24:52,030 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-9 +2021-08-30 22:24:52,030 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-9 +2021-08-30 22:24:52,030 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-3 +2021-08-30 22:24:52,031 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-3 +2021-08-30 22:24:52,031 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-3 +2021-08-30 22:24:52,031 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-4 +2021-08-30 22:24:52,032 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-4 +2021-08-30 22:24:52,032 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-4 +2021-08-30 22:24:52,033 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-6 +2021-08-30 22:24:52,033 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-6 +2021-08-30 22:24:52,033 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-6 +2021-08-30 22:24:52,034 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-7 +2021-08-30 22:24:52,034 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-7 +2021-08-30 22:24:52,034 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-7 +2021-08-30 22:24:52,035 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-10 +2021-08-30 22:24:52,035 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-10 +2021-08-30 22:24:52,036 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-10 +2021-08-30 22:24:52,037 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-12 +2021-08-30 22:24:52,037 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-12 +2021-08-30 22:24:52,038 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-12 +2021-08-30 22:24:52,039 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-15 +2021-08-30 22:24:52,040 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-15 +2021-08-30 22:24:52,041 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-15 +2021-08-30 22:24:52,041 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-5 +2021-08-30 22:24:52,042 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-5 +2021-08-30 22:24:52,043 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-5 +2021-08-30 22:24:52,048 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-16 +2021-08-30 22:24:52,048 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-16 +2021-08-30 22:24:52,049 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-16 +2021-08-30 22:24:52,050 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui2-2 +2021-08-30 22:24:52,051 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-2 +2021-08-30 22:24:52,052 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui2-2 +2021-08-30 22:24:52,052 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-14 +2021-08-30 22:24:52,053 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-14 +2021-08-30 22:24:52,054 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-14 +2021-08-30 22:24:52,054 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-8 +2021-08-30 22:24:52,055 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-8 +2021-08-30 22:24:52,055 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-8 +2021-08-30 22:24:52,056 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-13 +2021-08-30 22:24:52,057 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-13 +2021-08-30 22:24:52,058 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-13 +2021-08-30 22:24:52,557 INFO SwAddin.cs: 316 - Loading config tree +2021-08-30 22:24:52,558 INFO Serialization.cs: 275 - URDF Configuration found 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+2021-08-30 22:24:52,571 INFO LinkNode.cs: 35 - Building node base_link +2021-08-30 22:24:52,572 INFO LinkNode.cs: 35 - Building node LF_JIAN_LINK +2021-08-30 22:24:52,572 INFO LinkNode.cs: 35 - Building node LF_ZHOU_LINK +2021-08-30 22:24:52,572 INFO LinkNode.cs: 35 - Building node LF_XI_LINK +2021-08-30 22:24:52,572 INFO LinkNode.cs: 35 - Building node LF_R_LINK +2021-08-30 22:24:52,573 INFO LinkNode.cs: 35 - Building node LF_P_LINK +2021-08-30 22:24:52,573 INFO LinkNode.cs: 35 - Building node LF_Y_LINK +2021-08-30 22:24:52,573 INFO LinkNode.cs: 35 - Building node LB_JIAN_LINK +2021-08-30 22:24:52,574 INFO LinkNode.cs: 35 - Building node LB_ZHOU_LINK +2021-08-30 22:24:52,574 INFO LinkNode.cs: 35 - Building node LB_XI_LINK +2021-08-30 22:24:52,574 INFO LinkNode.cs: 35 - Building node LB_R_LINK +2021-08-30 22:24:52,575 INFO LinkNode.cs: 35 - Building node LB_P_LINK +2021-08-30 22:24:52,575 INFO LinkNode.cs: 35 - Building node LB_Y_LINK +2021-08-30 22:24:52,576 INFO LinkNode.cs: 35 - Building node RF_JIAN_LINK +2021-08-30 22:24:52,576 INFO LinkNode.cs: 35 - Building node RF_ZHOU_LINK +2021-08-30 22:24:52,576 INFO LinkNode.cs: 35 - Building node RF_XI_LINK +2021-08-30 22:24:52,576 INFO LinkNode.cs: 35 - Building node RF_R_LINK +2021-08-30 22:24:52,577 INFO LinkNode.cs: 35 - Building node RF_P_LINK +2021-08-30 22:24:52,577 INFO LinkNode.cs: 35 - Building node RF_Y_LINK +2021-08-30 22:24:52,577 INFO LinkNode.cs: 35 - Building node RB_JIAN_LINK +2021-08-30 22:24:52,577 INFO LinkNode.cs: 35 - Building node RB_ZHOU_LINK +2021-08-30 22:24:52,578 INFO LinkNode.cs: 35 - Building node RB_XI_LINK +2021-08-30 22:24:52,578 INFO LinkNode.cs: 35 - Building node RB_R_LINK +2021-08-30 22:24:52,578 INFO LinkNode.cs: 35 - Building node RB_P_LINK +2021-08-30 22:24:52,579 INFO LinkNode.cs: 35 - Building node RB_Y_LINK +2021-08-30 22:24:52,579 INFO Common.cs: 221 - Loading SolidWorks components for base_link from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,579 INFO Common.cs: 245 - Loading component with PID ?*??? JIJIA-1@Gou-2? +2021-08-30 22:24:52,580 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\JIJIA.SLDASM +2021-08-30 22:24:52,580 INFO Common.cs: 245 - Loading component with PID ?*???mpu6050-1@Gou-2? +2021-08-30 22:24:52,580 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\mpu6050.SLDASM +2021-08-30 22:24:52,581 INFO Common.cs: 230 - Loaded 2 components for link base_link +2021-08-30 22:24:52,581 INFO Common.cs: 221 - Loading SolidWorks components for LF_JIAN_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,581 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-1@Gou-2? +2021-08-30 22:24:52,581 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:24:52,582 INFO Common.cs: 230 - Loaded 1 components for link LF_JIAN_LINK +2021-08-30 22:24:52,582 INFO Common.cs: 221 - Loading SolidWorks components for LF_ZHOU_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,583 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-Datui-1@Gou-2k +2021-08-30 22:24:52,583 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-Datui.SLDASM +2021-08-30 22:24:52,583 INFO Common.cs: 230 - Loaded 1 components for link LF_ZHOU_LINK +2021-08-30 22:24:52,583 INFO Common.cs: 221 - Loading SolidWorks components for LF_XI_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,584 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-Xiaotui-1@Gou-2 +2021-08-30 22:24:52,584 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-Xiaotui.SLDASM +2021-08-30 22:24:52,584 INFO Common.cs: 230 - Loaded 1 components for link LF_XI_LINK +2021-08-30 22:24:52,585 INFO Common.cs: 221 - Loading SolidWorks components for LF_R_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,585 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-3@Gou-2? +2021-08-30 22:24:52,585 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:24:52,586 INFO Common.cs: 230 - Loaded 1 components for link LF_R_LINK +2021-08-30 22:24:52,586 INFO Common.cs: 221 - Loading SolidWorks components for LF_P_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,586 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-4@Gou-2? +2021-08-30 22:24:52,587 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:24:52,587 INFO Common.cs: 230 - Loaded 1 components for link LF_P_LINK +2021-08-30 22:24:52,587 INFO Common.cs: 221 - Loading SolidWorks components for LF_Y_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,587 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-5@Gou-2? +2021-08-30 22:24:52,588 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:24:52,588 INFO Common.cs: 230 - Loaded 1 components for link LF_Y_LINK +2021-08-30 22:24:52,588 INFO Common.cs: 221 - Loading SolidWorks components for LB_JIAN_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,589 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-2@Gou-2? +2021-08-30 22:24:52,589 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:24:52,589 INFO Common.cs: 230 - Loaded 1 components for link LB_JIAN_LINK +2021-08-30 22:24:52,590 INFO Common.cs: 221 - Loading SolidWorks components for LB_ZHOU_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,590 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-Datui-2@Gou-2n +2021-08-30 22:24:52,590 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-Datui.SLDASM +2021-08-30 22:24:52,590 INFO Common.cs: 230 - Loaded 1 components for link LB_ZHOU_LINK +2021-08-30 22:24:52,591 INFO Common.cs: 221 - Loading SolidWorks components for LB_XI_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,591 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-Xiaotui-2@Gou-2? +2021-08-30 22:24:52,591 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-Xiaotui.SLDASM +2021-08-30 22:24:52,592 INFO Common.cs: 230 - Loaded 1 components for link LB_XI_LINK +2021-08-30 22:24:52,592 INFO Common.cs: 221 - Loading SolidWorks components for LB_R_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,592 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-6@Gou-2? +2021-08-30 22:24:52,593 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:24:52,593 INFO Common.cs: 230 - Loaded 1 components for link LB_R_LINK +2021-08-30 22:24:52,593 INFO Common.cs: 221 - Loading SolidWorks components for LB_P_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,593 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-7@Gou-2? +2021-08-30 22:24:52,594 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:24:52,594 INFO Common.cs: 230 - Loaded 1 components for link LB_P_LINK +2021-08-30 22:24:52,595 INFO Common.cs: 221 - Loading SolidWorks components for LB_Y_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,595 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-8@Gou-2 +2021-08-30 22:24:52,595 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:24:52,595 INFO Common.cs: 230 - Loaded 1 components for link LB_Y_LINK +2021-08-30 22:24:52,595 INFO Common.cs: 221 - Loading SolidWorks components for RF_JIAN_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,595 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-9@Gou-2  +2021-08-30 22:24:52,595 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:24:52,596 INFO Common.cs: 230 - Loaded 1 components for link RF_JIAN_LINK +2021-08-30 22:24:52,596 INFO Common.cs: 221 - Loading SolidWorks components for RF_ZHOU_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,596 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-Datui-3@Gou-2q +2021-08-30 22:24:52,596 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-Datui.SLDASM +2021-08-30 22:24:52,597 INFO Common.cs: 230 - Loaded 1 components for link RF_ZHOU_LINK +2021-08-30 22:24:52,597 INFO Common.cs: 221 - Loading SolidWorks components for RF_XI_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,597 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-Xiaotui2-2@Gou-2? +2021-08-30 22:24:52,597 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-Xiaotui2.SLDASM +2021-08-30 22:24:52,598 INFO Common.cs: 230 - Loaded 1 components for link RF_XI_LINK +2021-08-30 22:24:52,598 INFO Common.cs: 221 - Loading SolidWorks components for RF_R_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,598 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-10@Gou-2 +2021-08-30 22:24:52,599 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:24:52,599 INFO Common.cs: 230 - Loaded 1 components for link RF_R_LINK +2021-08-30 22:24:52,599 INFO Common.cs: 221 - Loading SolidWorks components for RF_P_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,600 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-11@Gou-2 +2021-08-30 22:24:52,600 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:24:52,600 INFO Common.cs: 230 - Loaded 1 components for link RF_P_LINK +2021-08-30 22:24:52,605 INFO Common.cs: 221 - Loading SolidWorks components for RF_Y_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,606 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-12@Gou-2 +2021-08-30 22:24:52,606 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:24:52,606 INFO Common.cs: 230 - Loaded 1 components for link RF_Y_LINK +2021-08-30 22:24:52,607 INFO Common.cs: 221 - Loading SolidWorks components for RB_JIAN_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,607 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-13@Gou-2* +2021-08-30 22:24:52,608 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:24:52,608 INFO Common.cs: 230 - Loaded 1 components for link RB_JIAN_LINK +2021-08-30 22:24:52,608 INFO Common.cs: 221 - Loading SolidWorks components for RB_ZHOU_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,608 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-Datui-4@Gou-2t +2021-08-30 22:24:52,609 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-Datui.SLDASM +2021-08-30 22:24:52,609 INFO Common.cs: 230 - Loaded 1 components for link RB_ZHOU_LINK +2021-08-30 22:24:52,609 INFO Common.cs: 221 - Loading SolidWorks components for RB_XI_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,610 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-Xiaotui2-1@Gou-2? +2021-08-30 22:24:52,610 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-Xiaotui2.SLDASM +2021-08-30 22:24:52,610 INFO Common.cs: 230 - Loaded 1 components for link RB_XI_LINK +2021-08-30 22:24:52,610 INFO Common.cs: 221 - Loading SolidWorks components for RB_R_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,611 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-14@Gou-29 +2021-08-30 22:24:52,611 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:24:52,611 INFO Common.cs: 230 - Loaded 1 components for link RB_R_LINK +2021-08-30 22:24:52,611 INFO Common.cs: 221 - Loading SolidWorks components for RB_P_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,612 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-15@Gou-2= +2021-08-30 22:24:52,612 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:24:52,612 INFO Common.cs: 230 - Loaded 1 components for link RB_P_LINK +2021-08-30 22:24:52,613 INFO Common.cs: 221 - Loading SolidWorks components for RB_Y_LINK from H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2.SLDASM +2021-08-30 22:24:52,613 INFO Common.cs: 245 - Loading component with PID ?*???Gou-2-xuniguanjie-16@Gou-2A +2021-08-30 22:24:52,613 INFO Common.cs: 254 - Successfully loaded component H:\×ÔÖÆ»úÆ÷ÈËÎļþ»ã×Ü\°×Ôó»úÆ÷ÈË-20201117\QQ_model_2.8\Gou-2-xuniguanjie.SLDPRT +2021-08-30 22:24:52,613 INFO Common.cs: 230 - Loaded 1 components for link RB_Y_LINK +2021-08-30 22:24:52,752 INFO SwAddin.cs: 321 - Showing property manager +2021-08-30 22:24:56,577 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:25:01,580 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:25:03,534 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:25:08,545 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:25:10,601 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:25:15,577 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:25:17,702 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:25:22,710 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:25:24,611 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:25:29,151 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:25:30,847 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:25:36,079 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:25:37,865 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:25:44,089 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:25:45,845 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:25:50,330 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:25:52,108 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:26:00,440 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:26:02,315 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:26:07,176 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:26:09,162 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:26:15,681 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:26:17,519 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:26:22,183 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:26:24,847 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:26:30,113 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:26:32,259 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:26:37,191 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:26:39,020 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:26:44,364 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:26:46,313 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:26:51,451 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:26:55,386 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:26:59,968 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:27:03,168 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:27:06,331 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:27:10,652 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:27:13,771 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:27:16,266 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:27:21,909 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:27:25,204 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:27:30,581 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:27:32,754 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:27:37,968 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:27:40,905 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:27:45,234 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:27:47,367 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:27:52,228 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:27:54,156 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:27:59,327 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:28:00,871 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:29:11,896 INFO ExportPropertyManager.cs: 456 - Configuration saved +2021-08-30 22:29:11,899 INFO Serialization.cs: 275 - URDF Configuration found 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+2021-08-30 22:29:14,633 INFO ExportHelperExtension.cs: 338 - Creating joint LF_JIAN_LINK +2021-08-30 22:29:14,755 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child LF_JIAN_LINK failed +2021-08-30 22:29:15,731 INFO ExportHelperExtension.cs: 338 - Creating joint LF_ZHOU_LINK +2021-08-30 22:29:15,843 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LF_JIAN_LINK to child LF_ZHOU_LINK failed +2021-08-30 22:29:15,876 INFO ExportHelperExtension.cs: 338 - Creating joint LF_XI_LINK +2021-08-30 22:29:16,000 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LF_ZHOU_LINK to child LF_XI_LINK failed +2021-08-30 22:29:16,040 INFO ExportHelperExtension.cs: 338 - Creating joint LF_R_LINK +2021-08-30 22:29:16,158 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LF_XI_LINK to child LF_R_LINK failed +2021-08-30 22:29:17,133 INFO ExportHelperExtension.cs: 338 - Creating joint LF_P_LINK +2021-08-30 22:29:17,247 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LF_R_LINK to child LF_P_LINK failed +2021-08-30 22:29:18,229 INFO ExportHelperExtension.cs: 338 - Creating joint LF_Y_LINK +2021-08-30 22:29:18,341 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LF_P_LINK to child LF_Y_LINK failed +2021-08-30 22:29:19,317 INFO ExportHelperExtension.cs: 338 - Creating joint LB_JIAN_LINK +2021-08-30 22:29:19,429 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child LB_JIAN_LINK failed +2021-08-30 22:29:20,401 INFO ExportHelperExtension.cs: 338 - Creating joint LB_ZHOU_LINK +2021-08-30 22:29:20,513 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LB_JIAN_LINK to child LB_ZHOU_LINK failed +2021-08-30 22:29:20,532 INFO ExportHelperExtension.cs: 338 - Creating joint LB_XI_LINK +2021-08-30 22:29:20,648 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LB_ZHOU_LINK to child LB_XI_LINK failed +2021-08-30 22:29:20,689 INFO ExportHelperExtension.cs: 338 - Creating joint LB_R_LINK +2021-08-30 22:29:20,804 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LB_XI_LINK to child LB_R_LINK failed +2021-08-30 22:29:21,786 INFO ExportHelperExtension.cs: 338 - Creating joint LB_P_LINK +2021-08-30 22:29:21,903 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LB_R_LINK to child LB_P_LINK failed +2021-08-30 22:29:22,893 INFO ExportHelperExtension.cs: 338 - Creating joint LB_Y_LINK +2021-08-30 22:29:22,957 WARN ExportHelperExtension.cs: 342 - Creating joint from parent LB_P_LINK to child LB_Y_LINK failed +2021-08-30 22:29:23,951 INFO ExportHelperExtension.cs: 338 - Creating joint RF_JIAN_LINK +2021-08-30 22:29:24,016 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child RF_JIAN_LINK failed +2021-08-30 22:29:25,000 INFO ExportHelperExtension.cs: 338 - Creating joint RF_ZHOU_LINK +2021-08-30 22:29:25,065 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RF_JIAN_LINK to child RF_ZHOU_LINK failed +2021-08-30 22:29:25,083 INFO ExportHelperExtension.cs: 338 - Creating joint RF_XI_LINK +2021-08-30 22:29:25,157 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RF_ZHOU_LINK to child RF_XI_LINK failed +2021-08-30 22:29:25,197 INFO ExportHelperExtension.cs: 338 - Creating joint RF_R_LINK +2021-08-30 22:29:25,264 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RF_XI_LINK to child RF_R_LINK failed +2021-08-30 22:29:26,389 INFO ExportHelperExtension.cs: 338 - Creating joint RF_P_LINK +2021-08-30 22:29:26,504 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RF_R_LINK to child RF_P_LINK failed +2021-08-30 22:29:27,482 INFO ExportHelperExtension.cs: 338 - Creating joint RF_Y_LINK +2021-08-30 22:29:27,594 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RF_P_LINK to child RF_Y_LINK failed +2021-08-30 22:29:28,583 INFO ExportHelperExtension.cs: 338 - Creating joint RB_JIAN_LINK +2021-08-30 22:29:28,698 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child RB_JIAN_LINK failed +2021-08-30 22:29:29,675 INFO ExportHelperExtension.cs: 338 - Creating joint RB_ZHOU_LINK +2021-08-30 22:29:29,784 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RB_JIAN_LINK to child RB_ZHOU_LINK failed +2021-08-30 22:29:29,802 INFO ExportHelperExtension.cs: 338 - Creating joint RB_XI_LINK +2021-08-30 22:29:29,922 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RB_ZHOU_LINK to child RB_XI_LINK failed +2021-08-30 22:29:29,967 INFO ExportHelperExtension.cs: 338 - Creating joint RB_R_LINK +2021-08-30 22:29:30,084 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RB_XI_LINK to child RB_R_LINK failed +2021-08-30 22:29:31,061 INFO ExportHelperExtension.cs: 338 - Creating joint RB_P_LINK +2021-08-30 22:29:31,177 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RB_R_LINK to child RB_P_LINK failed +2021-08-30 22:29:32,176 INFO ExportHelperExtension.cs: 338 - Creating joint RB_Y_LINK +2021-08-30 22:29:32,285 WARN ExportHelperExtension.cs: 342 - Creating joint from parent RB_P_LINK to child RB_Y_LINK failed +2021-08-30 22:29:33,335 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2.SLDASM +2021-08-30 22:29:33,347 INFO ExportHelperExtension.cs: 1142 - Found 178 in Gou-2.SLDASM +2021-08-30 22:29:33,348 INFO ExportHelperExtension.cs: 1152 - Found 25 features of type [CoordSys] in Gou-2.SLDASM +2021-08-30 22:29:33,349 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2021-08-30 22:29:33,349 INFO ExportHelperExtension.cs: 1167 - 26 components to check +2021-08-30 22:29:33,349 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-2 +2021-08-30 22:29:33,350 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-2 +2021-08-30 22:29:33,350 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-2 +2021-08-30 22:29:33,350 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from JIJIA-1 +2021-08-30 22:29:33,351 INFO ExportHelperExtension.cs: 1142 - Found 66 in JIJIA-1 +2021-08-30 22:29:33,352 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in JIJIA-1 +2021-08-30 22:29:33,352 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-1 +2021-08-30 22:29:33,353 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-1 +2021-08-30 22:29:33,354 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-1 +2021-08-30 22:29:33,354 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-3 +2021-08-30 22:29:33,354 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-3 +2021-08-30 22:29:33,355 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-3 +2021-08-30 22:29:33,355 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Datui-4 +2021-08-30 22:29:33,356 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-4 +2021-08-30 22:29:33,356 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Datui-4 +2021-08-30 22:29:33,356 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui-1 +2021-08-30 22:29:33,357 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-1 +2021-08-30 22:29:33,357 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui-1 +2021-08-30 22:29:33,358 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui-2 +2021-08-30 22:29:33,358 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-2 +2021-08-30 22:29:33,358 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui-2 +2021-08-30 22:29:33,359 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from mpu6050-1 +2021-08-30 22:29:33,359 INFO ExportHelperExtension.cs: 1142 - Found 23 in mpu6050-1 +2021-08-30 22:29:33,360 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in mpu6050-1 +2021-08-30 22:29:33,360 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-11 +2021-08-30 22:29:33,360 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-11 +2021-08-30 22:29:33,361 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-11 +2021-08-30 22:29:33,361 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui2-1 +2021-08-30 22:29:33,361 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-1 +2021-08-30 22:29:33,362 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui2-1 +2021-08-30 22:29:33,362 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-1 +2021-08-30 22:29:33,362 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-1 +2021-08-30 22:29:33,362 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-1 +2021-08-30 22:29:33,362 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-2 +2021-08-30 22:29:33,363 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-2 +2021-08-30 22:29:33,363 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-2 +2021-08-30 22:29:33,364 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-9 +2021-08-30 22:29:33,364 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-9 +2021-08-30 22:29:33,364 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-9 +2021-08-30 22:29:33,365 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-3 +2021-08-30 22:29:33,365 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-3 +2021-08-30 22:29:33,365 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-3 +2021-08-30 22:29:33,366 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-4 +2021-08-30 22:29:33,366 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-4 +2021-08-30 22:29:33,367 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-4 +2021-08-30 22:29:33,367 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-6 +2021-08-30 22:29:33,368 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-6 +2021-08-30 22:29:33,368 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-6 +2021-08-30 22:29:33,369 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-7 +2021-08-30 22:29:33,369 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-7 +2021-08-30 22:29:33,369 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-7 +2021-08-30 22:29:33,370 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-10 +2021-08-30 22:29:33,370 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-10 +2021-08-30 22:29:33,371 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-10 +2021-08-30 22:29:33,371 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-12 +2021-08-30 22:29:33,371 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-12 +2021-08-30 22:29:33,372 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-12 +2021-08-30 22:29:33,372 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-15 +2021-08-30 22:29:33,372 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-15 +2021-08-30 22:29:33,373 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-15 +2021-08-30 22:29:33,373 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-5 +2021-08-30 22:29:33,373 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-5 +2021-08-30 22:29:33,374 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-5 +2021-08-30 22:29:33,374 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-16 +2021-08-30 22:29:33,374 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-16 +2021-08-30 22:29:33,375 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-16 +2021-08-30 22:29:33,375 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-Xiaotui2-2 +2021-08-30 22:29:33,376 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-2 +2021-08-30 22:29:33,376 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in Gou-2-Xiaotui2-2 +2021-08-30 22:29:33,376 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-14 +2021-08-30 22:29:33,377 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-14 +2021-08-30 22:29:33,377 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-14 +2021-08-30 22:29:33,377 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-8 +2021-08-30 22:29:33,378 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-8 +2021-08-30 22:29:33,378 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-8 +2021-08-30 22:29:33,379 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from Gou-2-xuniguanjie-13 +2021-08-30 22:29:33,379 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-13 +2021-08-30 22:29:33,379 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [CoordSys] in Gou-2-xuniguanjie-13 +2021-08-30 22:29:33,381 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2.SLDASM +2021-08-30 22:29:33,381 INFO ExportHelperExtension.cs: 1142 - Found 178 in Gou-2.SLDASM +2021-08-30 22:29:33,382 INFO ExportHelperExtension.cs: 1152 - Found 25 features of type [RefAxis] in Gou-2.SLDASM +2021-08-30 22:29:33,383 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2021-08-30 22:29:33,383 INFO ExportHelperExtension.cs: 1167 - 26 components to check +2021-08-30 22:29:33,383 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-2 +2021-08-30 22:29:33,384 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-2 +2021-08-30 22:29:33,384 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-2 +2021-08-30 22:29:33,384 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from JIJIA-1 +2021-08-30 22:29:33,385 INFO ExportHelperExtension.cs: 1142 - Found 66 in JIJIA-1 +2021-08-30 22:29:33,386 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in JIJIA-1 +2021-08-30 22:29:33,386 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-1 +2021-08-30 22:29:33,387 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-1 +2021-08-30 22:29:33,387 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-1 +2021-08-30 22:29:33,387 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-3 +2021-08-30 22:29:33,388 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-3 +2021-08-30 22:29:33,388 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-3 +2021-08-30 22:29:33,389 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Datui-4 +2021-08-30 22:29:33,389 INFO ExportHelperExtension.cs: 1142 - Found 35 in Gou-2-Datui-4 +2021-08-30 22:29:33,389 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Datui-4 +2021-08-30 22:29:33,390 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui-1 +2021-08-30 22:29:33,391 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-1 +2021-08-30 22:29:33,391 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui-1 +2021-08-30 22:29:33,392 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui-2 +2021-08-30 22:29:33,392 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui-2 +2021-08-30 22:29:33,393 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui-2 +2021-08-30 22:29:33,393 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from mpu6050-1 +2021-08-30 22:29:33,394 INFO ExportHelperExtension.cs: 1142 - Found 23 in mpu6050-1 +2021-08-30 22:29:33,395 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in mpu6050-1 +2021-08-30 22:29:33,396 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-11 +2021-08-30 22:29:33,410 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-11 +2021-08-30 22:29:33,410 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-11 +2021-08-30 22:29:33,411 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui2-1 +2021-08-30 22:29:33,411 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-1 +2021-08-30 22:29:33,412 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui2-1 +2021-08-30 22:29:33,412 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-1 +2021-08-30 22:29:33,412 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-1 +2021-08-30 22:29:33,413 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-1 +2021-08-30 22:29:33,413 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-2 +2021-08-30 22:29:33,413 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-2 +2021-08-30 22:29:33,414 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-2 +2021-08-30 22:29:33,414 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-9 +2021-08-30 22:29:33,414 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-9 +2021-08-30 22:29:33,415 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-9 +2021-08-30 22:29:33,415 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-3 +2021-08-30 22:29:33,415 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-3 +2021-08-30 22:29:33,416 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-3 +2021-08-30 22:29:33,416 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-4 +2021-08-30 22:29:33,416 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-4 +2021-08-30 22:29:33,416 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-4 +2021-08-30 22:29:33,417 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-6 +2021-08-30 22:29:33,417 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-6 +2021-08-30 22:29:33,418 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-6 +2021-08-30 22:29:33,418 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-7 +2021-08-30 22:29:33,418 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-7 +2021-08-30 22:29:33,419 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-7 +2021-08-30 22:29:33,419 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-10 +2021-08-30 22:29:33,419 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-10 +2021-08-30 22:29:33,420 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-10 +2021-08-30 22:29:33,420 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-12 +2021-08-30 22:29:33,421 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-12 +2021-08-30 22:29:33,421 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-12 +2021-08-30 22:29:33,421 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-15 +2021-08-30 22:29:33,422 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-15 +2021-08-30 22:29:33,422 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-15 +2021-08-30 22:29:33,422 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-5 +2021-08-30 22:29:33,423 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-5 +2021-08-30 22:29:33,423 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-5 +2021-08-30 22:29:33,423 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-16 +2021-08-30 22:29:33,424 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-16 +2021-08-30 22:29:33,424 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-16 +2021-08-30 22:29:33,424 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-Xiaotui2-2 +2021-08-30 22:29:33,425 INFO ExportHelperExtension.cs: 1142 - Found 27 in Gou-2-Xiaotui2-2 +2021-08-30 22:29:33,425 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-Xiaotui2-2 +2021-08-30 22:29:33,425 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-14 +2021-08-30 22:29:33,426 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-14 +2021-08-30 22:29:33,426 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-14 +2021-08-30 22:29:33,426 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-8 +2021-08-30 22:29:33,427 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-8 +2021-08-30 22:29:33,427 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-8 +2021-08-30 22:29:33,427 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from Gou-2-xuniguanjie-13 +2021-08-30 22:29:33,428 INFO ExportHelperExtension.cs: 1142 - Found 25 in Gou-2-xuniguanjie-13 +2021-08-30 22:29:33,428 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in Gou-2-xuniguanjie-13 +2021-08-30 22:29:33,519 INFO ExportPropertyManager.cs: 1184 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-30 22:31:16,231 INFO AssemblyExportForm.cs: 254 - Completing URDF export +2021-08-30 22:31:16,235 INFO Serialization.cs: 275 - URDF Configuration found 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+2021-08-30 22:31:42,926 INFO AssemblyExportForm.cs: 308 - Saving URDF package to C:\Users\Zhitong\Desktop\gou2 +2021-08-30 22:31:42,926 INFO ExportHelper.cs: 147 - Beginning the export process +2021-08-30 22:31:42,927 INFO ExportHelper.cs: 153 - Creating package directories with name gou2 and save path C:\Users\Zhitong\Desktop +2021-08-30 22:31:44,032 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at C:\Users\Zhitong\Desktop\gou2\CMakeLists.txt +2021-08-30 22:31:44,034 INFO ExportHelper.cs: 166 - Creating joint names config at C:\Users\Zhitong\Desktop\gou2\config\joint_names_gou2.yaml +2021-08-30 22:31:44,035 INFO ExportHelper.cs: 170 - Creating package.xml at C:\Users\Zhitong\Desktop\gou2\package.xml +2021-08-30 22:31:44,035 INFO PackageXMLWriter.cs: 21 - Creating package.xml at C:\Users\Zhitong\Desktop\gou2\package.xml +2021-08-30 22:31:44,036 INFO ExportHelper.cs: 177 - Creating RVIZ launch file in C:\Users\Zhitong\Desktop\gou2\launch\ +2021-08-30 22:31:44,037 INFO ExportHelper.cs: 182 - Creating Gazebo launch file in C:\Users\Zhitong\Desktop\gou2\launch\ +2021-08-30 22:31:44,038 INFO ExportHelper.cs: 187 - Saving existing STL preferences +2021-08-30 22:31:44,038 INFO ExportHelper.cs: 451 - Saving users preferences +2021-08-30 22:31:44,039 INFO ExportHelper.cs: 190 - Modifying STL preferences +2021-08-30 22:31:44,039 INFO ExportHelper.cs: 465 - Setting STL preferences +2021-08-30 22:31:44,041 INFO ExportHelper.cs: 196 - Found 0 hidden components +2021-08-30 22:31:44,042 INFO ExportHelper.cs: 197 - Hiding all components +2021-08-30 22:31:44,297 INFO ExportHelper.cs: 204 - Beginning individual files export +2021-08-30 22:31:44,299 INFO ExportHelper.cs: 270 - Exporting link: base_link +2021-08-30 22:31:44,299 INFO ExportHelper.cs: 272 - Link base_link has 4 children +2021-08-30 22:31:44,300 INFO ExportHelper.cs: 270 - Exporting link: LF_JIAN_LINK +2021-08-30 22:31:44,301 INFO ExportHelper.cs: 272 - Link LF_JIAN_LINK has 1 children +2021-08-30 22:31:44,301 INFO ExportHelper.cs: 270 - Exporting link: LF_ZHOU_LINK +2021-08-30 22:31:44,302 INFO ExportHelper.cs: 272 - Link LF_ZHOU_LINK has 1 children +2021-08-30 22:31:44,303 INFO ExportHelper.cs: 270 - Exporting link: LF_XI_LINK +2021-08-30 22:31:44,303 INFO ExportHelper.cs: 272 - Link LF_XI_LINK has 1 children +2021-08-30 22:31:44,305 INFO ExportHelper.cs: 270 - Exporting link: LF_R_LINK +2021-08-30 22:31:44,306 INFO ExportHelper.cs: 272 - Link LF_R_LINK has 1 children +2021-08-30 22:31:44,307 INFO ExportHelper.cs: 270 - Exporting link: LF_P_LINK +2021-08-30 22:31:44,307 INFO ExportHelper.cs: 272 - Link LF_P_LINK has 1 children +2021-08-30 22:31:44,307 INFO ExportHelper.cs: 270 - Exporting link: LF_Y_LINK +2021-08-30 22:31:44,308 INFO ExportHelper.cs: 272 - Link LF_Y_LINK has 0 children +2021-08-30 22:31:44,308 INFO ExportHelper.cs: 318 - LF_Y_LINK: Exporting STL with coordinate frame ×ø±êϵ7 +2021-08-30 22:31:44,308 INFO ExportHelper.cs: 323 - LF_Y_LINK: Reference geometry name +2021-08-30 22:31:44,393 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LF_Y_LINK.STL +2021-08-30 22:31:44,471 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:44,473 WARN ExportHelper.cs: 409 - Correcting the STL C:\Users\Zhitong\Desktop\gou2\meshes\LF_Y_LINK.STL failed. This STL may not be readable by ROS or other CAD programs +System.IO.FileNotFoundException: δÄÜÕÒµ½Îļþ¡°C:\Users\Zhitong\Desktop\gou2\meshes\LF_Y_LINK.STL¡±¡£ +ÎļþÃû:¡°C:\Users\Zhitong\Desktop\gou2\meshes\LF_Y_LINK.STL¡± + ÔÚ System.IO.__Error.WinIOError(Int32 errorCode, String maybeFullPath) + ÔÚ System.IO.FileStream.Init(String path, FileMode mode, FileAccess access, Int32 rights, Boolean useRights, FileShare share, Int32 bufferSize, FileOptions options, SECURITY_ATTRIBUTES secAttrs, String msgPath, Boolean bFromProxy, Boolean useLongPath, Boolean checkHost) + ÔÚ System.IO.FileStream..ctor(String path, FileMode mode, FileAccess access, FileShare share) + ÔÚ SW2URDF.URDFExport.ExportHelper.CorrectSTLMesh(String filename) λÖà C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelper.cs:ÐкŠ409 +2021-08-30 22:31:44,479 WARN ExportHelper.cs: 344 - There was an issue exporting the STL for LF_Y_LINK. It may not be readable by CAD programs that aren't SolidWorks +2021-08-30 22:31:44,480 INFO ExportHelper.cs: 318 - LF_P_LINK: Exporting STL with coordinate frame ×ø±êϵ6 +2021-08-30 22:31:44,480 INFO ExportHelper.cs: 323 - LF_P_LINK: Reference geometry name +2021-08-30 22:31:44,551 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LF_P_LINK.STL +2021-08-30 22:31:44,632 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:44,633 WARN ExportHelper.cs: 409 - Correcting the STL C:\Users\Zhitong\Desktop\gou2\meshes\LF_P_LINK.STL failed. This STL may not be readable by ROS or other CAD programs +System.IO.FileNotFoundException: δÄÜÕÒµ½Îļþ¡°C:\Users\Zhitong\Desktop\gou2\meshes\LF_P_LINK.STL¡±¡£ +ÎļþÃû:¡°C:\Users\Zhitong\Desktop\gou2\meshes\LF_P_LINK.STL¡± + ÔÚ System.IO.__Error.WinIOError(Int32 errorCode, String maybeFullPath) + ÔÚ System.IO.FileStream.Init(String path, FileMode mode, FileAccess access, Int32 rights, Boolean useRights, FileShare share, Int32 bufferSize, FileOptions options, SECURITY_ATTRIBUTES secAttrs, String msgPath, Boolean bFromProxy, Boolean useLongPath, Boolean checkHost) + ÔÚ System.IO.FileStream..ctor(String path, FileMode mode, FileAccess access, FileShare share) + ÔÚ SW2URDF.URDFExport.ExportHelper.CorrectSTLMesh(String filename) λÖà C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelper.cs:ÐкŠ409 +2021-08-30 22:31:44,637 WARN ExportHelper.cs: 344 - There was an issue exporting the STL for LF_P_LINK. It may not be readable by CAD programs that aren't SolidWorks +2021-08-30 22:31:44,637 INFO ExportHelper.cs: 318 - LF_R_LINK: Exporting STL with coordinate frame ×ø±êϵ5 +2021-08-30 22:31:44,638 INFO ExportHelper.cs: 323 - LF_R_LINK: Reference geometry name +2021-08-30 22:31:44,726 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LF_R_LINK.STL +2021-08-30 22:31:44,820 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:44,821 WARN ExportHelper.cs: 409 - Correcting the STL C:\Users\Zhitong\Desktop\gou2\meshes\LF_R_LINK.STL failed. This STL may not be readable by ROS or other CAD programs +System.IO.FileNotFoundException: δÄÜÕÒµ½Îļþ¡°C:\Users\Zhitong\Desktop\gou2\meshes\LF_R_LINK.STL¡±¡£ +ÎļþÃû:¡°C:\Users\Zhitong\Desktop\gou2\meshes\LF_R_LINK.STL¡± + ÔÚ System.IO.__Error.WinIOError(Int32 errorCode, String maybeFullPath) + ÔÚ System.IO.FileStream.Init(String path, FileMode mode, FileAccess access, Int32 rights, Boolean useRights, FileShare share, Int32 bufferSize, FileOptions options, SECURITY_ATTRIBUTES secAttrs, String msgPath, Boolean bFromProxy, Boolean useLongPath, Boolean checkHost) + ÔÚ System.IO.FileStream..ctor(String path, FileMode mode, FileAccess access, FileShare share) + ÔÚ SW2URDF.URDFExport.ExportHelper.CorrectSTLMesh(String filename) λÖà C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelper.cs:ÐкŠ409 +2021-08-30 22:31:44,822 WARN ExportHelper.cs: 344 - There was an issue exporting the STL for LF_R_LINK. It may not be readable by CAD programs that aren't SolidWorks +2021-08-30 22:31:44,822 INFO ExportHelper.cs: 318 - LF_XI_LINK: Exporting STL with coordinate frame ×ø±êϵ4 +2021-08-30 22:31:44,823 INFO ExportHelper.cs: 323 - LF_XI_LINK: Reference geometry name +2021-08-30 22:31:44,937 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LF_XI_LINK.STL +2021-08-30 22:31:45,055 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:45,056 INFO ExportHelper.cs: 318 - LF_ZHOU_LINK: Exporting STL with coordinate frame ×ø±êϵ3 +2021-08-30 22:31:45,056 INFO ExportHelper.cs: 323 - LF_ZHOU_LINK: Reference geometry name +2021-08-30 22:31:45,294 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LF_ZHOU_LINK.STL +2021-08-30 22:31:45,410 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:45,410 INFO ExportHelper.cs: 318 - LF_JIAN_LINK: Exporting STL with coordinate frame ×ø±êϵ2 +2021-08-30 22:31:45,411 INFO ExportHelper.cs: 323 - LF_JIAN_LINK: Reference geometry name +2021-08-30 22:31:45,474 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LF_JIAN_LINK.STL +2021-08-30 22:31:45,544 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:45,545 WARN ExportHelper.cs: 409 - Correcting the STL C:\Users\Zhitong\Desktop\gou2\meshes\LF_JIAN_LINK.STL failed. This STL may not be readable by ROS or other CAD programs +System.IO.FileNotFoundException: δÄÜÕÒµ½Îļþ¡°C:\Users\Zhitong\Desktop\gou2\meshes\LF_JIAN_LINK.STL¡±¡£ +ÎļþÃû:¡°C:\Users\Zhitong\Desktop\gou2\meshes\LF_JIAN_LINK.STL¡± + ÔÚ System.IO.__Error.WinIOError(Int32 errorCode, String maybeFullPath) + ÔÚ System.IO.FileStream.Init(String path, FileMode mode, FileAccess access, Int32 rights, Boolean useRights, FileShare share, Int32 bufferSize, FileOptions options, SECURITY_ATTRIBUTES secAttrs, String msgPath, Boolean bFromProxy, Boolean useLongPath, Boolean checkHost) + ÔÚ System.IO.FileStream..ctor(String path, FileMode mode, FileAccess access, FileShare share) + ÔÚ SW2URDF.URDFExport.ExportHelper.CorrectSTLMesh(String filename) λÖà C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelper.cs:ÐкŠ409 +2021-08-30 22:31:45,545 WARN ExportHelper.cs: 344 - There was an issue exporting the STL for LF_JIAN_LINK. It may not be readable by CAD programs that aren't SolidWorks +2021-08-30 22:31:45,546 INFO ExportHelper.cs: 270 - Exporting link: LB_JIAN_LINK +2021-08-30 22:31:45,547 INFO ExportHelper.cs: 272 - Link LB_JIAN_LINK has 1 children +2021-08-30 22:31:45,548 INFO ExportHelper.cs: 270 - Exporting link: LB_ZHOU_LINK +2021-08-30 22:31:45,548 INFO ExportHelper.cs: 272 - Link LB_ZHOU_LINK has 1 children +2021-08-30 22:31:45,549 INFO ExportHelper.cs: 270 - Exporting link: LB_XI_LINK +2021-08-30 22:31:45,549 INFO ExportHelper.cs: 272 - Link LB_XI_LINK has 1 children +2021-08-30 22:31:45,550 INFO ExportHelper.cs: 270 - Exporting link: LB_R_LINK +2021-08-30 22:31:45,551 INFO ExportHelper.cs: 272 - Link LB_R_LINK has 1 children +2021-08-30 22:31:45,552 INFO ExportHelper.cs: 270 - Exporting link: LB_P_LINK +2021-08-30 22:31:45,552 INFO ExportHelper.cs: 272 - Link LB_P_LINK has 1 children +2021-08-30 22:31:45,553 INFO ExportHelper.cs: 270 - Exporting link: LB_Y_LINK +2021-08-30 22:31:45,553 INFO ExportHelper.cs: 272 - Link LB_Y_LINK has 0 children +2021-08-30 22:31:45,554 INFO ExportHelper.cs: 318 - LB_Y_LINK: Exporting STL with coordinate frame ×ø±êϵ13 +2021-08-30 22:31:45,554 INFO ExportHelper.cs: 323 - LB_Y_LINK: Reference geometry name +2021-08-30 22:31:45,616 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LB_Y_LINK.STL +2021-08-30 22:31:45,693 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:45,693 WARN ExportHelper.cs: 409 - Correcting the STL C:\Users\Zhitong\Desktop\gou2\meshes\LB_Y_LINK.STL failed. This STL may not be readable by ROS or other CAD programs +System.IO.FileNotFoundException: δÄÜÕÒµ½Îļþ¡°C:\Users\Zhitong\Desktop\gou2\meshes\LB_Y_LINK.STL¡±¡£ +ÎļþÃû:¡°C:\Users\Zhitong\Desktop\gou2\meshes\LB_Y_LINK.STL¡± + ÔÚ System.IO.__Error.WinIOError(Int32 errorCode, String maybeFullPath) + ÔÚ System.IO.FileStream.Init(String path, FileMode mode, FileAccess access, Int32 rights, Boolean useRights, FileShare share, Int32 bufferSize, FileOptions options, SECURITY_ATTRIBUTES secAttrs, String msgPath, Boolean bFromProxy, Boolean useLongPath, Boolean checkHost) + ÔÚ System.IO.FileStream..ctor(String path, FileMode mode, FileAccess access, FileShare share) + ÔÚ SW2URDF.URDFExport.ExportHelper.CorrectSTLMesh(String filename) λÖà C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelper.cs:ÐкŠ409 +2021-08-30 22:31:45,694 WARN ExportHelper.cs: 344 - There was an issue exporting the STL for LB_Y_LINK. It may not be readable by CAD programs that aren't SolidWorks +2021-08-30 22:31:45,694 INFO ExportHelper.cs: 318 - LB_P_LINK: Exporting STL with coordinate frame ×ø±êϵ12 +2021-08-30 22:31:45,695 INFO ExportHelper.cs: 323 - LB_P_LINK: Reference geometry name +2021-08-30 22:31:45,763 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LB_P_LINK.STL +2021-08-30 22:31:45,831 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:45,832 WARN ExportHelper.cs: 409 - Correcting the STL C:\Users\Zhitong\Desktop\gou2\meshes\LB_P_LINK.STL failed. This STL may not be readable by ROS or other CAD programs +System.IO.FileNotFoundException: δÄÜÕÒµ½Îļþ¡°C:\Users\Zhitong\Desktop\gou2\meshes\LB_P_LINK.STL¡±¡£ +ÎļþÃû:¡°C:\Users\Zhitong\Desktop\gou2\meshes\LB_P_LINK.STL¡± + ÔÚ System.IO.__Error.WinIOError(Int32 errorCode, String maybeFullPath) + ÔÚ System.IO.FileStream.Init(String path, FileMode mode, FileAccess access, Int32 rights, Boolean useRights, FileShare share, Int32 bufferSize, FileOptions options, SECURITY_ATTRIBUTES secAttrs, String msgPath, Boolean bFromProxy, Boolean useLongPath, Boolean checkHost) + ÔÚ System.IO.FileStream..ctor(String path, FileMode mode, FileAccess access, FileShare share) + ÔÚ SW2URDF.URDFExport.ExportHelper.CorrectSTLMesh(String filename) λÖà C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelper.cs:ÐкŠ409 +2021-08-30 22:31:45,832 WARN ExportHelper.cs: 344 - There was an issue exporting the STL for LB_P_LINK. It may not be readable by CAD programs that aren't SolidWorks +2021-08-30 22:31:45,833 INFO ExportHelper.cs: 318 - LB_R_LINK: Exporting STL with coordinate frame ×ø±êϵ11 +2021-08-30 22:31:45,833 INFO ExportHelper.cs: 323 - LB_R_LINK: Reference geometry name +2021-08-30 22:31:45,913 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LB_R_LINK.STL +2021-08-30 22:31:45,995 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:45,995 WARN ExportHelper.cs: 409 - Correcting the STL C:\Users\Zhitong\Desktop\gou2\meshes\LB_R_LINK.STL failed. This STL may not be readable by ROS or other CAD programs +System.IO.FileNotFoundException: δÄÜÕÒµ½Îļþ¡°C:\Users\Zhitong\Desktop\gou2\meshes\LB_R_LINK.STL¡±¡£ +ÎļþÃû:¡°C:\Users\Zhitong\Desktop\gou2\meshes\LB_R_LINK.STL¡± + ÔÚ System.IO.__Error.WinIOError(Int32 errorCode, String maybeFullPath) + ÔÚ System.IO.FileStream.Init(String path, FileMode mode, FileAccess access, Int32 rights, Boolean useRights, FileShare share, Int32 bufferSize, FileOptions options, SECURITY_ATTRIBUTES secAttrs, String msgPath, Boolean bFromProxy, Boolean useLongPath, Boolean checkHost) + ÔÚ System.IO.FileStream..ctor(String path, FileMode mode, FileAccess access, FileShare share) + ÔÚ SW2URDF.URDFExport.ExportHelper.CorrectSTLMesh(String filename) λÖà C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelper.cs:ÐкŠ409 +2021-08-30 22:31:45,996 WARN ExportHelper.cs: 344 - There was an issue exporting the STL for LB_R_LINK. It may not be readable by CAD programs that aren't SolidWorks +2021-08-30 22:31:45,996 INFO ExportHelper.cs: 318 - LB_XI_LINK: Exporting STL with coordinate frame ×ø±êϵ10 +2021-08-30 22:31:45,996 INFO ExportHelper.cs: 323 - LB_XI_LINK: Reference geometry name +2021-08-30 22:31:46,113 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LB_XI_LINK.STL +2021-08-30 22:31:46,273 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:46,274 INFO ExportHelper.cs: 318 - LB_ZHOU_LINK: Exporting STL with coordinate frame ×ø±êϵ9 +2021-08-30 22:31:46,275 INFO ExportHelper.cs: 323 - LB_ZHOU_LINK: Reference geometry name +2021-08-30 22:31:46,431 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LB_ZHOU_LINK.STL +2021-08-30 22:31:46,571 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:46,572 INFO ExportHelper.cs: 318 - LB_JIAN_LINK: Exporting STL with coordinate frame ×ø±êϵ8 +2021-08-30 22:31:46,573 INFO ExportHelper.cs: 323 - LB_JIAN_LINK: Reference geometry name +2021-08-30 22:31:46,675 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\LB_JIAN_LINK.STL +2021-08-30 22:31:46,784 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:46,785 WARN ExportHelper.cs: 409 - Correcting the STL C:\Users\Zhitong\Desktop\gou2\meshes\LB_JIAN_LINK.STL failed. This STL may not be readable by ROS or other CAD programs +System.IO.FileNotFoundException: δÄÜÕÒµ½Îļþ¡°C:\Users\Zhitong\Desktop\gou2\meshes\LB_JIAN_LINK.STL¡±¡£ +ÎļþÃû:¡°C:\Users\Zhitong\Desktop\gou2\meshes\LB_JIAN_LINK.STL¡± + ÔÚ System.IO.__Error.WinIOError(Int32 errorCode, String maybeFullPath) + ÔÚ System.IO.FileStream.Init(String path, FileMode mode, FileAccess access, Int32 rights, Boolean useRights, FileShare share, Int32 bufferSize, FileOptions options, SECURITY_ATTRIBUTES secAttrs, String msgPath, Boolean bFromProxy, Boolean useLongPath, Boolean checkHost) + ÔÚ System.IO.FileStream..ctor(String path, FileMode mode, FileAccess access, FileShare share) + ÔÚ SW2URDF.URDFExport.ExportHelper.CorrectSTLMesh(String filename) λÖà C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelper.cs:ÐкŠ409 +2021-08-30 22:31:46,786 WARN ExportHelper.cs: 344 - There was an issue exporting the STL for LB_JIAN_LINK. It may not be readable by CAD programs that aren't SolidWorks +2021-08-30 22:31:46,787 INFO ExportHelper.cs: 270 - Exporting link: RF_JIAN_LINK +2021-08-30 22:31:46,788 INFO ExportHelper.cs: 272 - Link RF_JIAN_LINK has 1 children +2021-08-30 22:31:46,789 INFO ExportHelper.cs: 270 - Exporting link: RF_ZHOU_LINK +2021-08-30 22:31:46,789 INFO ExportHelper.cs: 272 - Link RF_ZHOU_LINK has 1 children +2021-08-30 22:31:46,789 INFO ExportHelper.cs: 270 - Exporting link: RF_XI_LINK +2021-08-30 22:31:46,789 INFO ExportHelper.cs: 272 - Link RF_XI_LINK has 1 children +2021-08-30 22:31:46,790 INFO ExportHelper.cs: 270 - Exporting link: RF_R_LINK +2021-08-30 22:31:46,790 INFO ExportHelper.cs: 272 - Link RF_R_LINK has 1 children +2021-08-30 22:31:46,791 INFO ExportHelper.cs: 270 - Exporting link: RF_P_LINK +2021-08-30 22:31:46,792 INFO ExportHelper.cs: 272 - Link RF_P_LINK has 1 children +2021-08-30 22:31:46,792 INFO ExportHelper.cs: 270 - Exporting link: RF_Y_LINK +2021-08-30 22:31:46,793 INFO ExportHelper.cs: 272 - Link RF_Y_LINK has 0 children +2021-08-30 22:31:46,793 INFO ExportHelper.cs: 318 - RF_Y_LINK: Exporting STL with coordinate frame ×ø±êϵ19 +2021-08-30 22:31:46,793 INFO ExportHelper.cs: 323 - RF_Y_LINK: Reference geometry name +2021-08-30 22:31:46,858 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RF_Y_LINK.STL +2021-08-30 22:31:46,924 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:46,924 WARN ExportHelper.cs: 409 - Correcting the STL C:\Users\Zhitong\Desktop\gou2\meshes\RF_Y_LINK.STL failed. This STL may not be readable by ROS or other CAD programs +System.IO.FileNotFoundException: δÄÜÕÒµ½Îļþ¡°C:\Users\Zhitong\Desktop\gou2\meshes\RF_Y_LINK.STL¡±¡£ +ÎļþÃû:¡°C:\Users\Zhitong\Desktop\gou2\meshes\RF_Y_LINK.STL¡± + ÔÚ System.IO.__Error.WinIOError(Int32 errorCode, String maybeFullPath) + ÔÚ System.IO.FileStream.Init(String path, FileMode mode, FileAccess access, Int32 rights, Boolean useRights, FileShare share, Int32 bufferSize, FileOptions options, SECURITY_ATTRIBUTES secAttrs, String msgPath, Boolean bFromProxy, Boolean useLongPath, Boolean checkHost) + ÔÚ System.IO.FileStream..ctor(String path, FileMode mode, FileAccess access, FileShare share) + ÔÚ SW2URDF.URDFExport.ExportHelper.CorrectSTLMesh(String filename) λÖà C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelper.cs:ÐкŠ409 +2021-08-30 22:31:46,925 WARN ExportHelper.cs: 344 - There was an issue exporting the STL for RF_Y_LINK. It may not be readable by CAD programs that aren't SolidWorks +2021-08-30 22:31:46,925 INFO ExportHelper.cs: 318 - RF_P_LINK: Exporting STL with coordinate frame ×ø±êϵ18 +2021-08-30 22:31:46,925 INFO ExportHelper.cs: 323 - RF_P_LINK: Reference geometry name +2021-08-30 22:31:46,989 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RF_P_LINK.STL +2021-08-30 22:31:47,065 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:47,065 WARN ExportHelper.cs: 409 - Correcting the STL C:\Users\Zhitong\Desktop\gou2\meshes\RF_P_LINK.STL failed. This STL may not be readable by ROS or other CAD programs +System.IO.FileNotFoundException: δÄÜÕÒµ½Îļþ¡°C:\Users\Zhitong\Desktop\gou2\meshes\RF_P_LINK.STL¡±¡£ +ÎļþÃû:¡°C:\Users\Zhitong\Desktop\gou2\meshes\RF_P_LINK.STL¡± + ÔÚ System.IO.__Error.WinIOError(Int32 errorCode, String maybeFullPath) + ÔÚ System.IO.FileStream.Init(String path, FileMode mode, FileAccess access, Int32 rights, Boolean useRights, FileShare share, Int32 bufferSize, FileOptions options, SECURITY_ATTRIBUTES secAttrs, String msgPath, Boolean bFromProxy, Boolean useLongPath, Boolean checkHost) + ÔÚ System.IO.FileStream..ctor(String path, FileMode mode, FileAccess access, FileShare share) + ÔÚ SW2URDF.URDFExport.ExportHelper.CorrectSTLMesh(String filename) λÖà C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelper.cs:ÐкŠ409 +2021-08-30 22:31:47,066 WARN ExportHelper.cs: 344 - There was an issue exporting the STL for RF_P_LINK. It may not be readable by CAD programs that aren't SolidWorks +2021-08-30 22:31:47,066 INFO ExportHelper.cs: 318 - RF_R_LINK: Exporting STL with coordinate frame ×ø±êϵ17 +2021-08-30 22:31:47,066 INFO ExportHelper.cs: 323 - RF_R_LINK: Reference geometry name +2021-08-30 22:31:47,129 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RF_R_LINK.STL +2021-08-30 22:31:47,196 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:47,196 WARN ExportHelper.cs: 409 - Correcting the STL C:\Users\Zhitong\Desktop\gou2\meshes\RF_R_LINK.STL failed. This STL may not be readable by ROS or other CAD programs +System.IO.FileNotFoundException: δÄÜÕÒµ½Îļþ¡°C:\Users\Zhitong\Desktop\gou2\meshes\RF_R_LINK.STL¡±¡£ +ÎļþÃû:¡°C:\Users\Zhitong\Desktop\gou2\meshes\RF_R_LINK.STL¡± + ÔÚ System.IO.__Error.WinIOError(Int32 errorCode, String maybeFullPath) + ÔÚ System.IO.FileStream.Init(String path, FileMode mode, FileAccess access, Int32 rights, Boolean useRights, FileShare share, Int32 bufferSize, FileOptions options, SECURITY_ATTRIBUTES secAttrs, String msgPath, Boolean bFromProxy, Boolean useLongPath, Boolean checkHost) + ÔÚ System.IO.FileStream..ctor(String path, FileMode mode, FileAccess access, FileShare share) + ÔÚ SW2URDF.URDFExport.ExportHelper.CorrectSTLMesh(String filename) λÖà C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelper.cs:ÐкŠ409 +2021-08-30 22:31:47,196 WARN ExportHelper.cs: 344 - There was an issue exporting the STL for RF_R_LINK. It may not be readable by CAD programs that aren't SolidWorks +2021-08-30 22:31:47,196 INFO ExportHelper.cs: 318 - RF_XI_LINK: Exporting STL with coordinate frame ×ø±êϵ16 +2021-08-30 22:31:47,197 INFO ExportHelper.cs: 323 - RF_XI_LINK: Reference geometry name +2021-08-30 22:31:47,292 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RF_XI_LINK.STL +2021-08-30 22:31:47,400 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:47,400 INFO ExportHelper.cs: 318 - RF_ZHOU_LINK: Exporting STL with coordinate frame ×ø±êϵ15 +2021-08-30 22:31:47,400 INFO ExportHelper.cs: 323 - RF_ZHOU_LINK: Reference geometry name +2021-08-30 22:31:47,520 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RF_ZHOU_LINK.STL +2021-08-30 22:31:47,621 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:47,622 INFO ExportHelper.cs: 318 - RF_JIAN_LINK: Exporting STL with coordinate frame ×ø±êϵ14 +2021-08-30 22:31:47,622 INFO ExportHelper.cs: 323 - RF_JIAN_LINK: Reference geometry name +2021-08-30 22:31:47,692 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RF_JIAN_LINK.STL +2021-08-30 22:31:47,764 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:47,765 WARN ExportHelper.cs: 409 - Correcting the STL C:\Users\Zhitong\Desktop\gou2\meshes\RF_JIAN_LINK.STL failed. This STL may not be readable by ROS or other CAD programs +System.IO.FileNotFoundException: δÄÜÕÒµ½Îļþ¡°C:\Users\Zhitong\Desktop\gou2\meshes\RF_JIAN_LINK.STL¡±¡£ +ÎļþÃû:¡°C:\Users\Zhitong\Desktop\gou2\meshes\RF_JIAN_LINK.STL¡± + ÔÚ System.IO.__Error.WinIOError(Int32 errorCode, String maybeFullPath) + ÔÚ System.IO.FileStream.Init(String path, FileMode mode, FileAccess access, Int32 rights, Boolean useRights, FileShare share, Int32 bufferSize, FileOptions options, SECURITY_ATTRIBUTES secAttrs, String msgPath, Boolean bFromProxy, Boolean useLongPath, Boolean checkHost) + ÔÚ System.IO.FileStream..ctor(String path, FileMode mode, FileAccess access, FileShare share) + ÔÚ SW2URDF.URDFExport.ExportHelper.CorrectSTLMesh(String filename) λÖà C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelper.cs:ÐкŠ409 +2021-08-30 22:31:47,765 WARN ExportHelper.cs: 344 - There was an issue exporting the STL for RF_JIAN_LINK. It may not be readable by CAD programs that aren't SolidWorks +2021-08-30 22:31:47,765 INFO ExportHelper.cs: 270 - Exporting link: RB_JIAN_LINK +2021-08-30 22:31:47,766 INFO ExportHelper.cs: 272 - Link RB_JIAN_LINK has 1 children +2021-08-30 22:31:47,766 INFO ExportHelper.cs: 270 - Exporting link: RB_ZHOU_LINK +2021-08-30 22:31:47,767 INFO ExportHelper.cs: 272 - Link RB_ZHOU_LINK has 1 children +2021-08-30 22:31:47,768 INFO ExportHelper.cs: 270 - Exporting link: RB_XI_LINK +2021-08-30 22:31:47,768 INFO ExportHelper.cs: 272 - Link RB_XI_LINK has 1 children +2021-08-30 22:31:47,769 INFO ExportHelper.cs: 270 - Exporting link: RB_R_LINK +2021-08-30 22:31:47,769 INFO ExportHelper.cs: 272 - Link RB_R_LINK has 1 children +2021-08-30 22:31:47,771 INFO ExportHelper.cs: 270 - Exporting link: RB_P_LINK +2021-08-30 22:31:47,771 INFO ExportHelper.cs: 272 - Link RB_P_LINK has 1 children +2021-08-30 22:31:47,773 INFO ExportHelper.cs: 270 - Exporting link: RB_Y_LINK +2021-08-30 22:31:47,773 INFO ExportHelper.cs: 272 - Link RB_Y_LINK has 0 children +2021-08-30 22:31:47,774 INFO ExportHelper.cs: 318 - RB_Y_LINK: Exporting STL with coordinate frame ×ø±êϵ25 +2021-08-30 22:31:47,774 INFO ExportHelper.cs: 323 - RB_Y_LINK: Reference geometry name +2021-08-30 22:31:47,836 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RB_Y_LINK.STL +2021-08-30 22:31:47,904 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:47,905 WARN ExportHelper.cs: 409 - Correcting the STL C:\Users\Zhitong\Desktop\gou2\meshes\RB_Y_LINK.STL failed. This STL may not be readable by ROS or other CAD programs +System.IO.FileNotFoundException: δÄÜÕÒµ½Îļþ¡°C:\Users\Zhitong\Desktop\gou2\meshes\RB_Y_LINK.STL¡±¡£ +ÎļþÃû:¡°C:\Users\Zhitong\Desktop\gou2\meshes\RB_Y_LINK.STL¡± + ÔÚ System.IO.__Error.WinIOError(Int32 errorCode, String maybeFullPath) + ÔÚ System.IO.FileStream.Init(String path, FileMode mode, FileAccess access, Int32 rights, Boolean useRights, FileShare share, Int32 bufferSize, FileOptions options, SECURITY_ATTRIBUTES secAttrs, String msgPath, Boolean bFromProxy, Boolean useLongPath, Boolean checkHost) + ÔÚ System.IO.FileStream..ctor(String path, FileMode mode, FileAccess access, FileShare share) + ÔÚ SW2URDF.URDFExport.ExportHelper.CorrectSTLMesh(String filename) λÖà C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelper.cs:ÐкŠ409 +2021-08-30 22:31:47,905 WARN ExportHelper.cs: 344 - There was an issue exporting the STL for RB_Y_LINK. It may not be readable by CAD programs that aren't SolidWorks +2021-08-30 22:31:47,906 INFO ExportHelper.cs: 318 - RB_P_LINK: Exporting STL with coordinate frame ×ø±êϵ24 +2021-08-30 22:31:47,906 INFO ExportHelper.cs: 323 - RB_P_LINK: Reference geometry name +2021-08-30 22:31:47,981 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RB_P_LINK.STL +2021-08-30 22:31:48,049 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:48,050 WARN ExportHelper.cs: 409 - Correcting the STL C:\Users\Zhitong\Desktop\gou2\meshes\RB_P_LINK.STL failed. This STL may not be readable by ROS or other CAD programs +System.IO.FileNotFoundException: δÄÜÕÒµ½Îļþ¡°C:\Users\Zhitong\Desktop\gou2\meshes\RB_P_LINK.STL¡±¡£ +ÎļþÃû:¡°C:\Users\Zhitong\Desktop\gou2\meshes\RB_P_LINK.STL¡± + ÔÚ System.IO.__Error.WinIOError(Int32 errorCode, String maybeFullPath) + ÔÚ System.IO.FileStream.Init(String path, FileMode mode, FileAccess access, Int32 rights, Boolean useRights, FileShare share, Int32 bufferSize, FileOptions options, SECURITY_ATTRIBUTES secAttrs, String msgPath, Boolean bFromProxy, Boolean useLongPath, Boolean checkHost) + ÔÚ System.IO.FileStream..ctor(String path, FileMode mode, FileAccess access, FileShare share) + ÔÚ SW2URDF.URDFExport.ExportHelper.CorrectSTLMesh(String filename) λÖà C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelper.cs:ÐкŠ409 +2021-08-30 22:31:48,051 WARN ExportHelper.cs: 344 - There was an issue exporting the STL for RB_P_LINK. It may not be readable by CAD programs that aren't SolidWorks +2021-08-30 22:31:48,051 INFO ExportHelper.cs: 318 - RB_R_LINK: Exporting STL with coordinate frame ×ø±êϵ23 +2021-08-30 22:31:48,051 INFO ExportHelper.cs: 323 - RB_R_LINK: Reference geometry name +2021-08-30 22:31:48,113 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RB_R_LINK.STL +2021-08-30 22:31:48,180 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:48,181 WARN ExportHelper.cs: 409 - Correcting the STL C:\Users\Zhitong\Desktop\gou2\meshes\RB_R_LINK.STL failed. This STL may not be readable by ROS or other CAD programs +System.IO.FileNotFoundException: δÄÜÕÒµ½Îļþ¡°C:\Users\Zhitong\Desktop\gou2\meshes\RB_R_LINK.STL¡±¡£ +ÎļþÃû:¡°C:\Users\Zhitong\Desktop\gou2\meshes\RB_R_LINK.STL¡± + ÔÚ System.IO.__Error.WinIOError(Int32 errorCode, String maybeFullPath) + ÔÚ System.IO.FileStream.Init(String path, FileMode mode, FileAccess access, Int32 rights, Boolean useRights, FileShare share, Int32 bufferSize, FileOptions options, SECURITY_ATTRIBUTES secAttrs, String msgPath, Boolean bFromProxy, Boolean useLongPath, Boolean checkHost) + ÔÚ System.IO.FileStream..ctor(String path, FileMode mode, FileAccess access, FileShare share) + ÔÚ SW2URDF.URDFExport.ExportHelper.CorrectSTLMesh(String filename) λÖà C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelper.cs:ÐкŠ409 +2021-08-30 22:31:48,181 WARN ExportHelper.cs: 344 - There was an issue exporting the STL for RB_R_LINK. It may not be readable by CAD programs that aren't SolidWorks +2021-08-30 22:31:48,181 INFO ExportHelper.cs: 318 - RB_XI_LINK: Exporting STL with coordinate frame ×ø±êϵ22 +2021-08-30 22:31:48,182 INFO ExportHelper.cs: 323 - RB_XI_LINK: Reference geometry name +2021-08-30 22:31:48,293 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RB_XI_LINK.STL +2021-08-30 22:31:48,390 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:48,391 INFO ExportHelper.cs: 318 - RB_ZHOU_LINK: Exporting STL with coordinate frame ×ø±êϵ21 +2021-08-30 22:31:48,391 INFO ExportHelper.cs: 323 - RB_ZHOU_LINK: Reference geometry name +2021-08-30 22:31:48,493 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RB_ZHOU_LINK.STL +2021-08-30 22:31:48,599 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:48,600 INFO ExportHelper.cs: 318 - RB_JIAN_LINK: Exporting STL with coordinate frame ×ø±êϵ20 +2021-08-30 22:31:48,601 INFO ExportHelper.cs: 323 - RB_JIAN_LINK: Reference geometry name +2021-08-30 22:31:48,666 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\RB_JIAN_LINK.STL +2021-08-30 22:31:48,760 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:48,761 WARN ExportHelper.cs: 409 - Correcting the STL C:\Users\Zhitong\Desktop\gou2\meshes\RB_JIAN_LINK.STL failed. This STL may not be readable by ROS or other CAD programs +System.IO.FileNotFoundException: δÄÜÕÒµ½Îļþ¡°C:\Users\Zhitong\Desktop\gou2\meshes\RB_JIAN_LINK.STL¡±¡£ +ÎļþÃû:¡°C:\Users\Zhitong\Desktop\gou2\meshes\RB_JIAN_LINK.STL¡± + ÔÚ System.IO.__Error.WinIOError(Int32 errorCode, String maybeFullPath) + ÔÚ System.IO.FileStream.Init(String path, FileMode mode, FileAccess access, Int32 rights, Boolean useRights, FileShare share, Int32 bufferSize, FileOptions options, SECURITY_ATTRIBUTES secAttrs, String msgPath, Boolean bFromProxy, Boolean useLongPath, Boolean checkHost) + ÔÚ System.IO.FileStream..ctor(String path, FileMode mode, FileAccess access, FileShare share) + ÔÚ SW2URDF.URDFExport.ExportHelper.CorrectSTLMesh(String filename) λÖà C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelper.cs:ÐкŠ409 +2021-08-30 22:31:48,762 WARN ExportHelper.cs: 344 - There was an issue exporting the STL for RB_JIAN_LINK. It may not be readable by CAD programs that aren't SolidWorks +2021-08-30 22:31:48,762 INFO ExportHelper.cs: 318 - base_link: Exporting STL with coordinate frame ×ø±êϵ1 +2021-08-30 22:31:48,762 INFO ExportHelper.cs: 323 - base_link: Reference geometry name +2021-08-30 22:31:49,030 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gou2\meshes\base_link.STL +2021-08-30 22:31:51,420 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-30 22:31:51,421 INFO ExportHelper.cs: 145 - Showing all components except previously hidden components +2021-08-30 22:31:56,407 INFO ExportHelper.cs: 145 - Resetting STL preferences +2021-08-30 22:31:56,408 INFO ExportHelper.cs: 479 - Returning STL preferences to user preferences +2021-08-30 22:31:56,408 INFO ExportHelper.cs: 228 - Writing URDF file to C:\Users\Zhitong\Desktop\gou2\urdf\gou2.urdf +2021-08-30 22:31:56,411 INFO CSVImportExport.cs: 32 - Writing CSV file C:\Users\Zhitong\Desktop\gou2\urdf\gou2.csv +2021-08-30 22:31:56,412 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,413 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,413 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,414 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,414 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,415 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,415 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,416 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,416 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,417 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,418 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,418 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,419 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,419 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,420 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,421 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,421 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,422 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,422 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,423 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,423 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,424 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,425 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,425 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,426 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-30 22:31:56,426 INFO ExportHelper.cs: 234 - Copying log file +2021-08-30 22:31:56,427 INFO ExportHelper.cs: 440 - Copying C:\Users\Zhitong\sw2urdf_logs\sw2urdf.log to C:\Users\Zhitong\Desktop\gou2\export.log diff --git a/gou2/gou2/launch/display.launch b/gou2/gou2/launch/display.launch new file mode 100644 index 0000000..0e03d48 --- /dev/null +++ b/gou2/gou2/launch/display.launch @@ -0,0 +1,26 @@ + + + + + + + + + diff --git a/gou2/gou2/launch/gazebo.launch b/gou2/gou2/launch/gazebo.launch new file mode 100644 index 0000000..0dd8dc8 --- /dev/null +++ b/gou2/gou2/launch/gazebo.launch @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/gou2/gou2/launch/gou2_ik.launch b/gou2/gou2/launch/gou2_ik.launch new file mode 100644 index 0000000..6b1ce56 --- /dev/null +++ b/gou2/gou2/launch/gou2_ik.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/gou2/gou2/meshes/LB_XI_LINK.STL b/gou2/gou2/meshes/LB_XI_LINK.STL new file mode 100644 index 0000000..4bc3a02 Binary files /dev/null and b/gou2/gou2/meshes/LB_XI_LINK.STL differ diff --git a/gou2/gou2/meshes/LB_ZHOU_LINK.STL b/gou2/gou2/meshes/LB_ZHOU_LINK.STL new file mode 100644 index 0000000..c0d5c05 Binary files /dev/null and b/gou2/gou2/meshes/LB_ZHOU_LINK.STL differ diff --git a/gou2/gou2/meshes/LF_XI_LINK.STL b/gou2/gou2/meshes/LF_XI_LINK.STL new file mode 100644 index 0000000..73dde5a Binary files /dev/null and b/gou2/gou2/meshes/LF_XI_LINK.STL differ diff --git a/gou2/gou2/meshes/LF_ZHOU_LINK.STL b/gou2/gou2/meshes/LF_ZHOU_LINK.STL new file mode 100644 index 0000000..c0d5c05 Binary files /dev/null and b/gou2/gou2/meshes/LF_ZHOU_LINK.STL differ diff --git a/gou2/gou2/meshes/RB_XI_LINK.STL b/gou2/gou2/meshes/RB_XI_LINK.STL new file mode 100644 index 0000000..81fc0db Binary files /dev/null and b/gou2/gou2/meshes/RB_XI_LINK.STL differ diff --git a/gou2/gou2/meshes/RB_ZHOU_LINK.STL b/gou2/gou2/meshes/RB_ZHOU_LINK.STL new file mode 100644 index 0000000..e77281c Binary files /dev/null and b/gou2/gou2/meshes/RB_ZHOU_LINK.STL differ diff --git a/gou2/gou2/meshes/RF_XI_LINK.STL b/gou2/gou2/meshes/RF_XI_LINK.STL new file mode 100644 index 0000000..eb6bbf7 Binary files /dev/null and b/gou2/gou2/meshes/RF_XI_LINK.STL differ diff --git a/gou2/gou2/meshes/RF_ZHOU_LINK.STL b/gou2/gou2/meshes/RF_ZHOU_LINK.STL new file mode 100644 index 0000000..a9a21ed Binary files /dev/null and b/gou2/gou2/meshes/RF_ZHOU_LINK.STL differ diff --git a/gou2/gou2/meshes/base_link.STL b/gou2/gou2/meshes/base_link.STL new file mode 100644 index 0000000..7b3cbd8 Binary files /dev/null and b/gou2/gou2/meshes/base_link.STL differ diff --git a/gou2/gou2/package.xml b/gou2/gou2/package.xml new file mode 100644 index 0000000..2cd1be4 --- /dev/null +++ b/gou2/gou2/package.xml @@ -0,0 +1,21 @@ + + gou2 + 1.0.0 + +

URDF Description package for gou2

+

This package contains configuration data, 3D models and launch files +for gou2 robot

+ + TODO + + BSD + catkin + roslaunch + robot_state_publisher + rviz + joint_state_publisher + gazebo + + + + \ No newline at end of file diff --git a/gou2/gou2/src/gou2.cpp b/gou2/gou2/src/gou2.cpp new file mode 100644 index 0000000..a8b8fd8 --- /dev/null +++ b/gou2/gou2/src/gou2.cpp @@ -0,0 +1,687 @@ +#include +#include +#include + +#include "ros/ros.h" +#include "sensor_msgs/JointState.h" +#include "turtlesim/Pose.h" +#include "tf2_ros/static_transform_broadcaster.h" +#include "tf2_ros/transform_broadcaster.h" +#include "tf2_geometry_msgs/tf2_geometry_msgs.h" +#include "geometry_msgs/TransformStamped.h" +#include "tf2/LinearMath/Quaternion.h" +#include "kdl_parser/kdl_parser.hpp" +#include "kdl/chainiksolverpos_nr_jl.hpp" +#include "trac_ik/trac_ik.hpp" +#include "urdf/model.h" +#include +#include +#include "geometry_msgs/PointStamped.h" +#include "tf2_ros/transform_listener.h" +#include "tf2_ros/buffer.h" +#include "std_msgs/Float64.h" + +#define pi 3.141592653 + +//å‰åŽå·¦å³åœ:a,b,c,d,e + +char cmd='a'; + +int main(int argc,char* argv[]) +{ + setlocale(LC_ALL,""); + ros::init(argc,argv,"gou2_test"); + ros::NodeHandle nh; + ros::Publisher joint_pub=nh.advertise("joint_states",1000); + + ros::Publisher lf_jian_pu=nh.advertise("/gou2/lf_jian_con/command",1000); + ros::Publisher lf_zhou_pu=nh.advertise("/gou2/lf_zhou_con/command",1000); + ros::Publisher lf_xi_pu=nh.advertise("/gou2/lf_xi_con/command",1000); + ros::Publisher lb_jian_pu=nh.advertise("/gou2/lb_jian_con/command",1000); + ros::Publisher lb_zhou_pu=nh.advertise("/gou2/lb_zhou_con/command",1000); + ros::Publisher lb_xi_pu=nh.advertise("/gou2/lb_xi_con/command",1000); + ros::Publisher rf_jian_pu=nh.advertise("/gou2/rf_jian_con/command",1000); + ros::Publisher rf_zhou_pu=nh.advertise("/gou2/rf_zhou_con/command",1000); + ros::Publisher rf_xi_pu=nh.advertise("/gou2/rf_xi_con/command",1000); + ros::Publisher rb_jian_pu=nh.advertise("/gou2/rb_jian_con/command",1000); + ros::Publisher rb_zhou_pu=nh.advertise("/gou2/rb_zhou_con/command",1000); + ros::Publisher rb_xi_pu=nh.advertise("/gou2/rb_xi_con/command",1000); + + //定义tfå标广播器 + tf2_ros::StaticTransformBroadcaster broadcaster; + geometry_msgs::TransformStamped ts; + + ts.header.seq=100; + ts.header.stamp=ros::Time::now(); + ts.header.frame_id="world"; + ts.child_frame_id="base_link"; + ts.transform.translation.x=0.0; + ts.transform.translation.y=0.0; + ts.transform.translation.z=0.0805; + + tf2::Quaternion qtn; + qtn.setRPY(0,0,0); + ts.transform.rotation.x=qtn.getX(); + ts.transform.rotation.y=qtn.getY(); + ts.transform.rotation.z=qtn.getZ(); + ts.transform.rotation.w=qtn.getW(); + broadcaster.sendTransform(ts); +/* + //创建一个serial对象 + serial::Serial sp; + serial::Timeout to = serial::Timeout::simpleTimeout(10); + //设置è¦æ‰“开的串å£å称 + sp.setPort("/dev/ttyUSB0"); + //设置串å£é€šä¿¡çš„波特率 + sp.setBaudrate(9600); + //串å£è®¾ç½®timeout + sp.setTimeout(to); + + try + { + //æ‰“å¼€ä¸²å£ + sp.open(); + } + catch(serial::IOException& e) + { + ROS_ERROR_STREAM("Unable to open port."); + return -1; + } + + //判断串å£æ˜¯å¦æ‰“å¼€æˆåŠŸ + if(sp.isOpen()) + { + ROS_INFO_STREAM("/dev/ttyUSB0 is opened."); + } + else + { + return -1; + } +*/ + sensor_msgs::JointState joint_state; + + std::string robot_desc_string; + nh.param("robot1_description", robot_desc_string, std::string()); + KDL::Tree my_tree; + if(!kdl_parser::treeFromString(robot_desc_string, my_tree)) + //if(!kdl_parser::treeFromFile("/home/zhitong/catkin_ws_serial/src/Gou2/urdf/Gou2.urdf", my_tree)) + { + ROS_ERROR("Failed to construct kdl tree"); + } + else + { + ROS_INFO("æˆåŠŸç”Ÿæˆkdlæ ‘!"); + } + std::vector joint_name = { +"LF_JIAN_JOINT", "LF_ZHOU_JOINT", "LF_XI_JOINT", "LF_R_JOINT","LF_P_JOINT", "LF_Y_JOINT", +"LB_JIAN_JOINT", "LB_ZHOU_JOINT", "LB_XI_JOINT", "LB_R_JOINT","LB_P_JOINT", "LB_Y_JOINT", +"RF_JIAN_JOINT", "RF_ZHOU_JOINT", "RF_XI_JOINT", "RF_R_JOINT","RF_P_JOINT", "RF_Y_JOINT", +"RB_JIAN_JOINT", "RB_ZHOU_JOINT", "RB_XI_JOINT", "RB_R_JOINT","RB_P_JOINT", "RB_Y_JOINT" +}; + std::vector joint_pos = { +0,0,0,0,0,0,0, +0,0,0,0,0,0,0, +0,0,0,0,0,0,0, +0,0,0,0,0,0,0 +}; + + std::string urdf_param = "/robot1_description"; + double timeout = 0.005; + double eps = 1e-5; + std::string chain_start = "base_link"; + std::string chain_end = "LF_Y_LINK"; + TRAC_IK::TRAC_IK tracik_solver(chain_start, chain_end, urdf_param, timeout, eps); + KDL::Chain chain; + KDL::JntArray ll, ul; //关节下é™, å…³èŠ‚ä¸Šé™ + bool valid = tracik_solver.getKDLChain(chain); + if(!valid) + { + ROS_ERROR("There was no valid KDL chain found"); + } + valid = tracik_solver.getKDLLimits(ll, ul); + if(!valid) + { + ROS_ERROR("There was no valid KDL joint limits found"); + } + KDL::ChainFkSolverPos_recursive fk_solver(chain); + ROS_INFO("关节数é‡: %d", chain.getNrOfJoints()); + + KDL::JntArray q(6); // åˆå§‹å…³èŠ‚ä½ç½® + q(0)=0; + q(1)=-pi/6; + q(2)=pi/6; + q(3)=0; + q(4)=0; + q(5)=0; + //定义末端4x4é½æ¬¡å˜æ¢çŸ©é˜µ(å„个关节ä½äºŽåˆå§‹ä½ç½®æ—¶ï¼Œæœ«ç«¯é½æ¬¡çŸ©é˜µ) + KDL::Frame end_effector_pose1_l; + KDL::Frame end_effector_pose1_r; + //定义末端4x4é½æ¬¡å˜æ¢çŸ©é˜µ(å„个关节的实时末端é½æ¬¡çŸ©é˜µ) + KDL::Frame end_effector_pose_l;//left now + KDL::Frame end_effector_pose_r;//left now + + //定义逆è¿åŠ¨å­¦è§£ç®—结果存储数组 + KDL::JntArray result_l;//left + KDL::JntArray result_r;//right + //上一帧的关节å˜é‡ + KDL::JntArray resu_last_l;//left last + KDL::JntArray resu_last_r;//right last + ros::Rate r(40); + + auto print_frame_lambda = [](KDL::Frame f) + { + double x, y, z, roll, pitch, yaw; + x = f.p.x(); + y = f.p.y(); + z = f.p.z(); + f.M.GetRPY(roll, pitch, yaw); + std::cout << "x:" << x << " y:" << y << " z:" << z << " roll:" << roll << " pitch:" << pitch << " yaw:" << yaw << std::endl; + }; + + //æ­£è¿åŠ¨å­¦æ±‚åˆå§‹çŠ¶æ€é½æ¬¡å˜æ¢çŸ©é˜µ + fk_solver.JntToCart(q,end_effector_pose1_l); + fk_solver.JntToCart(q,end_effector_pose1_r); + print_frame_lambda(end_effector_pose1_l); + + ROS_INFO("更新关节状æ€"); + joint_state.header.stamp = ros::Time::now(); + //ROS_INFO("%d",joint_state.header.stamp); + joint_state.name.resize(24); + joint_state.position.resize(24); + + for(size_t i=0;i<=23;i++) + { + joint_state.name[i] = joint_name[i]; + } + + for(int i=0;i<=23;i++) + { + joint_state.position[i]=q(i%6); + } + joint_pub.publish(joint_state); + + fk_solver.JntToCart(q, end_effector_pose_l); + fk_solver.JntToCart(q, end_effector_pose_r); + + resu_last_l=q; + resu_last_r=q; + + double r_b=0.0,p_b=0.0,y_b=0.0; + + geometry_msgs::PointStamped point_base; + point_base.header.frame_id="base_link"; + point_base.header.stamp=ros::Time::now(); + point_base.point.x=0; + point_base.point.y=0; + point_base.point.z=0; + + tf2_ros::Buffer BUffer; + tf2_ros::TransformListener listener(BUffer); + + while(ros::ok()) + { + cmd='a'; + +/* + size_t n = sp.available(); + if(n!=0) + { + uint8_t buffer[1024]; + n = sp.read(buffer, n); + cmd=buffer[0]; + } + +*/ + + if(cmd=='a') + { + //x=0.02*(t-sint); + //y=0.02*(1-cost); + for(int i=1;i<=20;i++) + { + double t=2*pi*i/20; + double x=0.005*(t-sin(t)); + double z=0.005*(1-cos(t)); + end_effector_pose_l.p.data[0]=end_effector_pose1_l.p.data[0]+x; + end_effector_pose_l.p.data[2]=end_effector_pose1_l.p.data[2]+z; + int rc_l = tracik_solver.CartToJnt(resu_last_l, end_effector_pose_l, result_l); + + end_effector_pose_r.p.data[0]=end_effector_pose1_r.p.data[0]+0.005*2*pi-x; + end_effector_pose_r.p.data[2]=end_effector_pose1_r.p.data[2]; + int rc_r = tracik_solver.CartToJnt(resu_last_r, end_effector_pose_r, result_r); + + //ROS_INFO("%f,%f,%f,%f,%f,%f",result_l(0),result_l(1),result_l(2),result_l(3),result_l(4),result_l(5)); + + joint_state.header.stamp = ros::Time::now(); + + for(int j=0;j<=23;j++) + { + joint_state.position[j]=((j/6==0)||(j/6==3))?result_l(j%6):result_r(j%6); + } + joint_pub.publish(joint_state); + + + std_msgs::Float64 joint_po; + + joint_po.data=joint_state.position[0]; + lf_jian_pu.publish(joint_po); + joint_po.data=joint_state.position[1]; + lf_zhou_pu.publish(joint_po); + joint_po.data=joint_state.position[2]; + lf_xi_pu.publish(joint_po); + + joint_po.data=joint_state.position[6]; + lb_jian_pu.publish(joint_po); + joint_po.data=joint_state.position[7]; + lb_zhou_pu.publish(joint_po); + joint_po.data=joint_state.position[8]; + lb_xi_pu.publish(joint_po); + + joint_po.data=joint_state.position[12]; + rf_jian_pu.publish(joint_po); + joint_po.data=joint_state.position[13]; + rf_zhou_pu.publish(joint_po); + joint_po.data=joint_state.position[14]; + rf_xi_pu.publish(joint_po); + + joint_po.data=joint_state.position[18]; + rb_jian_pu.publish(joint_po); + joint_po.data=joint_state.position[19]; + rb_zhou_pu.publish(joint_po); + joint_po.data=joint_state.position[20]; + rb_xi_pu.publish(joint_po); + + + + + ts.header.stamp=ros::Time::now(); + point_base.header.stamp=ros::Time::now(); + point_base.point.x=0.00025*2*pi; + point_base.point.y=0; + point_base.point.z=0; + + geometry_msgs::PointStamped point_world; + point_world=BUffer.transform(point_base,"world"); + + ts.transform.translation.x=point_world.point.x; + ts.transform.translation.y=point_world.point.y; + ts.transform.translation.z=point_world.point.z; + + point_base.point.x=0; + + + + ts.transform.translation.x+=0.00025*2*pi; + ts.transform.translation.y=0.0; + ts.transform.translation.z=0.0805; + + + qtn.setRPY(r_b,p_b,y_b); + ts.transform.rotation.x=qtn.getX(); + ts.transform.rotation.y=qtn.getY(); + ts.transform.rotation.z=qtn.getZ(); + ts.transform.rotation.w=qtn.getW(); + broadcaster.sendTransform(ts); + + resu_last_l=result_l; + resu_last_r=result_r; + r.sleep(); + } + + for(int i=1;i<=20;i++) + { + double t=2*pi*i/20; + double x=0.005*(t-sin(t)); + double z=0.005*(1-cos(t)); + end_effector_pose_l.p.data[0]=end_effector_pose1_l.p.data[0]+0.005*2*pi-x; + end_effector_pose_l.p.data[2]=end_effector_pose1_l.p.data[2]; + int rc_l = tracik_solver.CartToJnt(resu_last_l, end_effector_pose_l, result_l); + + end_effector_pose_r.p.data[0]=end_effector_pose1_r.p.data[0]+x; + end_effector_pose_r.p.data[2]=end_effector_pose1_r.p.data[2]+z; + int rc_r = tracik_solver.CartToJnt(resu_last_r, end_effector_pose_r, result_r); + + joint_state.header.stamp = ros::Time::now(); + + for(int j=0;j<=23;j++) + { + joint_state.position[j]=((j/6==0)||(j/6==3))?result_l(j%6):result_r(j%6); + } + + joint_pub.publish(joint_state); + + + + + std_msgs::Float64 joint_po; + ROS_INFO("hello"); + joint_po.data=joint_state.position[0]; + lf_jian_pu.publish(joint_po); + joint_po.data=joint_state.position[1]; + lf_zhou_pu.publish(joint_po); + joint_po.data=joint_state.position[2]; + lf_xi_pu.publish(joint_po); + + joint_po.data=joint_state.position[6]; + lb_jian_pu.publish(joint_po); + joint_po.data=joint_state.position[7]; + lb_zhou_pu.publish(joint_po); + joint_po.data=joint_state.position[8]; + lb_xi_pu.publish(joint_po); + + joint_po.data=joint_state.position[12]; + rf_jian_pu.publish(joint_po); + joint_po.data=joint_state.position[13]; + rf_zhou_pu.publish(joint_po); + joint_po.data=joint_state.position[14]; + rf_xi_pu.publish(joint_po); + + joint_po.data=joint_state.position[18]; + rb_jian_pu.publish(joint_po); + joint_po.data=joint_state.position[19]; + rb_zhou_pu.publish(joint_po); + joint_po.data=joint_state.position[20]; + rb_xi_pu.publish(joint_po); + + + ts.header.stamp=ros::Time::now(); + point_base.header.stamp=ros::Time::now(); + point_base.point.x=0.00025*2*pi; + point_base.point.y=0; + point_base.point.z=0; + + geometry_msgs::PointStamped point_world; + point_world=BUffer.transform(point_base,"world"); + + ts.transform.translation.x=point_world.point.x; + ts.transform.translation.y=point_world.point.y; + ts.transform.translation.z=point_world.point.z; + + point_base.point.x=0.0; + + + + ts.transform.translation.x+=0.00025*2*pi; + ts.transform.translation.y=0.0; + ts.transform.translation.z=0.0805; + + qtn.setRPY(r_b,p_b,y_b); + ts.transform.rotation.x=qtn.getX(); + ts.transform.rotation.y=qtn.getY(); + ts.transform.rotation.z=qtn.getZ(); + ts.transform.rotation.w=qtn.getW(); + broadcaster.sendTransform(ts); + + resu_last_l=result_l; + resu_last_r=result_r; + r.sleep(); + } + } + else if(cmd=='b') + { + //x=0.02*(t-sint); + //y=0.02*(1-cost); + for(int i=1;i<=20;i++) + { + double t=2*pi*i/20; + double x=0.005*(t-sin(t)); + double z=0.005*(1-cos(t)); + end_effector_pose_l.p.data[0]=end_effector_pose1_l.p.data[0]+0.005*2*pi-x; + end_effector_pose_l.p.data[2]=end_effector_pose1_l.p.data[2]+z; + int rc_l = tracik_solver.CartToJnt(resu_last_l, end_effector_pose_l, result_l); + + end_effector_pose_r.p.data[0]=end_effector_pose1_r.p.data[0]+x; + end_effector_pose_r.p.data[2]=end_effector_pose1_r.p.data[2]; + int rc_r = tracik_solver.CartToJnt(resu_last_r, end_effector_pose_r, result_r); + + joint_state.header.stamp = ros::Time::now(); + + for(int j=0;j<=23;j++) + { + joint_state.position[j]=((j/6==0)||(j/6==3))?result_l(j%6):result_r(j%6); + } + joint_pub.publish(joint_state); + + ts.header.stamp=ros::Time::now(); + point_base.header.stamp=ros::Time::now(); + point_base.point.x=-0.00025*2*pi; + point_base.point.y=0; + point_base.point.z=0; + + geometry_msgs::PointStamped point_world; + point_world=BUffer.transform(point_base,"world"); + + ts.transform.translation.x=point_world.point.x; + ts.transform.translation.y=point_world.point.y; + ts.transform.translation.z=point_world.point.z; + + point_base.point.x=0; + +/* + ts.transform.translation.x-=0.00025*2*pi; + ts.transform.translation.y=0.0; + ts.transform.translation.z=0.0805; +*/ + qtn.setRPY(r_b,p_b,y_b); + ts.transform.rotation.x=qtn.getX(); + ts.transform.rotation.y=qtn.getY(); + ts.transform.rotation.z=qtn.getZ(); + ts.transform.rotation.w=qtn.getW(); + broadcaster.sendTransform(ts); + + resu_last_l=result_l; + resu_last_r=result_r; + r.sleep(); + } + + for(int i=1;i<=20;i++) + { + double t=2*pi*i/20; + double x=0.005*(t-sin(t)); + double z=0.005*(1-cos(t)); + end_effector_pose_l.p.data[0]=end_effector_pose1_l.p.data[0]+x; + end_effector_pose_l.p.data[2]=end_effector_pose1_l.p.data[2]; + int rc_l = tracik_solver.CartToJnt(resu_last_l, end_effector_pose_l, result_l); + + end_effector_pose_r.p.data[0]=end_effector_pose1_r.p.data[0]+0.005*2*pi-x; + end_effector_pose_r.p.data[2]=end_effector_pose1_r.p.data[2]+z; + int rc_r = tracik_solver.CartToJnt(resu_last_r, end_effector_pose_r, result_r); + + joint_state.header.stamp = ros::Time::now(); + + for(int j=0;j<=23;j++) + { + joint_state.position[j]=((j/6==0)||(j/6==3))?result_l(j%6):result_r(j%6); + } + + joint_pub.publish(joint_state); + + ts.header.stamp=ros::Time::now(); + point_base.header.stamp=ros::Time::now(); + point_base.point.x=-0.00025*2*pi; + point_base.point.y=0; + point_base.point.z=0; + + geometry_msgs::PointStamped point_world; + point_world=BUffer.transform(point_base,"world"); + + ts.transform.translation.x=point_world.point.x; + ts.transform.translation.y=point_world.point.y; + ts.transform.translation.z=point_world.point.z; + + point_base.point.x=0; +/* + ts.transform.translation.x-=0.00025*2*pi; + ts.transform.translation.y=0.0; + ts.transform.translation.z=0.0805; +*/ + qtn.setRPY(r_b,p_b,y_b); + ts.transform.rotation.x=qtn.getX(); + ts.transform.rotation.y=qtn.getY(); + ts.transform.rotation.z=qtn.getZ(); + ts.transform.rotation.w=qtn.getW(); + broadcaster.sendTransform(ts); + + resu_last_l=result_l; + resu_last_r=result_r; + r.sleep(); + } + } + else if(cmd=='c') + { + //x=0.02*(t-sint); + //y=0.02*(1-cost); + for(int i=1;i<=20;i++) + { + double t=2*pi*i/20; + double x=0.005*(t-sin(t)); + double z=0.005*(1-cos(t)); + end_effector_pose_l.p.data[0]=end_effector_pose1_l.p.data[0]+0.005*2*pi-x; + end_effector_pose_l.p.data[2]=end_effector_pose1_l.p.data[2]+z; + int rc_l = tracik_solver.CartToJnt(resu_last_l, end_effector_pose_l, result_l); + + end_effector_pose_r.p.data[0]=end_effector_pose1_r.p.data[0]+0.005*2*pi-x; + end_effector_pose_r.p.data[2]=end_effector_pose1_r.p.data[2]; + int rc_r = tracik_solver.CartToJnt(resu_last_r, end_effector_pose_r, result_r); + + joint_state.header.stamp = ros::Time::now(); + + for(int j=0;j<=23;j++) + { + joint_state.position[j]=((j/6==0)||(j/6==3))?result_l(j%6):result_r(j%6); + } + joint_pub.publish(joint_state); + + ts.header.stamp=ros::Time::now(); + y_b+=pi/(20*20*2); + qtn.setRPY(r_b,p_b,y_b); + ts.transform.rotation.x=qtn.getX(); + ts.transform.rotation.y=qtn.getY(); + ts.transform.rotation.z=qtn.getZ(); + ts.transform.rotation.w=qtn.getW(); + broadcaster.sendTransform(ts); + + resu_last_l=result_l; + resu_last_r=result_r; + r.sleep(); + } + + for(int i=1;i<=20;i++) + { + double t=2*pi*i/20; + double x=0.005*(t-sin(t)); + double z=0.005*(1-cos(t)); + end_effector_pose_l.p.data[0]=end_effector_pose1_l.p.data[0]+x; + end_effector_pose_l.p.data[2]=end_effector_pose1_l.p.data[2]; + int rc_l = tracik_solver.CartToJnt(resu_last_l, end_effector_pose_l, result_l); + + end_effector_pose_r.p.data[0]=end_effector_pose1_r.p.data[0]+x; + end_effector_pose_r.p.data[2]=end_effector_pose1_r.p.data[2]+z; + int rc_r = tracik_solver.CartToJnt(resu_last_r, end_effector_pose_r, result_r); + + joint_state.header.stamp = ros::Time::now(); + + for(int j=0;j<=23;j++) + { + joint_state.position[j]=((j/6==0)||(j/6==3))?result_l(j%6):result_r(j%6); + } + + joint_pub.publish(joint_state); + + ts.header.stamp=ros::Time::now(); + y_b+=pi/(20*20*2); + qtn.setRPY(r_b,p_b,y_b); + ts.transform.rotation.x=qtn.getX(); + ts.transform.rotation.y=qtn.getY(); + ts.transform.rotation.z=qtn.getZ(); + ts.transform.rotation.w=qtn.getW(); + broadcaster.sendTransform(ts); + + resu_last_l=result_l; + resu_last_r=result_r; + r.sleep(); + } + } + else if(cmd=='d') + { + //x=0.02*(t-sint); + //y=0.02*(1-cost); + for(int i=1;i<=20;i++) + { + double t=2*pi*i/20; + double x=0.005*(t-sin(t)); + double z=0.005*(1-cos(t)); + + end_effector_pose_l.p.data[0]=end_effector_pose1_l.p.data[0]+x; + end_effector_pose_l.p.data[2]=end_effector_pose1_l.p.data[2]+z; + int rc_l = tracik_solver.CartToJnt(resu_last_l, end_effector_pose_l, result_l); + + end_effector_pose_r.p.data[0]=end_effector_pose1_r.p.data[0]+x; + end_effector_pose_r.p.data[2]=end_effector_pose1_r.p.data[2]; + int rc_r = tracik_solver.CartToJnt(resu_last_r, end_effector_pose_r, result_r); + + joint_state.header.stamp = ros::Time::now(); + + for(int j=0;j<=23;j++) + { + joint_state.position[j]=((j/6==0)||(j/6==3))?result_l(j%6):result_r(j%6); + } + joint_pub.publish(joint_state); + + ts.header.stamp=ros::Time::now(); + y_b-=pi/(20*20*2); + qtn.setRPY(r_b,p_b,y_b); + ts.transform.rotation.x=qtn.getX(); + ts.transform.rotation.y=qtn.getY(); + ts.transform.rotation.z=qtn.getZ(); + ts.transform.rotation.w=qtn.getW(); + broadcaster.sendTransform(ts); + + resu_last_l=result_l; + resu_last_r=result_r; + r.sleep(); + } + + for(int i=1;i<=20;i++) + { + double t=2*pi*i/20; + double x=0.005*(t-sin(t)); + double z=0.005*(1-cos(t)); + end_effector_pose_l.p.data[0]=end_effector_pose1_l.p.data[0]+(0.005*2*pi-x); + end_effector_pose_l.p.data[2]=end_effector_pose1_l.p.data[2]; + int rc_l = tracik_solver.CartToJnt(resu_last_l, end_effector_pose_l, result_l); + + end_effector_pose_r.p.data[0]=end_effector_pose1_r.p.data[0]+0.005*2*pi-x; + end_effector_pose_r.p.data[2]=end_effector_pose1_r.p.data[2]+z; + int rc_r = tracik_solver.CartToJnt(resu_last_r, end_effector_pose_r, result_r); + + joint_state.header.stamp = ros::Time::now(); + + for(int j=0;j<=23;j++) + { + joint_state.position[j]=((j/6==0)||(j/6==3))?result_l(j%6):result_r(j%6); + } + + joint_pub.publish(joint_state); + + ts.header.stamp=ros::Time::now(); + y_b-=pi/(20*20*2); + qtn.setRPY(r_b,p_b,y_b); + ts.transform.rotation.x=qtn.getX(); + ts.transform.rotation.y=qtn.getY(); + ts.transform.rotation.z=qtn.getZ(); + ts.transform.rotation.w=qtn.getW(); + broadcaster.sendTransform(ts); + + resu_last_l=result_l; + resu_last_r=result_r; + r.sleep(); + } + } + else if(cmd=='e') + r.sleep(); + else; + } + return 0; +} + diff --git a/gou2/gou2/txt.txt b/gou2/gou2/txt.txt new file mode 100644 index 0000000..511f012 --- /dev/null +++ b/gou2/gou2/txt.txt @@ -0,0 +1,76 @@ + lf_jian_con + lb_jian_con + rf_jian_con + rb_jian_con + + + lf_jian_con: + type: position_controllers/JointPositionController + joint: LF_JIAN_JOINT + #pid: {p: 1.0, i: 0.01, d: 0.0} + lb_jian_con: + type: position_controllers/JointPositionController + joint: LB_JIAN_JOINT + #pid: {p: 1.0, i: 0.01, d: 0.0} + rf_jian_con: + type: position_controllers/JointPositionController + joint: RF_JIAN_JOINT + #pid: {p: 1.0, i: 0.01, d: 0.0} + rb_jian_con: + type: position_controllers/JointPositionController + joint: RB_JIAN_JOINT + #pid: {p: 1.0, i: 0.01, d: 0.0} + + + + LF_JIAN_JOINT: {p: 1.0, i: 0.0, d: 0.0} + LB_JIAN_JOINT: {p: 1.0, i: 0.0, d: 0.0} + RF_JIAN_JOINT: {p: 1.0, i: 0.0, d: 0.0} + RB_JIAN_JOINT: {p: 1.0, i: 0.0, d: 0.0} + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + diff --git a/gou2/gou2/urdf/gou2.csv b/gou2/gou2/urdf/gou2.csv new file mode 100644 index 0000000..1775cdc --- /dev/null +++ b/gou2/gou2/urdf/gou2.csv @@ -0,0 +1,26 @@ +Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity +base_link,0.00239086434033531,0.000199255741624531,-0.00013079370812909,0,0,0,0.941484635627895,0.000209928253043728,1.16253598509181E-06,-7.59914437724361E-08,0.00122280602530151,-2.21405921740874E-11,0.00140751862624959,0,0,0,0,0,0,package://gou2/meshes/base_link.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://gou2/meshes/base_link.STL,,JIJIA-1;mpu6050-1,å标系1,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,, +LF_JIAN_LINK,-0.0539657436881796,0.0119844204986863,0.0593375454484812,0,0,0,1.39729963569281,0.00458289280415563,2.64159261572492E-06,-1.42747619958464E-06,0.00534215746371847,1.28385425078759E-05,0.00190255271211888,0,0,0,0,0,0,package://gou2/meshes/LF_JIAN_LINK.STL,0.529411764705882,0.549019607843137,0.549019607843137,1,0,0,0,0,0,0,package://gou2/meshes/LF_JIAN_LINK.STL,,Gou-2-xuniguanjie-1,å标系2,基准轴2,LF_JIAN_JOINT,revolute,0.062375,0.0541,0,-1.5708,0,1.5708,base_link,0,0,1,200,5,0,0,,,,,,,, +LF_ZHOU_LINK,0.0225,3.63799268487952E-13,-0.00312828322559292,0,0,0,0.0430066968458608,1.55414746498561E-06,-6.51958766162213E-15,6.04358835046556E-23,1.31332156421398E-05,8.81260069658944E-18,1.46158600796761E-05,0,0,0,0,0,0,package://gou2/meshes/LF_ZHOU_LINK.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://gou2/meshes/LF_ZHOU_LINK.STL,,Gou-2-Datui-1,å标系3,基准轴3,LF_ZHOU_JOINT,revolute,0,0,0,1.5708,0,1.5708,LF_JIAN_LINK,0,0,-1,200,5,-1.5708,1.5708,,,,,,,, +LF_XI_LINK,0.00701881640631829,-6.48026486714873E-05,-0.0225280710035354,0,0,0,0.070947069333853,4.48510971806086E-06,1.10821379951271E-07,3.43509633718089E-07,1.05267854653431E-05,6.74865017311917E-15,8.3536065276885E-06,0,0,0,0,0,0,package://gou2/meshes/LF_XI_LINK.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://gou2/meshes/LF_XI_LINK.STL,,Gou-2-Xiaotui-1,å标系4,基准轴4,LF_XI_JOINT,revolute,0.045,0,0,0,0,-1.5707963267949,LF_ZHOU_LINK,0,0,1,200,5,-1.5708,1.5708,,,,,,,, +LF_R_LINK,-0.107342545448481,-0.0330155795013137,-0.0539657436881796,0,0,0,1.39729963569281,0.00190255271211888,-1.28385425078764E-05,1.42747619958461E-06,0.00534215746371847,2.64159261572496E-06,0.00458289280415563,0,0,0,0,0,0,package://gou2/meshes/LF_R_LINK.STL,0.529411764705882,0.549019607843137,0.549019607843137,1,0,0,0,0,0,0,package://gou2/meshes/LF_R_LINK.STL,,Gou-2-xuniguanjie-3,å标系5,基准轴5,LF_R_JOINT,revolute,0.048,0,0,0,0,0,LF_XI_LINK,0,0,1,200,5,0,0,,,,,,,, +LF_P_LINK,-0.107342545448481,-0.0539657436881796,0.0330155795013137,0,0,0,1.39729963569281,0.00190255271211888,1.42747619958462E-06,1.28385425078765E-05,0.00458289280415563,-2.64159261572506E-06,0.00534215746371847,0,0,0,0,0,0,package://gou2/meshes/LF_P_LINK.STL,0.529411764705882,0.549019607843137,0.549019607843137,1,0,0,0,0,0,0,package://gou2/meshes/LF_P_LINK.STL,,Gou-2-xuniguanjie-4,å标系6,基准轴6,LF_P_JOINT,revolute,0,0,0,1.5707963267949,0,0,LF_R_LINK,0,0,-1,200,5,0,0,,,,,,,, +LF_Y_LINK,-0.0330155795013137,-0.0539657436881796,-0.107342545448481,0,0,0,1.39729963569281,0.00534215746371847,2.64159261572502E-06,-1.28385425078765E-05,0.00458289280415563,1.42747619958462E-06,0.00190255271211888,0,0,0,0,0,0,package://gou2/meshes/LF_Y_LINK.STL,0.529411764705882,0.549019607843137,0.549019607843137,1,0,0,0,0,0,0,package://gou2/meshes/LF_Y_LINK.STL,,Gou-2-xuniguanjie-5,å标系7,基准轴7,LF_Y_JOINT,revolute,0,0,0,0,1.5707963267949,0,LF_P_LINK,0,0,-1,200,5,0,0,,,,,,,, +LB_JIAN_LINK,-0.0539657436881803,0.0119844204986863,-0.0654124545515188,0,0,0,1.39729963569281,0.00458289280415563,2.64159261572497E-06,-1.42747619958461E-06,0.00534215746371847,1.28385425078758E-05,0.00190255271211888,0,0,0,0,0,0,package://gou2/meshes/LB_JIAN_LINK.STL,0.529411764705882,0.549019607843137,0.549019607843137,1,0,0,0,0,0,0,package://gou2/meshes/LB_JIAN_LINK.STL,,Gou-2-xuniguanjie-2,å标系8,基准轴8,LB_JIAN_JOINT,revolute,-0.062375,0.0541,0,-1.5708,0,1.5708,base_link,0,0,1,200,5,0,0,,,,,,,, +LB_ZHOU_LINK,0.0225,3.63799268487952E-13,-0.00312828322559291,0,0,0,0.0430066968458608,1.5541474649856E-06,-6.51958590094066E-15,-1.87149613590123E-23,1.31332156421398E-05,8.81256073625921E-18,1.46158600796761E-05,0,0,0,0,0,0,package://gou2/meshes/LB_ZHOU_LINK.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://gou2/meshes/LB_ZHOU_LINK.STL,,Gou-2-Datui-2,å标系9,基准轴9,LB_ZHOU_JOINT,revolute,0,0,0,1.5707963267949,0,1.5707963267949,LB_JIAN_LINK,0,0,-1,200,5,-1.5708,1.5708,,,,,,,, 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+LB_P_LINK,0.0174074545515188,-0.0539657436881803,0.0330155795013137,0,0,0,1.39729963569281,0.00190255271211888,1.42747619958464E-06,1.28385425078759E-05,0.00458289280415563,-2.6415926157249E-06,0.00534215746371847,0,0,0,0,0,0,package://gou2/meshes/LB_P_LINK.STL,0.529411764705882,0.549019607843137,0.549019607843137,1,0,0,0,0,0,0,package://gou2/meshes/LB_P_LINK.STL,,Gou-2-xuniguanjie-7,å标系12,基准轴12,LB_P_JOINT,revolute,0,0,0,1.5707963267949,0,0,LB_R_LINK,0,0,-1,200,5,0,0,,,,,,,, +LB_Y_LINK,-0.0330155795013137,-0.0539657436881803,0.0174074545515188,0,0,0,1.39729963569281,0.00534215746371847,2.64159261572499E-06,-1.28385425078765E-05,0.00458289280415563,1.42747619958456E-06,0.00190255271211888,0,0,0,0,0,0,package://gou2/meshes/LB_Y_LINK.STL,0.529411764705882,0.549019607843137,0.549019607843137,1,0,0,0,0,0,0,package://gou2/meshes/LB_Y_LINK.STL,,Gou-2-xuniguanjie-8,å标系13,基准轴13,LB_Y_JOINT,revolute,0,0,0,0,1.5707963267949,0,LB_P_LINK,0,0,-1,200,5,0,0,,,,,,,, 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+RF_P_LINK,-0.107342545448481,0.0542342563118205,0.0330155795013138,0,0,0,1.39729963569281,0.00190255271211888,1.42747619958466E-06,1.28385425078765E-05,0.00458289280415563,-2.6415926157249E-06,0.00534215746371847,0,0,0,0,0,0,package://gou2/meshes/RF_P_LINK.STL,0.529411764705882,0.549019607843137,0.549019607843137,1,0,0,0,0,0,0,package://gou2/meshes/RF_P_LINK.STL,,Gou-2-xuniguanjie-11,å标系18,基准轴18,RF_P_JOINT,revolute,0,0,0,1.5707963267949,0,0,RF_R_LINK,0,0,-1,200,5,0,0,,,,,,,, +RF_Y_LINK,-0.0330155795013137,0.0542342563118205,-0.107342545448481,0,0,0,1.39729963569281,0.00534215746371847,2.64159261572496E-06,-1.28385425078765E-05,0.00458289280415563,1.42747619958458E-06,0.00190255271211888,0,0,0,0,0,0,package://gou2/meshes/RF_Y_LINK.STL,0.529411764705882,0.549019607843137,0.549019607843137,1,0,0,0,0,0,0,package://gou2/meshes/RF_Y_LINK.STL,,Gou-2-xuniguanjie-12,å标系19,基准轴19,RF_Y_JOINT,revolute,0,0,0,0,1.5707963267949,0,RF_P_LINK,0,0,-1,200,5,0,0,,,,,,,, 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a/gou2/gou2/urdf/gou2.urdf b/gou2/gou2/urdf/gou2.urdf new file mode 100644 index 0000000..6226621 --- /dev/null +++ b/gou2/gou2/urdf/gou2.urdf @@ -0,0 +1,1612 @@ + + + + + + + + /gou2 + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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