683 lines
463 KiB
Plaintext
683 lines
463 KiB
Plaintext
2026-09-05 14:53:48,511 INFO Logger.cs: 70 -
|
||
--------------------------------------------------------------------------------
|
||
2026-09-05 14:53:48,531 INFO Logger.cs: 71 - Logging commencing for SW2URDF exporter
|
||
2026-09-05 14:53:48,532 INFO Logger.cs: 73 - Commit version 1.6.0-4-g7f85cfe
|
||
2026-09-05 14:53:48,532 INFO Logger.cs: 74 - Build version 1.6.7995.38578
|
||
2026-09-05 14:53:48,534 INFO SwAddin.cs: 192 - Attempting to connect to SW
|
||
2026-09-05 14:53:48,534 INFO SwAddin.cs: 197 - Setting up callbacks
|
||
2026-09-05 14:53:48,535 INFO SwAddin.cs: 201 - Setting up command manager
|
||
2026-09-05 14:53:48,536 INFO SwAddin.cs: 204 - Adding command manager
|
||
2026-09-05 14:53:48,537 INFO SwAddin.cs: 263 - Adding Assembly export to file menu
|
||
2026-09-05 14:53:48,539 INFO SwAddin.cs: 272 - Adding Part export to file menu
|
||
2026-09-05 14:53:48,539 INFO SwAddin.cs: 210 - Adding event handlers
|
||
2026-09-05 14:53:48,542 INFO SwAddin.cs: 217 - Connecting plugin to SolidWorks
|
||
2026-09-05 15:47:24,515 INFO SwAddin.cs: 294 - Assembly export called for file ×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:47:25,561 INFO SwAddin.cs: 313 - Saving assembly
|
||
2026-09-05 15:47:26,931 INFO SwAddin.cs: 316 - Opening property manager
|
||
2026-09-05 15:47:26,942 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:47:26,949 INFO ExportHelperExtension.cs: 1136 - Found 990 in ×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:47:26,953 INFO ExportHelperExtension.cs: 1145 - Found 9 features of type [CoordSys] in ×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:47:26,954 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
|
||
2026-09-05 15:47:26,955 INFO ExportHelperExtension.cs: 1160 - 22 components to check
|
||
2026-09-05 15:47:26,956 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Step Up-1
|
||
2026-09-05 15:47:26,956 INFO ExportHelperExtension.cs: 1136 - Found 74 in Step Up-1
|
||
2026-09-05 15:47:26,957 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Step Up-1
|
||
2026-09-05 15:47:26,957 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from bateria 9v-1
|
||
2026-09-05 15:47:26,958 INFO ExportHelperExtension.cs: 1136 - Found 129 in bateria 9v-1
|
||
2026-09-05 15:47:26,958 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in bateria 9v-1
|
||
2026-09-05 15:47:26,959 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Freenove ESP32-S3-WROOM-CAM-1
|
||
2026-09-05 15:47:26,960 INFO ExportHelperExtension.cs: 1136 - Found 669 in Freenove ESP32-S3-WROOM-CAM-1
|
||
2026-09-05 15:47:26,962 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Freenove ESP32-S3-WROOM-CAM-1
|
||
2026-09-05 15:47:26,963 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from camera_OV2640_002.step-1
|
||
2026-09-05 15:47:26,963 INFO ExportHelperExtension.cs: 1136 - Found 27 in camera_OV2640_002.step-1
|
||
2026-09-05 15:47:26,963 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in camera_OV2640_002.step-1
|
||
2026-09-05 15:47:26,964 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3D_PCB1_2026-08-10.step-1
|
||
2026-09-05 15:47:26,964 INFO ExportHelperExtension.cs: 1136 - Found 38 in 3D_PCB1_2026-08-10.step-1
|
||
2026-09-05 15:47:26,964 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3D_PCB1_2026-08-10.step-1
|
||
2026-09-05 15:47:26,966 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Ö÷Ìå-2
|
||
2026-09-05 15:47:26,966 INFO ExportHelperExtension.cs: 1136 - Found 53 in Ö÷Ìå-2
|
||
2026-09-05 15:47:26,966 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Ö÷Ìå-2
|
||
2026-09-05 15:47:26,967 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-10
|
||
2026-09-05 15:47:26,967 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-10
|
||
2026-09-05 15:47:26,967 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-10
|
||
2026-09-05 15:47:26,967 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ÓÒСÍÈ-2
|
||
2026-09-05 15:47:26,968 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒСÍÈ-2
|
||
2026-09-05 15:47:26,968 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ÓÒСÍÈ-2
|
||
2026-09-05 15:47:26,968 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ÓÒÍÈ¿è¹Ç-18
|
||
2026-09-05 15:47:26,969 INFO ExportHelperExtension.cs: 1136 - Found 41 in ÓÒÍÈ¿è¹Ç-18
|
||
2026-09-05 15:47:26,969 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ÓÒÍÈ¿è¹Ç-18
|
||
2026-09-05 15:47:26,969 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-4
|
||
2026-09-05 15:47:26,970 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-4
|
||
2026-09-05 15:47:26,970 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-4
|
||
2026-09-05 15:47:26,970 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ÓÒ´óÍÈ-2
|
||
2026-09-05 15:47:26,970 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒ´óÍÈ-2
|
||
2026-09-05 15:47:26,970 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ÓÒ´óÍÈ-2
|
||
2026-09-05 15:47:26,970 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-11
|
||
2026-09-05 15:47:26,970 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-11
|
||
2026-09-05 15:47:26,972 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-11
|
||
2026-09-05 15:47:26,972 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-8
|
||
2026-09-05 15:47:26,972 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-8
|
||
2026-09-05 15:47:26,973 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-8
|
||
2026-09-05 15:47:26,973 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-5
|
||
2026-09-05 15:47:26,973 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-5
|
||
2026-09-05 15:47:26,973 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-5
|
||
2026-09-05 15:47:26,974 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-9
|
||
2026-09-05 15:47:26,974 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-9
|
||
2026-09-05 15:47:26,974 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-9
|
||
2026-09-05 15:47:26,974 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ÓÒ´óÍÈ-3
|
||
2026-09-05 15:47:26,975 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒ´óÍÈ-3
|
||
2026-09-05 15:47:26,975 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ÓÒ´óÍÈ-3
|
||
2026-09-05 15:47:26,975 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ÓÒÍÈ¿è¹Ç-16
|
||
2026-09-05 15:47:26,976 INFO ExportHelperExtension.cs: 1136 - Found 41 in ÓÒÍÈ¿è¹Ç-16
|
||
2026-09-05 15:47:26,976 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ÓÒÍÈ¿è¹Ç-16
|
||
2026-09-05 15:47:26,976 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ÓÒСÍÈ-1
|
||
2026-09-05 15:47:26,976 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒСÍÈ-1
|
||
2026-09-05 15:47:26,977 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ÓÒСÍÈ-1
|
||
2026-09-05 15:47:26,977 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Óñ×ã-3
|
||
2026-09-05 15:47:26,977 INFO ExportHelperExtension.cs: 1136 - Found 39 in Óñ×ã-3
|
||
2026-09-05 15:47:26,978 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Óñ×ã-3
|
||
2026-09-05 15:47:26,978 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Óñ×ã-4
|
||
2026-09-05 15:47:26,978 INFO ExportHelperExtension.cs: 1136 - Found 39 in Óñ×ã-4
|
||
2026-09-05 15:47:26,979 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Óñ×ã-4
|
||
2026-09-05 15:47:26,979 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-12
|
||
2026-09-05 15:47:26,979 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-12
|
||
2026-09-05 15:47:26,979 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-12
|
||
2026-09-05 15:47:26,980 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-13
|
||
2026-09-05 15:47:27,064 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-13
|
||
2026-09-05 15:47:27,064 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-13
|
||
2026-09-05 15:47:27,065 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:47:27,066 INFO ExportHelperExtension.cs: 1136 - Found 990 in ×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:47:27,069 INFO ExportHelperExtension.cs: 1145 - Found 8 features of type [RefAxis] in ×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:47:27,069 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
|
||
2026-09-05 15:47:27,070 INFO ExportHelperExtension.cs: 1160 - 22 components to check
|
||
2026-09-05 15:47:27,070 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Step Up-1
|
||
2026-09-05 15:47:27,070 INFO ExportHelperExtension.cs: 1136 - Found 74 in Step Up-1
|
||
2026-09-05 15:47:27,071 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Step Up-1
|
||
2026-09-05 15:47:27,071 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from bateria 9v-1
|
||
2026-09-05 15:47:27,071 INFO ExportHelperExtension.cs: 1136 - Found 129 in bateria 9v-1
|
||
2026-09-05 15:47:27,072 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in bateria 9v-1
|
||
2026-09-05 15:47:27,072 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Freenove ESP32-S3-WROOM-CAM-1
|
||
2026-09-05 15:47:27,074 INFO ExportHelperExtension.cs: 1136 - Found 669 in Freenove ESP32-S3-WROOM-CAM-1
|
||
2026-09-05 15:47:27,076 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Freenove ESP32-S3-WROOM-CAM-1
|
||
2026-09-05 15:47:27,076 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from camera_OV2640_002.step-1
|
||
2026-09-05 15:47:27,076 INFO ExportHelperExtension.cs: 1136 - Found 27 in camera_OV2640_002.step-1
|
||
2026-09-05 15:47:27,077 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in camera_OV2640_002.step-1
|
||
2026-09-05 15:47:27,077 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3D_PCB1_2026-08-10.step-1
|
||
2026-09-05 15:47:27,077 INFO ExportHelperExtension.cs: 1136 - Found 38 in 3D_PCB1_2026-08-10.step-1
|
||
2026-09-05 15:47:27,078 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3D_PCB1_2026-08-10.step-1
|
||
2026-09-05 15:47:27,078 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Ö÷Ìå-2
|
||
2026-09-05 15:47:27,078 INFO ExportHelperExtension.cs: 1136 - Found 53 in Ö÷Ìå-2
|
||
2026-09-05 15:47:27,078 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Ö÷Ìå-2
|
||
2026-09-05 15:47:27,079 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-10
|
||
2026-09-05 15:47:27,079 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-10
|
||
2026-09-05 15:47:27,079 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-10
|
||
2026-09-05 15:47:27,079 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ÓÒСÍÈ-2
|
||
2026-09-05 15:47:27,080 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒСÍÈ-2
|
||
2026-09-05 15:47:27,080 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ÓÒСÍÈ-2
|
||
2026-09-05 15:47:27,080 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ÓÒÍÈ¿è¹Ç-18
|
||
2026-09-05 15:47:27,081 INFO ExportHelperExtension.cs: 1136 - Found 41 in ÓÒÍÈ¿è¹Ç-18
|
||
2026-09-05 15:47:27,081 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ÓÒÍÈ¿è¹Ç-18
|
||
2026-09-05 15:47:27,081 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-4
|
||
2026-09-05 15:47:27,082 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-4
|
||
2026-09-05 15:47:27,082 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-4
|
||
2026-09-05 15:47:27,082 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ÓÒ´óÍÈ-2
|
||
2026-09-05 15:47:27,082 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒ´óÍÈ-2
|
||
2026-09-05 15:47:27,083 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ÓÒ´óÍÈ-2
|
||
2026-09-05 15:47:27,083 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-11
|
||
2026-09-05 15:47:27,083 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-11
|
||
2026-09-05 15:47:27,084 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-11
|
||
2026-09-05 15:47:27,084 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-8
|
||
2026-09-05 15:47:27,084 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-8
|
||
2026-09-05 15:47:27,085 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-8
|
||
2026-09-05 15:47:27,085 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-5
|
||
2026-09-05 15:47:27,085 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-5
|
||
2026-09-05 15:47:27,085 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-5
|
||
2026-09-05 15:47:27,086 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-9
|
||
2026-09-05 15:47:27,086 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-9
|
||
2026-09-05 15:47:27,086 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-9
|
||
2026-09-05 15:47:27,086 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ÓÒ´óÍÈ-3
|
||
2026-09-05 15:47:27,087 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒ´óÍÈ-3
|
||
2026-09-05 15:47:27,087 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ÓÒ´óÍÈ-3
|
||
2026-09-05 15:47:27,087 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ÓÒÍÈ¿è¹Ç-16
|
||
2026-09-05 15:47:27,087 INFO ExportHelperExtension.cs: 1136 - Found 41 in ÓÒÍÈ¿è¹Ç-16
|
||
2026-09-05 15:47:27,088 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ÓÒÍÈ¿è¹Ç-16
|
||
2026-09-05 15:47:27,088 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ÓÒСÍÈ-1
|
||
2026-09-05 15:47:27,088 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒСÍÈ-1
|
||
2026-09-05 15:47:27,088 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ÓÒСÍÈ-1
|
||
2026-09-05 15:47:27,089 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Óñ×ã-3
|
||
2026-09-05 15:47:27,089 INFO ExportHelperExtension.cs: 1136 - Found 39 in Óñ×ã-3
|
||
2026-09-05 15:47:27,089 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Óñ×ã-3
|
||
2026-09-05 15:47:27,090 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Óñ×ã-4
|
||
2026-09-05 15:47:27,090 INFO ExportHelperExtension.cs: 1136 - Found 39 in Óñ×ã-4
|
||
2026-09-05 15:47:27,090 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Óñ×ã-4
|
||
2026-09-05 15:47:27,090 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-12
|
||
2026-09-05 15:47:27,091 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-12
|
||
2026-09-05 15:47:27,091 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-12
|
||
2026-09-05 15:47:27,091 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-13
|
||
2026-09-05 15:47:27,091 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-13
|
||
2026-09-05 15:47:27,092 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-13
|
||
2026-09-05 15:47:27,575 INFO SwAddin.cs: 339 - Loading config tree
|
||
2026-09-05 15:47:27,655 INFO ExportPropertyManagerExtension.cs: 520 - Starting new configuration
|
||
2026-09-05 15:47:27,659 INFO SwAddin.cs: 344 - Showing property manager
|
||
2026-09-05 15:48:21,783 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:48:55,237 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:50:57,178 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:51:01,930 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:51:25,990 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:51:46,951 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:52:30,158 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:52:34,288 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:52:36,214 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:52:43,971 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:53:15,246 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:53:19,595 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:53:22,104 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:53:30,321 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:53:46,547 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:53:51,348 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:53:54,674 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:54:22,947 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:54:25,508 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:54:26,980 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:54:32,277 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:54:47,093 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:54:49,418 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:54:51,070 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:54:56,655 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:55:22,670 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:55:27,389 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:55:29,028 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:55:35,105 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:55:47,883 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:55:50,202 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:55:52,559 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:55:53,782 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:55:57,102 INFO ExportPropertyManager.cs: 422 - Configuration saved
|
||
2026-09-05 15:55:57,508 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:56:50,970 INFO SwAddin.cs: 294 - Assembly export called for file ×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:56:50,971 INFO SwAddin.cs: 299 - Save is required
|
||
2026-09-05 15:56:50,972 INFO SwAddin.cs: 313 - Saving assembly
|
||
2026-09-05 15:56:52,779 INFO SwAddin.cs: 316 - Opening property manager
|
||
2026-09-05 15:56:52,780 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:56:52,781 INFO ExportHelperExtension.cs: 1136 - Found 991 in ×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:56:52,784 INFO ExportHelperExtension.cs: 1145 - Found 9 features of type [CoordSys] in ×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:56:52,784 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
|
||
2026-09-05 15:56:52,785 INFO ExportHelperExtension.cs: 1160 - 22 components to check
|
||
2026-09-05 15:56:52,785 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Step Up-1
|
||
2026-09-05 15:56:52,786 INFO ExportHelperExtension.cs: 1136 - Found 74 in Step Up-1
|
||
2026-09-05 15:56:52,786 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Step Up-1
|
||
2026-09-05 15:56:52,786 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from bateria 9v-1
|
||
2026-09-05 15:56:52,788 INFO ExportHelperExtension.cs: 1136 - Found 129 in bateria 9v-1
|
||
2026-09-05 15:56:52,789 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in bateria 9v-1
|
||
2026-09-05 15:56:52,789 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Freenove ESP32-S3-WROOM-CAM-1
|
||
2026-09-05 15:56:52,790 INFO ExportHelperExtension.cs: 1136 - Found 669 in Freenove ESP32-S3-WROOM-CAM-1
|
||
2026-09-05 15:56:52,793 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Freenove ESP32-S3-WROOM-CAM-1
|
||
2026-09-05 15:56:52,794 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from camera_OV2640_002.step-1
|
||
2026-09-05 15:56:52,794 INFO ExportHelperExtension.cs: 1136 - Found 27 in camera_OV2640_002.step-1
|
||
2026-09-05 15:56:52,794 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in camera_OV2640_002.step-1
|
||
2026-09-05 15:56:52,795 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3D_PCB1_2026-08-10.step-1
|
||
2026-09-05 15:56:52,795 INFO ExportHelperExtension.cs: 1136 - Found 38 in 3D_PCB1_2026-08-10.step-1
|
||
2026-09-05 15:56:52,795 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3D_PCB1_2026-08-10.step-1
|
||
2026-09-05 15:56:52,796 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Ö÷Ìå-2
|
||
2026-09-05 15:56:52,796 INFO ExportHelperExtension.cs: 1136 - Found 53 in Ö÷Ìå-2
|
||
2026-09-05 15:56:52,797 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Ö÷Ìå-2
|
||
2026-09-05 15:56:52,797 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-10
|
||
2026-09-05 15:56:52,797 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-10
|
||
2026-09-05 15:56:52,797 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-10
|
||
2026-09-05 15:56:52,798 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ÓÒСÍÈ-2
|
||
2026-09-05 15:56:52,798 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒСÍÈ-2
|
||
2026-09-05 15:56:52,798 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ÓÒСÍÈ-2
|
||
2026-09-05 15:56:52,798 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ÓÒÍÈ¿è¹Ç-18
|
||
2026-09-05 15:56:52,798 INFO ExportHelperExtension.cs: 1136 - Found 41 in ÓÒÍÈ¿è¹Ç-18
|
||
2026-09-05 15:56:52,799 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ÓÒÍÈ¿è¹Ç-18
|
||
2026-09-05 15:56:52,799 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-4
|
||
2026-09-05 15:56:52,799 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-4
|
||
2026-09-05 15:56:52,800 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-4
|
||
2026-09-05 15:56:52,800 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ÓÒ´óÍÈ-2
|
||
2026-09-05 15:56:52,800 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒ´óÍÈ-2
|
||
2026-09-05 15:56:52,800 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ÓÒ´óÍÈ-2
|
||
2026-09-05 15:56:52,801 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-11
|
||
2026-09-05 15:56:52,801 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-11
|
||
2026-09-05 15:56:52,802 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-11
|
||
2026-09-05 15:56:52,802 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-8
|
||
2026-09-05 15:56:52,802 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-8
|
||
2026-09-05 15:56:52,803 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-8
|
||
2026-09-05 15:56:52,803 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-5
|
||
2026-09-05 15:56:52,803 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-5
|
||
2026-09-05 15:56:52,804 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-5
|
||
2026-09-05 15:56:52,804 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-9
|
||
2026-09-05 15:56:52,804 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-9
|
||
2026-09-05 15:56:52,804 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-9
|
||
2026-09-05 15:56:52,805 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ÓÒ´óÍÈ-3
|
||
2026-09-05 15:56:52,805 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒ´óÍÈ-3
|
||
2026-09-05 15:56:52,805 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ÓÒ´óÍÈ-3
|
||
2026-09-05 15:56:52,805 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ÓÒÍÈ¿è¹Ç-16
|
||
2026-09-05 15:56:52,806 INFO ExportHelperExtension.cs: 1136 - Found 41 in ÓÒÍÈ¿è¹Ç-16
|
||
2026-09-05 15:56:52,806 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ÓÒÍÈ¿è¹Ç-16
|
||
2026-09-05 15:56:52,807 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ÓÒСÍÈ-1
|
||
2026-09-05 15:56:52,807 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒСÍÈ-1
|
||
2026-09-05 15:56:52,808 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ÓÒСÍÈ-1
|
||
2026-09-05 15:56:52,808 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Óñ×ã-3
|
||
2026-09-05 15:56:52,808 INFO ExportHelperExtension.cs: 1136 - Found 39 in Óñ×ã-3
|
||
2026-09-05 15:56:52,810 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Óñ×ã-3
|
||
2026-09-05 15:56:52,810 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Óñ×ã-4
|
||
2026-09-05 15:56:52,810 INFO ExportHelperExtension.cs: 1136 - Found 39 in Óñ×ã-4
|
||
2026-09-05 15:56:52,810 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Óñ×ã-4
|
||
2026-09-05 15:56:52,811 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-12
|
||
2026-09-05 15:56:52,811 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-12
|
||
2026-09-05 15:56:52,811 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-12
|
||
2026-09-05 15:56:52,811 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-13
|
||
2026-09-05 15:56:52,811 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-13
|
||
2026-09-05 15:56:52,813 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-13
|
||
2026-09-05 15:56:52,813 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:56:52,814 INFO ExportHelperExtension.cs: 1136 - Found 991 in ×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:56:52,817 INFO ExportHelperExtension.cs: 1145 - Found 8 features of type [RefAxis] in ×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:56:52,818 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
|
||
2026-09-05 15:56:52,818 INFO ExportHelperExtension.cs: 1160 - 22 components to check
|
||
2026-09-05 15:56:52,818 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Step Up-1
|
||
2026-09-05 15:56:52,819 INFO ExportHelperExtension.cs: 1136 - Found 74 in Step Up-1
|
||
2026-09-05 15:56:52,819 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Step Up-1
|
||
2026-09-05 15:56:52,819 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from bateria 9v-1
|
||
2026-09-05 15:56:52,820 INFO ExportHelperExtension.cs: 1136 - Found 129 in bateria 9v-1
|
||
2026-09-05 15:56:52,820 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in bateria 9v-1
|
||
2026-09-05 15:56:52,820 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Freenove ESP32-S3-WROOM-CAM-1
|
||
2026-09-05 15:56:52,821 INFO ExportHelperExtension.cs: 1136 - Found 669 in Freenove ESP32-S3-WROOM-CAM-1
|
||
2026-09-05 15:56:52,823 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Freenove ESP32-S3-WROOM-CAM-1
|
||
2026-09-05 15:56:52,823 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from camera_OV2640_002.step-1
|
||
2026-09-05 15:56:52,823 INFO ExportHelperExtension.cs: 1136 - Found 27 in camera_OV2640_002.step-1
|
||
2026-09-05 15:56:52,824 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in camera_OV2640_002.step-1
|
||
2026-09-05 15:56:52,824 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3D_PCB1_2026-08-10.step-1
|
||
2026-09-05 15:56:52,824 INFO ExportHelperExtension.cs: 1136 - Found 38 in 3D_PCB1_2026-08-10.step-1
|
||
2026-09-05 15:56:52,824 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3D_PCB1_2026-08-10.step-1
|
||
2026-09-05 15:56:52,825 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Ö÷Ìå-2
|
||
2026-09-05 15:56:52,825 INFO ExportHelperExtension.cs: 1136 - Found 53 in Ö÷Ìå-2
|
||
2026-09-05 15:56:52,825 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Ö÷Ìå-2
|
||
2026-09-05 15:56:52,826 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-10
|
||
2026-09-05 15:56:52,826 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-10
|
||
2026-09-05 15:56:52,826 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-10
|
||
2026-09-05 15:56:52,827 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ÓÒСÍÈ-2
|
||
2026-09-05 15:56:52,827 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒСÍÈ-2
|
||
2026-09-05 15:56:52,827 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ÓÒСÍÈ-2
|
||
2026-09-05 15:56:52,827 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ÓÒÍÈ¿è¹Ç-18
|
||
2026-09-05 15:56:52,828 INFO ExportHelperExtension.cs: 1136 - Found 41 in ÓÒÍÈ¿è¹Ç-18
|
||
2026-09-05 15:56:52,828 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ÓÒÍÈ¿è¹Ç-18
|
||
2026-09-05 15:56:52,828 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-4
|
||
2026-09-05 15:56:52,829 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-4
|
||
2026-09-05 15:56:52,829 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-4
|
||
2026-09-05 15:56:52,833 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ÓÒ´óÍÈ-2
|
||
2026-09-05 15:56:52,835 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒ´óÍÈ-2
|
||
2026-09-05 15:56:52,835 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ÓÒ´óÍÈ-2
|
||
2026-09-05 15:56:52,836 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-11
|
||
2026-09-05 15:56:52,836 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-11
|
||
2026-09-05 15:56:52,836 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-11
|
||
2026-09-05 15:56:52,837 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-8
|
||
2026-09-05 15:56:52,837 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-8
|
||
2026-09-05 15:56:52,837 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-8
|
||
2026-09-05 15:56:52,837 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-5
|
||
2026-09-05 15:56:52,838 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-5
|
||
2026-09-05 15:56:52,838 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-5
|
||
2026-09-05 15:56:52,838 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-9
|
||
2026-09-05 15:56:52,839 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-9
|
||
2026-09-05 15:56:52,839 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-9
|
||
2026-09-05 15:56:52,839 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ÓÒ´óÍÈ-3
|
||
2026-09-05 15:56:52,839 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒ´óÍÈ-3
|
||
2026-09-05 15:56:52,839 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ÓÒ´óÍÈ-3
|
||
2026-09-05 15:56:52,839 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ÓÒÍÈ¿è¹Ç-16
|
||
2026-09-05 15:56:52,841 INFO ExportHelperExtension.cs: 1136 - Found 41 in ÓÒÍÈ¿è¹Ç-16
|
||
2026-09-05 15:56:52,841 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ÓÒÍÈ¿è¹Ç-16
|
||
2026-09-05 15:56:52,841 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ÓÒСÍÈ-1
|
||
2026-09-05 15:56:52,841 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒСÍÈ-1
|
||
2026-09-05 15:56:52,842 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ÓÒСÍÈ-1
|
||
2026-09-05 15:56:52,842 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Óñ×ã-3
|
||
2026-09-05 15:56:52,842 INFO ExportHelperExtension.cs: 1136 - Found 39 in Óñ×ã-3
|
||
2026-09-05 15:56:52,842 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Óñ×ã-3
|
||
2026-09-05 15:56:52,843 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Óñ×ã-4
|
||
2026-09-05 15:56:52,843 INFO ExportHelperExtension.cs: 1136 - Found 39 in Óñ×ã-4
|
||
2026-09-05 15:56:52,843 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Óñ×ã-4
|
||
2026-09-05 15:56:52,844 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-12
|
||
2026-09-05 15:56:52,844 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-12
|
||
2026-09-05 15:56:52,844 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-12
|
||
2026-09-05 15:56:52,844 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-13
|
||
2026-09-05 15:56:52,845 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-13
|
||
2026-09-05 15:56:52,845 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-13
|
||
2026-09-05 15:56:53,333 INFO SwAddin.cs: 339 - Loading config tree
|
||
2026-09-05 15:56:53,362 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
|
||
<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">head_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i6"/><XYZAttribute z:Ref="i5"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i7" i:type="Mass"><Attributes><Attribute z:Id="i8"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i8"/></URDFElement><URDFElement z:Id="i9" i:type="Inertia"><Attributes><Attribute z:Id="i10"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i11"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i12"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i13"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i14"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i15"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i10"/><IxyAttribute z:Ref="i11"/><IxzAttribute z:Ref="i12"/><IyyAttribute z:Ref="i13"/><IyzAttribute z:Ref="i14"/><IzzAttribute z:Ref="i15"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i9"/><Mass z:Ref="i7"/><Origin z:Ref="i4"/></URDFElement><URDFElement z:Id="i16" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i17" i:type="Origin"><Attributes><Attribute z:Id="i18"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i19"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i19"/><XYZAttribute z:Ref="i18"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i20" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i21" i:type="Mesh"><Attributes><Attribute z:Id="i22"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i22"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i21"/></URDFElement><URDFElement z:Id="i23" i:type="Material"><Attributes><Attribute z:Id="i24"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i25" i:type="Color"><Attributes><Attribute z:Id="i26"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i26"/></URDFElement><URDFElement z:Id="i27" i:type="Texture"><Attributes><Attribute z:Id="i28"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i28"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i25"/><NameAttribute z:Ref="i24"/><Texture z:Ref="i27"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i20"/><Material z:Ref="i23"/><Origin z:Ref="i17"/></URDFElement><URDFElement z:Id="i29" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i30" i:type="Origin"><Attributes><Attribute z:Id="i31"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i32"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i32"/><XYZAttribute z:Ref="i31"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i33" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i34" i:type="Mesh"><Attributes><Attribute z:Id="i35"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i35"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i34"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i33"/><Origin z:Ref="i30"/></URDFElement><URDFElement z:Id="i36" i:type="Joint"><Attributes><Attribute z:Id="i37"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute><Attribute z:Id="i38"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i39" i:type="Origin"><Attributes><Attribute z:Id="i40"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i41"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i41"/><XYZAttribute z:Ref="i40"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i42" i:type="ParentLink"><Attributes><Attribute z:Id="i43"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i43"/></URDFElement><URDFElement z:Id="i44" i:type="ChildLink"><Attributes><Attribute z:Id="i45"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i45"/></URDFElement><URDFElement z:Id="i46" i:type="Axis"><Attributes><Attribute z:Id="i47"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i47"/></URDFElement><URDFElement z:Id="i48" i:type="Limit"><Attributes><Attribute z:Id="i49"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i50"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i51"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i52"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i51"/><LowerAttribute z:Ref="i49"/><UpperAttribute z:Ref="i50"/><VelocityAttribute z:Ref="i52"/></URDFElement><URDFElement z:Id="i53" i:type="Calibration"><Attributes><Attribute z:Id="i54"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i55"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i55"/><RisingAttribute z:Ref="i54"/></URDFElement><URDFElement z:Id="i56" i:type="Dynamics"><Attributes><Attribute z:Id="i57"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i58"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i57"/><FrictionAttribute z:Ref="i58"/></URDFElement><URDFElement z:Id="i59" i:type="SafetyController"><Attributes><Attribute z:Id="i60"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i61"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i62"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i63"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i62"/><KVelocityAttribute z:Ref="i63"/><SoftLowerAttribute z:Ref="i61"/><SoftUpperAttribute z:Ref="i60"/></URDFElement><URDFElement z:Id="i64" i:type="Mimic"><Attributes><Attribute z:Id="i65"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i66"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i67"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i65"/><MultiplierAttribute z:Ref="i66"/><OffsetAttribute z:Ref="i67"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i46"/><AxisName/><Calibration z:Ref="i53"/><Child z:Ref="i44"/><CoordinateSystemName>head</CoordinateSystemName><Dynamics z:Ref="i56"/><Limit z:Ref="i48"/><Mimic z:Ref="i64"/><NameAttribute z:Ref="i37"/><Origin z:Ref="i39"/><Parent z:Ref="i42"/><Safety z:Ref="i59"/><TypeAttribute z:Ref="i38"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i68"><Attributes><Attribute z:Id="i69"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">lf0_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i70" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i71" i:type="Origin"><Attributes><Attribute z:Id="i72"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i73"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i73"/><XYZAttribute z:Ref="i72"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i74" i:type="Mass"><Attributes><Attribute z:Id="i75"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i75"/></URDFElement><URDFElement z:Id="i76" i:type="Inertia"><Attributes><Attribute z:Id="i77"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i78"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i79"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i80"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i81"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i82"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i77"/><IxyAttribute z:Ref="i78"/><IxzAttribute z:Ref="i79"/><IyyAttribute z:Ref="i80"/><IyzAttribute z:Ref="i81"/><IzzAttribute z:Ref="i82"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i76"/><Mass z:Ref="i74"/><Origin z:Ref="i71"/></URDFElement><URDFElement z:Id="i83" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i84" i:type="Origin"><Attributes><Attribute z:Id="i85"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i86"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i86"/><XYZAttribute z:Ref="i85"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i87" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i88" i:type="Mesh"><Attributes><Attribute z:Id="i89"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i89"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i88"/></URDFElement><URDFElement z:Id="i90" i:type="Material"><Attributes><Attribute z:Id="i91"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i92" i:type="Color"><Attributes><Attribute z:Id="i93"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i93"/></URDFElement><URDFElement z:Id="i94" i:type="Texture"><Attributes><Attribute z:Id="i95"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i95"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i92"/><NameAttribute z:Ref="i91"/><Texture z:Ref="i94"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i87"/><Material z:Ref="i90"/><Origin z:Ref="i84"/></URDFElement><URDFElement z:Id="i96" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i97" i:type="Origin"><Attributes><Attribute z:Id="i98"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i99"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i99"/><XYZAttribute z:Ref="i98"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i100" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i101" i:type="Mesh"><Attributes><Attribute z:Id="i102"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i102"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i101"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i100"/><Origin z:Ref="i97"/></URDFElement><URDFElement z:Id="i103" i:type="Joint"><Attributes><Attribute z:Id="i104"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jlf0_link</Value></Attribute><Attribute z:Id="i105"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i106" i:type="Origin"><Attributes><Attribute z:Id="i107"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i108"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i108"/><XYZAttribute z:Ref="i107"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i109" i:type="ParentLink"><Attributes><Attribute z:Id="i110"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i110"/></URDFElement><URDFElement z:Id="i111" i:type="ChildLink"><Attributes><Attribute z:Id="i112"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i112"/></URDFElement><URDFElement z:Id="i113" i:type="Axis"><Attributes><Attribute z:Id="i114"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i114"/></URDFElement><URDFElement z:Id="i115" i:type="Limit"><Attributes><Attribute z:Id="i116"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i117"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i118"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i119"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i118"/><LowerAttribute z:Ref="i116"/><UpperAttribute z:Ref="i117"/><VelocityAttribute z:Ref="i119"/></URDFElement><URDFElement z:Id="i120" i:type="Calibration"><Attributes><Attribute z:Id="i121"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i122"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i122"/><RisingAttribute z:Ref="i121"/></URDFElement><URDFElement z:Id="i123" i:type="Dynamics"><Attributes><Attribute z:Id="i124"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i125"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i124"/><FrictionAttribute z:Ref="i125"/></URDFElement><URDFElement z:Id="i126" i:type="SafetyController"><Attributes><Attribute z:Id="i127"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i128"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i129"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i130"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i129"/><KVelocityAttribute z:Ref="i130"/><SoftLowerAttribute z:Ref="i128"/><SoftUpperAttribute z:Ref="i127"/></URDFElement><URDFElement z:Id="i131" i:type="Mimic"><Attributes><Attribute z:Id="i132"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i133"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i134"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i132"/><MultiplierAttribute z:Ref="i133"/><OffsetAttribute z:Ref="i134"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i113"/><AxisName>lf0_hige</AxisName><Calibration z:Ref="i120"/><Child z:Ref="i111"/><CoordinateSystemName>lf0</CoordinateSystemName><Dynamics z:Ref="i123"/><Limit z:Ref="i115"/><Mimic z:Ref="i131"/><NameAttribute z:Ref="i104"/><Origin z:Ref="i106"/><Parent z:Ref="i109"/><Safety z:Ref="i126"/><TypeAttribute z:Ref="i105"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i135"><Attributes><Attribute z:Id="i136"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">lf1_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i137" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i138" i:type="Origin"><Attributes><Attribute z:Id="i139"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i140"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i140"/><XYZAttribute z:Ref="i139"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i141" i:type="Mass"><Attributes><Attribute z:Id="i142"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i142"/></URDFElement><URDFElement z:Id="i143" i:type="Inertia"><Attributes><Attribute z:Id="i144"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i145"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i146"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i147"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i148"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i149"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i144"/><IxyAttribute z:Ref="i145"/><IxzAttribute z:Ref="i146"/><IyyAttribute z:Ref="i147"/><IyzAttribute z:Ref="i148"/><IzzAttribute z:Ref="i149"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i143"/><Mass z:Ref="i141"/><Origin z:Ref="i138"/></URDFElement><URDFElement z:Id="i150" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i151" i:type="Origin"><Attributes><Attribute z:Id="i152"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i153"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i153"/><XYZAttribute z:Ref="i152"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i154" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i155" i:type="Mesh"><Attributes><Attribute z:Id="i156"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i156"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i155"/></URDFElement><URDFElement z:Id="i157" i:type="Material"><Attributes><Attribute z:Id="i158"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i159" i:type="Color"><Attributes><Attribute z:Id="i160"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i160"/></URDFElement><URDFElement z:Id="i161" i:type="Texture"><Attributes><Attribute z:Id="i162"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i162"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i159"/><NameAttribute z:Ref="i158"/><Texture z:Ref="i161"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i154"/><Material z:Ref="i157"/><Origin z:Ref="i151"/></URDFElement><URDFElement z:Id="i163" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i164" i:type="Origin"><Attributes><Attribute z:Id="i165"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i166"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i166"/><XYZAttribute z:Ref="i165"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i167" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i168" i:type="Mesh"><Attributes><Attribute z:Id="i169"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i169"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i168"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i167"/><Origin z:Ref="i164"/></URDFElement><URDFElement z:Id="i170" i:type="Joint"><Attributes><Attribute z:Id="i171"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jlf1_link</Value></Attribute><Attribute z:Id="i172"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i173" i:type="Origin"><Attributes><Attribute z:Id="i174"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i175"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i175"/><XYZAttribute z:Ref="i174"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i176" i:type="ParentLink"><Attributes><Attribute z:Id="i177"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i177"/></URDFElement><URDFElement z:Id="i178" i:type="ChildLink"><Attributes><Attribute z:Id="i179"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i179"/></URDFElement><URDFElement z:Id="i180" i:type="Axis"><Attributes><Attribute z:Id="i181"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i181"/></URDFElement><URDFElement z:Id="i182" i:type="Limit"><Attributes><Attribute z:Id="i183"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i184"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i185"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i186"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i185"/><LowerAttribute z:Ref="i183"/><UpperAttribute z:Ref="i184"/><VelocityAttribute z:Ref="i186"/></URDFElement><URDFElement z:Id="i187" i:type="Calibration"><Attributes><Attribute z:Id="i188"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i189"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i189"/><RisingAttribute z:Ref="i188"/></URDFElement><URDFElement z:Id="i190" i:type="Dynamics"><Attributes><Attribute z:Id="i191"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i192"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i191"/><FrictionAttribute z:Ref="i192"/></URDFElement><URDFElement z:Id="i193" i:type="SafetyController"><Attributes><Attribute z:Id="i194"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i195"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i196"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i197"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i196"/><KVelocityAttribute z:Ref="i197"/><SoftLowerAttribute z:Ref="i195"/><SoftUpperAttribute z:Ref="i194"/></URDFElement><URDFElement z:Id="i198" i:type="Mimic"><Attributes><Attribute z:Id="i199"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i200"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i201"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i199"/><MultiplierAttribute z:Ref="i200"/><OffsetAttribute z:Ref="i201"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i180"/><AxisName>lf1_hige</AxisName><Calibration z:Ref="i187"/><Child z:Ref="i178"/><CoordinateSystemName>lf1</CoordinateSystemName><Dynamics z:Ref="i190"/><Limit z:Ref="i182"/><Mimic z:Ref="i198"/><NameAttribute z:Ref="i171"/><Origin z:Ref="i173"/><Parent z:Ref="i176"/><Safety z:Ref="i193"/><TypeAttribute z:Ref="i172"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i202"><Attributes><Attribute z:Id="i203"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">lf2_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i204" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i205" i:type="Origin"><Attributes><Attribute z:Id="i206"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i207"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i207"/><XYZAttribute z:Ref="i206"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i208" i:type="Mass"><Attributes><Attribute z:Id="i209"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i209"/></URDFElement><URDFElement z:Id="i210" i:type="Inertia"><Attributes><Attribute z:Id="i211"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i212"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i213"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i214"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i215"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i216"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i211"/><IxyAttribute z:Ref="i212"/><IxzAttribute z:Ref="i213"/><IyyAttribute z:Ref="i214"/><IyzAttribute z:Ref="i215"/><IzzAttribute z:Ref="i216"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i210"/><Mass z:Ref="i208"/><Origin z:Ref="i205"/></URDFElement><URDFElement z:Id="i217" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i218" i:type="Origin"><Attributes><Attribute z:Id="i219"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i220"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i220"/><XYZAttribute z:Ref="i219"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i221" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i222" i:type="Mesh"><Attributes><Attribute z:Id="i223"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i223"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i222"/></URDFElement><URDFElement z:Id="i224" i:type="Material"><Attributes><Attribute z:Id="i225"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i226" i:type="Color"><Attributes><Attribute z:Id="i227"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i227"/></URDFElement><URDFElement z:Id="i228" i:type="Texture"><Attributes><Attribute z:Id="i229"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i229"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i226"/><NameAttribute z:Ref="i225"/><Texture z:Ref="i228"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i221"/><Material z:Ref="i224"/><Origin z:Ref="i218"/></URDFElement><URDFElement z:Id="i230" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i231" i:type="Origin"><Attributes><Attribute z:Id="i232"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i233"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i233"/><XYZAttribute z:Ref="i232"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i234" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i235" i:type="Mesh"><Attributes><Attribute z:Id="i236"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i236"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i235"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i234"/><Origin z:Ref="i231"/></URDFElement><URDFElement z:Id="i237" i:type="Joint"><Attributes><Attribute z:Id="i238"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jlf2_link</Value></Attribute><Attribute z:Id="i239"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i240" i:type="Origin"><Attributes><Attribute z:Id="i241"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i242"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i242"/><XYZAttribute z:Ref="i241"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i243" i:type="ParentLink"><Attributes><Attribute z:Id="i244"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i244"/></URDFElement><URDFElement z:Id="i245" i:type="ChildLink"><Attributes><Attribute z:Id="i246"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i246"/></URDFElement><URDFElement z:Id="i247" i:type="Axis"><Attributes><Attribute z:Id="i248"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i248"/></URDFElement><URDFElement z:Id="i249" i:type="Limit"><Attributes><Attribute z:Id="i250"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i251"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i252"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i253"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i252"/><LowerAttribute z:Ref="i250"/><UpperAttribute z:Ref="i251"/><VelocityAttribute z:Ref="i253"/></URDFElement><URDFElement z:Id="i254" i:type="Calibration"><Attributes><Attribute z:Id="i255"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i256"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i256"/><RisingAttribute z:Ref="i255"/></URDFElement><URDFElement z:Id="i257" i:type="Dynamics"><Attributes><Attribute z:Id="i258"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i259"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i258"/><FrictionAttribute z:Ref="i259"/></URDFElement><URDFElement z:Id="i260" i:type="SafetyController"><Attributes><Attribute z:Id="i261"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i262"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i263"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i264"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i263"/><KVelocityAttribute z:Ref="i264"/><SoftLowerAttribute z:Ref="i262"/><SoftUpperAttribute z:Ref="i261"/></URDFElement><URDFElement z:Id="i265" i:type="Mimic"><Attributes><Attribute z:Id="i266"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i267"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i268"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i266"/><MultiplierAttribute z:Ref="i267"/><OffsetAttribute z:Ref="i268"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i247"/><AxisName>lf2_hige</AxisName><Calibration z:Ref="i254"/><Child z:Ref="i245"/><CoordinateSystemName>lf2</CoordinateSystemName><Dynamics z:Ref="i257"/><Limit z:Ref="i249"/><Mimic z:Ref="i265"/><NameAttribute z:Ref="i238"/><Origin z:Ref="i240"/><Parent z:Ref="i243"/><Safety z:Ref="i260"/><TypeAttribute z:Ref="i239"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i269"><Attributes><Attribute z:Id="i270"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">lf3_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i271" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i272" i:type="Origin"><Attributes><Attribute z:Id="i273"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i274"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i274"/><XYZAttribute z:Ref="i273"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i275" i:type="Mass"><Attributes><Attribute z:Id="i276"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i276"/></URDFElement><URDFElement z:Id="i277" i:type="Inertia"><Attributes><Attribute z:Id="i278"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i279"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i280"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i281"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i282"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i283"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i278"/><IxyAttribute z:Ref="i279"/><IxzAttribute z:Ref="i280"/><IyyAttribute z:Ref="i281"/><IyzAttribute z:Ref="i282"/><IzzAttribute z:Ref="i283"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i277"/><Mass z:Ref="i275"/><Origin z:Ref="i272"/></URDFElement><URDFElement z:Id="i284" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i285" i:type="Origin"><Attributes><Attribute z:Id="i286"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i287"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i287"/><XYZAttribute z:Ref="i286"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i288" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i289" i:type="Mesh"><Attributes><Attribute z:Id="i290"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i290"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i289"/></URDFElement><URDFElement z:Id="i291" i:type="Material"><Attributes><Attribute z:Id="i292"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i293" i:type="Color"><Attributes><Attribute z:Id="i294"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i294"/></URDFElement><URDFElement z:Id="i295" i:type="Texture"><Attributes><Attribute z:Id="i296"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i296"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i293"/><NameAttribute z:Ref="i292"/><Texture z:Ref="i295"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i288"/><Material z:Ref="i291"/><Origin z:Ref="i285"/></URDFElement><URDFElement z:Id="i297" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i298" i:type="Origin"><Attributes><Attribute z:Id="i299"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i300"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i300"/><XYZAttribute z:Ref="i299"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i301" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i302" i:type="Mesh"><Attributes><Attribute z:Id="i303"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i303"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i302"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i301"/><Origin z:Ref="i298"/></URDFElement><URDFElement z:Id="i304" i:type="Joint"><Attributes><Attribute z:Id="i305"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jlf3_link</Value></Attribute><Attribute z:Id="i306"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i307" i:type="Origin"><Attributes><Attribute z:Id="i308"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i309"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i309"/><XYZAttribute z:Ref="i308"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i310" i:type="ParentLink"><Attributes><Attribute z:Id="i311"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i311"/></URDFElement><URDFElement z:Id="i312" i:type="ChildLink"><Attributes><Attribute z:Id="i313"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i313"/></URDFElement><URDFElement z:Id="i314" i:type="Axis"><Attributes><Attribute z:Id="i315"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i315"/></URDFElement><URDFElement z:Id="i316" i:type="Limit"><Attributes><Attribute z:Id="i317"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i318"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i319"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i320"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i319"/><LowerAttribute z:Ref="i317"/><UpperAttribute z:Ref="i318"/><VelocityAttribute z:Ref="i320"/></URDFElement><URDFElement z:Id="i321" i:type="Calibration"><Attributes><Attribute z:Id="i322"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i323"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i323"/><RisingAttribute z:Ref="i322"/></URDFElement><URDFElement z:Id="i324" i:type="Dynamics"><Attributes><Attribute z:Id="i325"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i326"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i325"/><FrictionAttribute z:Ref="i326"/></URDFElement><URDFElement z:Id="i327" i:type="SafetyController"><Attributes><Attribute z:Id="i328"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i329"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i330"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i331"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i330"/><KVelocityAttribute z:Ref="i331"/><SoftLowerAttribute z:Ref="i329"/><SoftUpperAttribute z:Ref="i328"/></URDFElement><URDFElement z:Id="i332" i:type="Mimic"><Attributes><Attribute z:Id="i333"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i334"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i335"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i333"/><MultiplierAttribute z:Ref="i334"/><OffsetAttribute z:Ref="i335"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i314"/><AxisName>lf3_hige</AxisName><Calibration z:Ref="i321"/><Child z:Ref="i312"/><CoordinateSystemName>lf3</CoordinateSystemName><Dynamics z:Ref="i324"/><Limit z:Ref="i316"/><Mimic z:Ref="i332"/><NameAttribute z:Ref="i305"/><Origin z:Ref="i307"/><Parent z:Ref="i310"/><Safety z:Ref="i327"/><TypeAttribute z:Ref="i306"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i297"/><Inertial z:Ref="i271"/><Joint z:Ref="i304"/><NameAttribute z:Ref="i270"/><Parent z:Ref="i202"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8IiXOzjS0ANABAADtgxYhTTwQAAAAQAAAAAQAAAAEAAABKAQAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i284"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i230"/><Inertial z:Ref="i204"/><Joint z:Ref="i237"/><NameAttribute z:Ref="i203"/><Parent z:Ref="i135"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8J81MPXH+BLQAyAEAAO2DFiFNPBAAAABAAAAABAAAAAQAAADABAAA=</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8YNYI6ZztgU08tADEAMgBAADtgxYhTTy8AUwBlAHIAdgBvAC0AMQBAADWCOmc7YFNPBAAAABAAAAABAAAAAgAAADMBAAAZAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i217"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i163"/><Inertial z:Ref="i137"/><Joint z:Ref="i170"/><NameAttribute z:Ref="i136"/><Parent z:Ref="i68"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8J81MnWX+BLQAzAEAAO2DFiFNPBAAAABAAAAABAAAAAQAAAB4BAAA=</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8YNYI6ZztgU08tADEAMABAADtgxYhTTy8AUwBlAHIAdgBvAC0AMQBAADWCOmc7YFNPBAAAABAAAAABAAAAAgAAACEBAAAZAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i150"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i96"/><Inertial z:Ref="i70"/><Joint z:Ref="i103"/><NameAttribute z:Ref="i69"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8L81N/ge+AqJotADEAOABAADtgxYhTTwQAAAAQAAAAAQAAAAEAAADuAAAA</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8XNYI6ZztgU08tADgAQAA7YMWIU08vAFMAZQByAHYAbwAtADEAQAA1gjpnO2BTTwQAAAAQAAAAAQAAAAIAAADWAAAAGQAAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i83"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link><Link z:Id="i336"><Attributes><Attribute z:Id="i337"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">rf0_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i338" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i339" i:type="Origin"><Attributes><Attribute z:Id="i340"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i341"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i341"/><XYZAttribute z:Ref="i340"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i342" i:type="Mass"><Attributes><Attribute z:Id="i343"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i343"/></URDFElement><URDFElement z:Id="i344" i:type="Inertia"><Attributes><Attribute z:Id="i345"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i346"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i347"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i348"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i349"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i350"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i345"/><IxyAttribute z:Ref="i346"/><IxzAttribute z:Ref="i347"/><IyyAttribute z:Ref="i348"/><IyzAttribute z:Ref="i349"/><IzzAttribute z:Ref="i350"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i344"/><Mass z:Ref="i342"/><Origin z:Ref="i339"/></URDFElement><URDFElement z:Id="i351" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i352" i:type="Origin"><Attributes><Attribute z:Id="i353"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i354"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i354"/><XYZAttribute z:Ref="i353"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i355" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i356" i:type="Mesh"><Attributes><Attribute z:Id="i357"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i357"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i356"/></URDFElement><URDFElement z:Id="i358" i:type="Material"><Attributes><Attribute z:Id="i359"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i360" i:type="Color"><Attributes><Attribute z:Id="i361"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i361"/></URDFElement><URDFElement z:Id="i362" i:type="Texture"><Attributes><Attribute z:Id="i363"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i363"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i360"/><NameAttribute z:Ref="i359"/><Texture z:Ref="i362"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i355"/><Material z:Ref="i358"/><Origin z:Ref="i352"/></URDFElement><URDFElement z:Id="i364" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i365" i:type="Origin"><Attributes><Attribute z:Id="i366"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i367"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i367"/><XYZAttribute z:Ref="i366"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i368" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i369" i:type="Mesh"><Attributes><Attribute z:Id="i370"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i370"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i369"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i368"/><Origin z:Ref="i365"/></URDFElement><URDFElement z:Id="i371" i:type="Joint"><Attributes><Attribute z:Id="i372"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jrf0_link</Value></Attribute><Attribute z:Id="i373"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i374" i:type="Origin"><Attributes><Attribute z:Id="i375"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i376"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i376"/><XYZAttribute z:Ref="i375"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i377" i:type="ParentLink"><Attributes><Attribute z:Id="i378"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i378"/></URDFElement><URDFElement z:Id="i379" i:type="ChildLink"><Attributes><Attribute z:Id="i380"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i380"/></URDFElement><URDFElement z:Id="i381" i:type="Axis"><Attributes><Attribute z:Id="i382"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i382"/></URDFElement><URDFElement z:Id="i383" i:type="Limit"><Attributes><Attribute z:Id="i384"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i385"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i386"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i387"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i386"/><LowerAttribute z:Ref="i384"/><UpperAttribute z:Ref="i385"/><VelocityAttribute z:Ref="i387"/></URDFElement><URDFElement z:Id="i388" i:type="Calibration"><Attributes><Attribute z:Id="i389"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i390"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i390"/><RisingAttribute z:Ref="i389"/></URDFElement><URDFElement z:Id="i391" i:type="Dynamics"><Attributes><Attribute z:Id="i392"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i393"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i392"/><FrictionAttribute z:Ref="i393"/></URDFElement><URDFElement z:Id="i394" i:type="SafetyController"><Attributes><Attribute z:Id="i395"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i396"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i397"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i398"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i397"/><KVelocityAttribute z:Ref="i398"/><SoftLowerAttribute z:Ref="i396"/><SoftUpperAttribute z:Ref="i395"/></URDFElement><URDFElement z:Id="i399" i:type="Mimic"><Attributes><Attribute z:Id="i400"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i401"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i402"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i400"/><MultiplierAttribute z:Ref="i401"/><OffsetAttribute z:Ref="i402"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i381"/><AxisName>rf0_hige</AxisName><Calibration z:Ref="i388"/><Child z:Ref="i379"/><CoordinateSystemName>rf0</CoordinateSystemName><Dynamics z:Ref="i391"/><Limit z:Ref="i383"/><Mimic z:Ref="i399"/><NameAttribute z:Ref="i372"/><Origin z:Ref="i374"/><Parent z:Ref="i377"/><Safety z:Ref="i394"/><TypeAttribute z:Ref="i373"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i403"><Attributes><Attribute z:Id="i404"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">rf1_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i405" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i406" i:type="Origin"><Attributes><Attribute z:Id="i407"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i408"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i408"/><XYZAttribute z:Ref="i407"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i409" i:type="Mass"><Attributes><Attribute z:Id="i410"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i410"/></URDFElement><URDFElement z:Id="i411" i:type="Inertia"><Attributes><Attribute z:Id="i412"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i413"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i414"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i415"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i416"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i417"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i412"/><IxyAttribute z:Ref="i413"/><IxzAttribute z:Ref="i414"/><IyyAttribute z:Ref="i415"/><IyzAttribute z:Ref="i416"/><IzzAttribute z:Ref="i417"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i411"/><Mass z:Ref="i409"/><Origin z:Ref="i406"/></URDFElement><URDFElement z:Id="i418" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i419" i:type="Origin"><Attributes><Attribute z:Id="i420"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i421"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i421"/><XYZAttribute z:Ref="i420"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i422" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i423" i:type="Mesh"><Attributes><Attribute z:Id="i424"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i424"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i423"/></URDFElement><URDFElement z:Id="i425" i:type="Material"><Attributes><Attribute z:Id="i426"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i427" i:type="Color"><Attributes><Attribute z:Id="i428"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i428"/></URDFElement><URDFElement z:Id="i429" i:type="Texture"><Attributes><Attribute z:Id="i430"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i430"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i427"/><NameAttribute z:Ref="i426"/><Texture z:Ref="i429"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i422"/><Material z:Ref="i425"/><Origin z:Ref="i419"/></URDFElement><URDFElement z:Id="i431" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i432" i:type="Origin"><Attributes><Attribute z:Id="i433"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i434"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i434"/><XYZAttribute z:Ref="i433"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i435" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i436" i:type="Mesh"><Attributes><Attribute z:Id="i437"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i437"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i436"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i435"/><Origin z:Ref="i432"/></URDFElement><URDFElement z:Id="i438" i:type="Joint"><Attributes><Attribute z:Id="i439"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jrf1_link</Value></Attribute><Attribute z:Id="i440"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i441" i:type="Origin"><Attributes><Attribute z:Id="i442"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i443"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i443"/><XYZAttribute z:Ref="i442"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i444" i:type="ParentLink"><Attributes><Attribute z:Id="i445"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i445"/></URDFElement><URDFElement z:Id="i446" i:type="ChildLink"><Attributes><Attribute z:Id="i447"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i447"/></URDFElement><URDFElement z:Id="i448" i:type="Axis"><Attributes><Attribute z:Id="i449"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i449"/></URDFElement><URDFElement z:Id="i450" i:type="Limit"><Attributes><Attribute z:Id="i451"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i452"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i453"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i454"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i453"/><LowerAttribute z:Ref="i451"/><UpperAttribute z:Ref="i452"/><VelocityAttribute z:Ref="i454"/></URDFElement><URDFElement z:Id="i455" i:type="Calibration"><Attributes><Attribute z:Id="i456"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i457"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i457"/><RisingAttribute z:Ref="i456"/></URDFElement><URDFElement z:Id="i458" i:type="Dynamics"><Attributes><Attribute z:Id="i459"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i460"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i459"/><FrictionAttribute z:Ref="i460"/></URDFElement><URDFElement z:Id="i461" i:type="SafetyController"><Attributes><Attribute z:Id="i462"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i463"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i464"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i465"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i464"/><KVelocityAttribute z:Ref="i465"/><SoftLowerAttribute z:Ref="i463"/><SoftUpperAttribute z:Ref="i462"/></URDFElement><URDFElement z:Id="i466" i:type="Mimic"><Attributes><Attribute z:Id="i467"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i468"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i469"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i467"/><MultiplierAttribute z:Ref="i468"/><OffsetAttribute z:Ref="i469"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i448"/><AxisName>rf1_hige</AxisName><Calibration z:Ref="i455"/><Child z:Ref="i446"/><CoordinateSystemName>rf1</CoordinateSystemName><Dynamics z:Ref="i458"/><Limit z:Ref="i450"/><Mimic z:Ref="i466"/><NameAttribute z:Ref="i439"/><Origin z:Ref="i441"/><Parent z:Ref="i444"/><Safety z:Ref="i461"/><TypeAttribute z:Ref="i440"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i470"><Attributes><Attribute z:Id="i471"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">rf2_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i472" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i473" i:type="Origin"><Attributes><Attribute z:Id="i474"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i475"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i475"/><XYZAttribute z:Ref="i474"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i476" i:type="Mass"><Attributes><Attribute z:Id="i477"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i477"/></URDFElement><URDFElement z:Id="i478" i:type="Inertia"><Attributes><Attribute z:Id="i479"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i480"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i481"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i482"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i483"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i484"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i479"/><IxyAttribute z:Ref="i480"/><IxzAttribute z:Ref="i481"/><IyyAttribute z:Ref="i482"/><IyzAttribute z:Ref="i483"/><IzzAttribute z:Ref="i484"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i478"/><Mass z:Ref="i476"/><Origin z:Ref="i473"/></URDFElement><URDFElement z:Id="i485" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i486" i:type="Origin"><Attributes><Attribute z:Id="i487"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i488"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i488"/><XYZAttribute z:Ref="i487"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i489" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i490" i:type="Mesh"><Attributes><Attribute z:Id="i491"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i491"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i490"/></URDFElement><URDFElement z:Id="i492" i:type="Material"><Attributes><Attribute z:Id="i493"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i494" i:type="Color"><Attributes><Attribute z:Id="i495"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i495"/></URDFElement><URDFElement z:Id="i496" i:type="Texture"><Attributes><Attribute z:Id="i497"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i497"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i494"/><NameAttribute z:Ref="i493"/><Texture z:Ref="i496"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i489"/><Material z:Ref="i492"/><Origin z:Ref="i486"/></URDFElement><URDFElement z:Id="i498" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i499" i:type="Origin"><Attributes><Attribute z:Id="i500"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i501"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i501"/><XYZAttribute z:Ref="i500"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i502" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i503" i:type="Mesh"><Attributes><Attribute z:Id="i504"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i504"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i503"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i502"/><Origin z:Ref="i499"/></URDFElement><URDFElement z:Id="i505" i:type="Joint"><Attributes><Attribute z:Id="i506"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jrf2_link</Value></Attribute><Attribute z:Id="i507"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i508" i:type="Origin"><Attributes><Attribute z:Id="i509"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i510"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i510"/><XYZAttribute z:Ref="i509"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i511" i:type="ParentLink"><Attributes><Attribute z:Id="i512"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i512"/></URDFElement><URDFElement z:Id="i513" i:type="ChildLink"><Attributes><Attribute z:Id="i514"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i514"/></URDFElement><URDFElement z:Id="i515" i:type="Axis"><Attributes><Attribute z:Id="i516"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i516"/></URDFElement><URDFElement z:Id="i517" i:type="Limit"><Attributes><Attribute z:Id="i518"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i519"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i520"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i521"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i520"/><LowerAttribute z:Ref="i518"/><UpperAttribute z:Ref="i519"/><VelocityAttribute z:Ref="i521"/></URDFElement><URDFElement z:Id="i522" i:type="Calibration"><Attributes><Attribute z:Id="i523"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i524"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i524"/><RisingAttribute z:Ref="i523"/></URDFElement><URDFElement z:Id="i525" i:type="Dynamics"><Attributes><Attribute z:Id="i526"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i527"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i526"/><FrictionAttribute z:Ref="i527"/></URDFElement><URDFElement z:Id="i528" i:type="SafetyController"><Attributes><Attribute z:Id="i529"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i530"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i531"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i532"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i531"/><KVelocityAttribute z:Ref="i532"/><SoftLowerAttribute z:Ref="i530"/><SoftUpperAttribute z:Ref="i529"/></URDFElement><URDFElement z:Id="i533" i:type="Mimic"><Attributes><Attribute z:Id="i534"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i535"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i536"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i534"/><MultiplierAttribute z:Ref="i535"/><OffsetAttribute z:Ref="i536"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i515"/><AxisName>lf2_hige</AxisName><Calibration z:Ref="i522"/><Child z:Ref="i513"/><CoordinateSystemName>rf2</CoordinateSystemName><Dynamics z:Ref="i525"/><Limit z:Ref="i517"/><Mimic z:Ref="i533"/><NameAttribute z:Ref="i506"/><Origin z:Ref="i508"/><Parent z:Ref="i511"/><Safety z:Ref="i528"/><TypeAttribute z:Ref="i507"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i537"><Attributes><Attribute z:Id="i538"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">rf3_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i539" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i540" i:type="Origin"><Attributes><Attribute z:Id="i541"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i542"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i542"/><XYZAttribute z:Ref="i541"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i543" i:type="Mass"><Attributes><Attribute z:Id="i544"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i544"/></URDFElement><URDFElement z:Id="i545" i:type="Inertia"><Attributes><Attribute z:Id="i546"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i547"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i548"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i549"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i550"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i551"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i546"/><IxyAttribute z:Ref="i547"/><IxzAttribute z:Ref="i548"/><IyyAttribute z:Ref="i549"/><IyzAttribute z:Ref="i550"/><IzzAttribute z:Ref="i551"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i545"/><Mass z:Ref="i543"/><Origin z:Ref="i540"/></URDFElement><URDFElement z:Id="i552" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i553" i:type="Origin"><Attributes><Attribute z:Id="i554"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i555"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i555"/><XYZAttribute z:Ref="i554"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i556" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i557" i:type="Mesh"><Attributes><Attribute z:Id="i558"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i558"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i557"/></URDFElement><URDFElement z:Id="i559" i:type="Material"><Attributes><Attribute z:Id="i560"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i561" i:type="Color"><Attributes><Attribute z:Id="i562"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i562"/></URDFElement><URDFElement z:Id="i563" i:type="Texture"><Attributes><Attribute z:Id="i564"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i564"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i561"/><NameAttribute z:Ref="i560"/><Texture z:Ref="i563"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i556"/><Material z:Ref="i559"/><Origin z:Ref="i553"/></URDFElement><URDFElement z:Id="i565" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i566" i:type="Origin"><Attributes><Attribute z:Id="i567"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i568"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i568"/><XYZAttribute z:Ref="i567"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i569" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i570" i:type="Mesh"><Attributes><Attribute z:Id="i571"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i571"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i570"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i569"/><Origin z:Ref="i566"/></URDFElement><URDFElement z:Id="i572" i:type="Joint"><Attributes><Attribute z:Id="i573"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jrf3_link</Value></Attribute><Attribute z:Id="i574"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i575" i:type="Origin"><Attributes><Attribute z:Id="i576"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i577"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i577"/><XYZAttribute z:Ref="i576"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i578" i:type="ParentLink"><Attributes><Attribute z:Id="i579"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i579"/></URDFElement><URDFElement z:Id="i580" i:type="ChildLink"><Attributes><Attribute z:Id="i581"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i581"/></URDFElement><URDFElement z:Id="i582" i:type="Axis"><Attributes><Attribute z:Id="i583"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i583"/></URDFElement><URDFElement z:Id="i584" i:type="Limit"><Attributes><Attribute z:Id="i585"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i586"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i587"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i588"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i587"/><LowerAttribute z:Ref="i585"/><UpperAttribute z:Ref="i586"/><VelocityAttribute z:Ref="i588"/></URDFElement><URDFElement z:Id="i589" i:type="Calibration"><Attributes><Attribute z:Id="i590"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i591"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i591"/><RisingAttribute z:Ref="i590"/></URDFElement><URDFElement z:Id="i592" i:type="Dynamics"><Attributes><Attribute z:Id="i593"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i594"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i593"/><FrictionAttribute z:Ref="i594"/></URDFElement><URDFElement z:Id="i595" i:type="SafetyController"><Attributes><Attribute z:Id="i596"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i597"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i598"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i599"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i598"/><KVelocityAttribute z:Ref="i599"/><SoftLowerAttribute z:Ref="i597"/><SoftUpperAttribute z:Ref="i596"/></URDFElement><URDFElement z:Id="i600" i:type="Mimic"><Attributes><Attribute z:Id="i601"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i602"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i603"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i601"/><MultiplierAttribute z:Ref="i602"/><OffsetAttribute z:Ref="i603"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i582"/><AxisName>rf3_hige</AxisName><Calibration z:Ref="i589"/><Child z:Ref="i580"/><CoordinateSystemName>rf3</CoordinateSystemName><Dynamics z:Ref="i592"/><Limit z:Ref="i584"/><Mimic z:Ref="i600"/><NameAttribute z:Ref="i573"/><Origin z:Ref="i575"/><Parent z:Ref="i578"/><Safety z:Ref="i595"/><TypeAttribute z:Ref="i574"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i565"/><Inertial z:Ref="i539"/><Joint z:Ref="i572"/><NameAttribute z:Ref="i538"/><Parent z:Ref="i470"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8IiXOzjS0AMwBAADtgxYhTTwQAAAAQAAAAAQAAAAEAAABHAQAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i552"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i498"/><Inertial z:Ref="i472"/><Joint z:Ref="i505"/><NameAttribute z:Ref="i471"/><Parent z:Ref="i403"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8J81MPXH+BLQAxAEAAO2DFiFNPBAAAABAAAAABAAAAAQAAAC0BAAA=</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8YNYI6ZztgU08tADEAMwBAADtgxYhTTy8AUwBlAHIAdgBvAC0AMQBAADWCOmc7YFNPBAAAABAAAAABAAAAAgAAADgBAAAZAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i485"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i431"/><Inertial z:Ref="i405"/><Joint z:Ref="i438"/><NameAttribute z:Ref="i404"/><Parent z:Ref="i336"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8J81MnWX+BLQAyAEAAO2DFiFNPBAAAABAAAAABAAAAAQAAABsBAAA=</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8YNYI6ZztgU08tADEAMQBAADtgxYhTTy8AUwBlAHIAdgBvAC0AMQBAADWCOmc7YFNPBAAAABAAAAABAAAAAgAAACcBAAAZAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i418"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i364"/><Inertial z:Ref="i338"/><Joint z:Ref="i371"/><NameAttribute z:Ref="i337"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8L81N/ge+AqJotADEANgBAADtgxYhTTwQAAAAQAAAAAQAAAAEAAADnAAAA</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8XNYI6ZztgU08tADkAQAA7YMWIU08vAFMAZQByAHYAbwAtADEAQAA1gjpnO2BTTwQAAAAQAAAAAQAAAAIAAADiAAAAGQAAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i351"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8IO05TTy0AMgBAADtgxYhTTwQAAAAQAAAAAQAAAAEAAABjAAAA</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8QYgBhAHQAZQByAGkAYQAgADkAdgAtADEAQAA7YMWIU08EAAAAEAAAAAEAAAABAAAAjgAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8NUwB0AGUAcAAgAFUAcAAtADEAQAA7YMWIU08EAAAAEAAAAAEAAAABAAAATQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v9HMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8AQgBvAGEAcgBkAH4AUgBrAFcANwAuAHMAdABlAHAALQAxAEAAMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAAQAAAAQAAAAAQAAAAIAAAAyAAAAKAAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8hRgByAGUAZQBuAG8AdgBlACAARQBTAFAAMwAyAC0AUwAzAC0AVwBSAE8ATwBNAC0AQwBBAE0ALQAxAEAAO2DFiFNPBAAAABAAAAABAAAAAQAAABkAAAA=</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/OMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAAxADUAfgBIAEQAUgAtAFQASABfADIAMABQAC0AUAAyAC4ANQA0AC0AVgAtAEYAfgBIAEQAUgAtAEYALQAyAC4ANQA0AF8AMQB4ADIAMAB+AFYATQBaAEMALgBzAHQAZQBwAC0AMQBAADMARABfAFAAQwBCADEAXwAyADAAMgA2AC0AMAA4AC0AMQAwAC4AcwB0AGUAcAAvAEgARABSAC0AVABIAF8AMgAwAFAALQBQADIALgA1ADQALQBWAC0ARgB+AEgARABSAC0ARgAtADIALgA1ADQAXwAxAHgAMgAwAH4AWgA3AHEAUgAuAHMAdABlAHAALQAxAEAASAAxADUAfgBIAEQAUgAtAFQASABfADIAMABQAC0AUAAyAC4ANQA0AC0AVgAtAEYAfgBIAEQAUgAtAEYALQAyAC4ANQA0AF8AMQB4ADIAMAB+AFYATQBaAEMALgBzAHQAZQBwAAQAAAAQAAAAAQAAAAMAAAAyAAAAJQAAABkAAAA=</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/SMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAAxAH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AVQBzAEgARgAuAHMAdABlAHAALQAxAEAAMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC8ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AbQA3ADMAcgAuAHMAdABlAHAALQAxAEAASAAxAH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AVQBzAEgARgAuAHMAdABlAHAABAAAABAAAAABAAAAAwAAADIAAAAgAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/SMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAA4AH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AUwBoAHoAcgAuAHMAdABlAHAALQAxAEAAMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC8ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AbQA3ADMAcgAuAHMAdABlAHAALQAxAEAASAA4AH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AUwBoAHoAcgAuAHMAdABlAHAABAAAABAAAAABAAAAAwAAADIAAAAiAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/SMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAAyAH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AQwBrAG0AaQAuAHMAdABlAHAALQAxAEAAMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC8ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AbQA3ADMAcgAuAHMAdABlAHAALQAxAEAASAAyAH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AQwBrAG0AaQAuAHMAdABlAHAABAAAABAAAAABAAAAAwAAADIAAAAhAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/SMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAA0AH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4ANwBtADIAdwAuAHMAdABlAHAALQAxAEAAMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC8ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AbQA3ADMAcgAuAHMAdABlAHAALQAxAEAASAA0AH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4ANwBtADIAdwAuAHMAdABlAHAABAAAABAAAAABAAAAAwAAADIAAAAfAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/MMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAA2AH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBGAH4ASABEAFIALQBGAC0AMgAuADUANABfADEAeAAyADAAfgBGAEYAQgBhAC4AcwB0AGUAcAAtADEAQAAzAEQAXwBQAEMAQgAxAF8AMgAwADIANgAtADAAOAAtADEAMAAuAHMAdABlAHAALwBIAEQAUgAtAFQASABfADIAMABQAC0AUAAyAC4ANQA0AC0AVgAtAEYAfgBIAEQAUgAtAEYALQAyAC4ANQA0AF8AMQB4ADIAMAB+AFoANwBxAFIALgBzAHQAZQBwAC0AMQBAAEgANgB+AEgARABSAC0AVABIAF8AMgAwAFAALQBQADIALgA1ADQALQBWAC0ARgB+AEgARABSAC0ARgAtADIALgA1ADQAXwAxAHgAMgAwAH4ARgBGAEIAYQAuAHMAdABlAHAABAAAABAAAAABAAAAAwAAADIAAAAnAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/SMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAAzAH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AMgBUADEAeQAuAHMAdABlAHAALQAxAEAAMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC8ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AbQA3ADMAcgAuAHMAdABlAHAALQAxAEAASAAzAH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AMgBUADEAeQAuAHMAdABlAHAABAAAABAAAAABAAAAAwAAADIAAAAjAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/SMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAA1AH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AVAA3AHgASAAuAHMAdABlAHAALQAxAEAAMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC8ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AbQA3ADMAcgAuAHMAdABlAHAALQAxAEAASAA1AH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AVAA3AHgASAAuAHMAdABlAHAABAAAABAAAAABAAAAAwAAADIAAAAkAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8XNYI6ZztgU08tADUAQAA7YMWIU08vAFMAZQByAHYAbwAtADEAQAA1gjpnO2BTTwQAAAAQAAAAAQAAAAIAAACuAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8XNYI6ZztgU08tADQAQAA7YMWIU08vAFMAZQByAHYAbwAtADEAQAA1gjpnO2BTTwQAAAAQAAAAAQAAAAIAAACnAAAAGQAAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
|
||
2026-09-05 15:56:53,430 INFO LinkNode.cs: 35 - Building node head_link
|
||
2026-09-05 15:56:53,431 INFO LinkNode.cs: 35 - Building node lf0_link
|
||
2026-09-05 15:56:53,432 INFO LinkNode.cs: 35 - Building node lf1_link
|
||
2026-09-05 15:56:53,432 INFO LinkNode.cs: 35 - Building node lf2_link
|
||
2026-09-05 15:56:53,432 INFO LinkNode.cs: 35 - Building node lf3_link
|
||
2026-09-05 15:56:53,433 INFO LinkNode.cs: 35 - Building node rf0_link
|
||
2026-09-05 15:56:53,433 INFO LinkNode.cs: 35 - Building node rf1_link
|
||
2026-09-05 15:56:53,433 INFO LinkNode.cs: 35 - Building node rf2_link
|
||
2026-09-05 15:56:53,433 INFO LinkNode.cs: 35 - Building node rf3_link
|
||
2026-09-05 15:56:53,434 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for head_link from C:\Users\ZhenaiWin\Documents\Bot3dData\×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:56:53,435 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ???;NSO- 2 @ ;`??SO c
|
||
2026-09-05 15:56:53,437 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\Documents\Bot3dData\Ö÷Ìå.SLDPRT
|
||
2026-09-05 15:56:53,437 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ???b a t e r i a 9 v - 1 @ ;`??SO ?
|
||
2026-09-05 15:56:53,437 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\Documents\Bot3dData\´øµçµÄ\bateria 9v.SLDPRT
|
||
2026-09-05 15:56:53,437 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ???
|
||
S t e p U p - 1 @ ;`??SO M
|
||
2026-09-05 15:56:53,438 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\Documents\Bot3dData\´øµçµÄ\Step Up.SLDPRT
|
||
2026-09-05 15:56:53,438 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ???G3 D _ P C B 1 _ 2 0 2 6 - 0 8 - 1 0 . s t e p - 1 @ ;`??SO/ B o a r d ~ R k W 7 . s t e p - 1 @ 3 D _ P C B 1 _ 2 0 2 6 - 0 8 - 1 0 . s t e p 2 (
|
||
2026-09-05 15:56:53,438 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\AppData\Local\Temp\swx34724\IC~~\Board~RkW7.step.SLDPRT
|
||
2026-09-05 15:56:53,439 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ???!F r e e n o v e E S P 3 2 - S 3 - W R O O M - C A M - 1 @ ;`??SO
|
||
2026-09-05 15:56:53,439 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\Documents\Bot3dData\´øµçµÄ\Freenove ESP32-S3-WROOM-CAM.SLDPRT
|
||
2026-09-05 15:56:53,439 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ????3 D _ P C B 1 _ 2 0 2 6 - 0 8 - 1 0 . s t e p - 1 @ ;`??SO/ H 1 5 ~ H D R - T H _ 2 0 P - P 2 . 5 4 - V - F ~ H D R - F - 2 . 5 4 _ 1 x 2 0 ~ V M Z C . s t e p - 1 @ 3 D _ P C B 1 _ 2 0 2 6 - 0 8 - 1 0 . s t e p / H D R - T H _ 2 0 P - P 2 . 5 4 - V - F ~ H D R - F - 2 . 5 4 _ 1 x 2 0 ~ Z 7 q R . s t e p - 1 @ H 1 5 ~ H D R - T H _ 2 0 P - P 2 . 5 4 - V - F ~ H D R - F - 2 . 5 4 _ 1 x 2 0 ~ V M Z C . s t e p 2 %
|
||
2026-09-05 15:56:53,439 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\AppData\Local\Temp\swx34724\IC~~\HDR-TH_20P-P2.54-V-F~HDR-F-2.54_1x20~Z7qR.step.SLDPRT
|
||
2026-09-05 15:56:53,440 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ????3 D _ P C B 1 _ 2 0 2 6 - 0 8 - 1 0 . s t e p - 1 @ ;`??SO/ H 1 ~ H D R - T H _ 2 0 P - P 2 . 5 4 - V - M - 1 ~ H D R - M - 2 . 5 4 _ 1 x 2 0 ~ U s H F . s t e p - 1 @ 3 D _ P C B 1 _ 2 0 2 6 - 0 8 - 1 0 . s t e p / H D R - T H _ 2 0 P - P 2 . 5 4 - V - M - 1 ~ H D R - M - 2 . 5 4 _ 1 x 2 0 ~ m 7 3 r . s t e p - 1 @ H 1 ~ H D R - T H _ 2 0 P - P 2 . 5 4 - V - M - 1 ~ H D R - M - 2 . 5 4 _ 1 x 2 0 ~ U s H F . s t e p 2
|
||
2026-09-05 15:56:53,440 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\AppData\Local\Temp\swx34724\IC~~\HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~m73r.step.SLDPRT
|
||
2026-09-05 15:56:53,440 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ????3 D _ P C B 1 _ 2 0 2 6 - 0 8 - 1 0 . s t e p - 1 @ ;`??SO/ H 8 ~ H D R - T H _ 2 0 P - P 2 . 5 4 - V - M - 1 ~ H D R - M - 2 . 5 4 _ 1 x 2 0 ~ S h z r . s t e p - 1 @ 3 D _ P C B 1 _ 2 0 2 6 - 0 8 - 1 0 . s t e p / H D R - T H _ 2 0 P - P 2 . 5 4 - V - M - 1 ~ H D R - M - 2 . 5 4 _ 1 x 2 0 ~ m 7 3 r . s t e p - 1 @ H 8 ~ H D R - T H _ 2 0 P - P 2 . 5 4 - V - M - 1 ~ H D R - M - 2 . 5 4 _ 1 x 2 0 ~ S h z r . s t e p 2 "
|
||
2026-09-05 15:56:53,441 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\AppData\Local\Temp\swx34724\IC~~\HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~m73r.step.SLDPRT
|
||
2026-09-05 15:56:53,441 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ????3 D _ P C B 1 _ 2 0 2 6 - 0 8 - 1 0 . s t e p - 1 @ ;`??SO/ H 2 ~ H D R - T H _ 2 0 P - P 2 . 5 4 - V - M - 1 ~ H D R - M - 2 . 5 4 _ 1 x 2 0 ~ C k m i . s t e p - 1 @ 3 D _ P C B 1 _ 2 0 2 6 - 0 8 - 1 0 . s t e p / H D R - T H _ 2 0 P - P 2 . 5 4 - V - M - 1 ~ H D R - M - 2 . 5 4 _ 1 x 2 0 ~ m 7 3 r . s t e p - 1 @ H 2 ~ H D R - T H _ 2 0 P - P 2 . 5 4 - V - M - 1 ~ H D R - M - 2 . 5 4 _ 1 x 2 0 ~ C k m i . s t e p 2 !
|
||
2026-09-05 15:56:53,442 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\AppData\Local\Temp\swx34724\IC~~\HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~m73r.step.SLDPRT
|
||
2026-09-05 15:56:53,442 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ????3 D _ P C B 1 _ 2 0 2 6 - 0 8 - 1 0 . s t e p - 1 @ ;`??SO/ H 4 ~ H D R - T H _ 2 0 P - P 2 . 5 4 - V - M - 1 ~ H D R - M - 2 . 5 4 _ 1 x 2 0 ~ 7 m 2 w . s t e p - 1 @ 3 D _ P C B 1 _ 2 0 2 6 - 0 8 - 1 0 . s t e p / H D R - T H _ 2 0 P - P 2 . 5 4 - V - M - 1 ~ H D R - M - 2 . 5 4 _ 1 x 2 0 ~ m 7 3 r . s t e p - 1 @ H 4 ~ H D R - T H _ 2 0 P - P 2 . 5 4 - V - M - 1 ~ H D R - M - 2 . 5 4 _ 1 x 2 0 ~ 7 m 2 w . s t e p 2
|
||
2026-09-05 15:56:53,442 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\AppData\Local\Temp\swx34724\IC~~\HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~m73r.step.SLDPRT
|
||
2026-09-05 15:56:53,442 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ????3 D _ P C B 1 _ 2 0 2 6 - 0 8 - 1 0 . s t e p - 1 @ ;`??SO/ H 6 ~ H D R - T H _ 2 0 P - P 2 . 5 4 - V - F ~ H D R - F - 2 . 5 4 _ 1 x 2 0 ~ F F B a . s t e p - 1 @ 3 D _ P C B 1 _ 2 0 2 6 - 0 8 - 1 0 . s t e p / H D R - T H _ 2 0 P - P 2 . 5 4 - V - F ~ H D R - F - 2 . 5 4 _ 1 x 2 0 ~ Z 7 q R . s t e p - 1 @ H 6 ~ H D R - T H _ 2 0 P - P 2 . 5 4 - V - F ~ H D R - F - 2 . 5 4 _ 1 x 2 0 ~ F F B a . s t e p 2 '
|
||
2026-09-05 15:56:53,443 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\AppData\Local\Temp\swx34724\IC~~\HDR-TH_20P-P2.54-V-F~HDR-F-2.54_1x20~Z7qR.step.SLDPRT
|
||
2026-09-05 15:56:53,443 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ????3 D _ P C B 1 _ 2 0 2 6 - 0 8 - 1 0 . s t e p - 1 @ ;`??SO/ H 3 ~ H D R - T H _ 2 0 P - P 2 . 5 4 - V - M - 1 ~ H D R - M - 2 . 5 4 _ 1 x 2 0 ~ 2 T 1 y . s t e p - 1 @ 3 D _ P C B 1 _ 2 0 2 6 - 0 8 - 1 0 . s t e p / H D R - T H _ 2 0 P - P 2 . 5 4 - V - M - 1 ~ H D R - M - 2 . 5 4 _ 1 x 2 0 ~ m 7 3 r . s t e p - 1 @ H 3 ~ H D R - T H _ 2 0 P - P 2 . 5 4 - V - M - 1 ~ H D R - M - 2 . 5 4 _ 1 x 2 0 ~ 2 T 1 y . s t e p 2 #
|
||
2026-09-05 15:56:53,443 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\AppData\Local\Temp\swx34724\IC~~\HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~m73r.step.SLDPRT
|
||
2026-09-05 15:56:53,444 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ????3 D _ P C B 1 _ 2 0 2 6 - 0 8 - 1 0 . s t e p - 1 @ ;`??SO/ H 5 ~ H D R - T H _ 2 0 P - P 2 . 5 4 - V - M - 1 ~ H D R - M - 2 . 5 4 _ 1 x 2 0 ~ T 7 x H . s t e p - 1 @ 3 D _ P C B 1 _ 2 0 2 6 - 0 8 - 1 0 . s t e p / H D R - T H _ 2 0 P - P 2 . 5 4 - V - M - 1 ~ H D R - M - 2 . 5 4 _ 1 x 2 0 ~ m 7 3 r . s t e p - 1 @ H 5 ~ H D R - T H _ 2 0 P - P 2 . 5 4 - V - M - 1 ~ H D R - M - 2 . 5 4 _ 1 x 2 0 ~ T 7 x H . s t e p 2 $
|
||
2026-09-05 15:56:53,444 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\AppData\Local\Temp\swx34724\IC~~\HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~m73r.step.SLDPRT
|
||
2026-09-05 15:56:53,444 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ???5?:g;`SO- 5 @ ;`??SO/ S e r v o - 1 @ 5?:g;`SO ?
|
||
2026-09-05 15:56:53,445 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\Documents\Bot3dData\´øµçµÄ\Servo.SLDPRT
|
||
2026-09-05 15:56:53,445 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ???5?:g;`SO- 4 @ ;`??SO/ S e r v o - 1 @ 5?:g;`SO ?
|
||
2026-09-05 15:56:53,445 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\Documents\Bot3dData\´øµçµÄ\Servo.SLDPRT
|
||
2026-09-05 15:56:53,445 INFO CommonSwOperations.cs: 230 - Loaded 15 components for link head_link
|
||
2026-09-05 15:56:53,446 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for lf0_link from C:\Users\ZhenaiWin\Documents\Bot3dData\×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:56:53,446 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ??? ?S?????- 1 8 @ ;`??SO ?
|
||
2026-09-05 15:56:53,446 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\Documents\Bot3dData\´øµçµÄ\ÓÒÍÈ¿è¹Ç.SLDPRT
|
||
2026-09-05 15:56:53,446 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ???5?:g;`SO- 8 @ ;`??SO/ S e r v o - 1 @ 5?:g;`SO ?
|
||
2026-09-05 15:56:53,447 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\Documents\Bot3dData\´øµçµÄ\Servo.SLDPRT
|
||
2026-09-05 15:56:53,447 INFO CommonSwOperations.cs: 230 - Loaded 2 components for link lf0_link
|
||
2026-09-05 15:56:53,447 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for lf1_link from C:\Users\ZhenaiWin\Documents\Bot3dData\×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:56:53,448 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ??? ?S'Y?- 3 @ ;`??SO
|
||
2026-09-05 15:56:53,448 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\Documents\Bot3dData\´øµçµÄ\ÓÒ´óÍÈ.SLDPRT
|
||
2026-09-05 15:56:53,448 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ???5?:g;`SO- 1 0 @ ;`??SO/ S e r v o - 1 @ 5?:g;`SO !
|
||
2026-09-05 15:56:53,449 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\Documents\Bot3dData\´øµçµÄ\Servo.SLDPRT
|
||
2026-09-05 15:56:53,449 INFO CommonSwOperations.cs: 230 - Loaded 2 components for link lf1_link
|
||
2026-09-05 15:56:53,449 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for lf2_link from C:\Users\ZhenaiWin\Documents\Bot3dData\×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:56:53,450 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ??? ?S\?- 2 @ ;`??SO 0
|
||
2026-09-05 15:56:53,450 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\Documents\Bot3dData\´øµçµÄ\ÓÒСÍÈ.SLDPRT
|
||
2026-09-05 15:56:53,450 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ???5?:g;`SO- 1 2 @ ;`??SO/ S e r v o - 1 @ 5?:g;`SO 3
|
||
2026-09-05 15:56:53,450 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\Documents\Bot3dData\´øµçµÄ\Servo.SLDPRT
|
||
2026-09-05 15:56:53,450 INFO CommonSwOperations.cs: 230 - Loaded 2 components for link lf2_link
|
||
2026-09-05 15:56:53,451 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for lf3_link from C:\Users\ZhenaiWin\Documents\Bot3dData\×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:56:53,451 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ????s??- 4 @ ;`??SO J
|
||
2026-09-05 15:56:53,451 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\Documents\Bot3dData\´øµçµÄ\Óñ×ã.SLDPRT
|
||
2026-09-05 15:56:53,451 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link lf3_link
|
||
2026-09-05 15:56:53,452 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for rf0_link from C:\Users\ZhenaiWin\Documents\Bot3dData\×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:56:53,452 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ??? ?S?????- 1 6 @ ;`??SO ?
|
||
2026-09-05 15:56:53,452 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\Documents\Bot3dData\´øµçµÄ\ÓÒÍÈ¿è¹Ç.SLDPRT
|
||
2026-09-05 15:56:53,453 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ???5?:g;`SO- 9 @ ;`??SO/ S e r v o - 1 @ 5?:g;`SO ?
|
||
2026-09-05 15:56:53,453 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\Documents\Bot3dData\´øµçµÄ\Servo.SLDPRT
|
||
2026-09-05 15:56:53,453 INFO CommonSwOperations.cs: 230 - Loaded 2 components for link rf0_link
|
||
2026-09-05 15:56:53,453 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for rf1_link from C:\Users\ZhenaiWin\Documents\Bot3dData\×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:56:53,454 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ??? ?S'Y?- 2 @ ;`??SO
|
||
2026-09-05 15:56:53,454 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\Documents\Bot3dData\´øµçµÄ\ÓÒ´óÍÈ.SLDPRT
|
||
2026-09-05 15:56:53,454 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ???5?:g;`SO- 1 1 @ ;`??SO/ S e r v o - 1 @ 5?:g;`SO '
|
||
2026-09-05 15:56:53,454 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\Documents\Bot3dData\´øµçµÄ\Servo.SLDPRT
|
||
2026-09-05 15:56:53,455 INFO CommonSwOperations.cs: 230 - Loaded 2 components for link rf1_link
|
||
2026-09-05 15:56:53,455 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for rf2_link from C:\Users\ZhenaiWin\Documents\Bot3dData\×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:56:53,455 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ??? ?S\?- 1 @ ;`??SO -
|
||
2026-09-05 15:56:53,456 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\Documents\Bot3dData\´øµçµÄ\ÓÒСÍÈ.SLDPRT
|
||
2026-09-05 15:56:53,456 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ???5?:g;`SO- 1 3 @ ;`??SO/ S e r v o - 1 @ 5?:g;`SO 8
|
||
2026-09-05 15:56:53,456 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\Documents\Bot3dData\´øµçµÄ\Servo.SLDPRT
|
||
2026-09-05 15:56:53,456 INFO CommonSwOperations.cs: 230 - Loaded 2 components for link rf2_link
|
||
2026-09-05 15:56:53,457 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for rf3_link from C:\Users\ZhenaiWin\Documents\Bot3dData\×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:56:53,457 INFO CommonSwOperations.cs: 245 - Loading component with PID PF ????s??- 3 @ ;`??SO G
|
||
2026-09-05 15:56:53,457 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\ZhenaiWin\Documents\Bot3dData\´øµçµÄ\Óñ×ã.SLDPRT
|
||
2026-09-05 15:56:53,457 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link rf3_link
|
||
2026-09-05 15:56:53,913 INFO SwAddin.cs: 344 - Showing property manager
|
||
2026-09-05 15:56:57,868 INFO ExportPropertyManager.cs: 422 - Configuration saved
|
||
2026-09-05 15:56:57,908 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
|
||
<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">head_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i6"/><XYZAttribute z:Ref="i5"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i7" i:type="Mass"><Attributes><Attribute z:Id="i8"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i8"/></URDFElement><URDFElement z:Id="i9" i:type="Inertia"><Attributes><Attribute z:Id="i10"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i11"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i12"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i13"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i14"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i15"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i10"/><IxyAttribute z:Ref="i11"/><IxzAttribute z:Ref="i12"/><IyyAttribute z:Ref="i13"/><IyzAttribute z:Ref="i14"/><IzzAttribute z:Ref="i15"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i9"/><Mass z:Ref="i7"/><Origin z:Ref="i4"/></URDFElement><URDFElement z:Id="i16" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i17" i:type="Origin"><Attributes><Attribute z:Id="i18"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i19"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i19"/><XYZAttribute z:Ref="i18"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i20" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i21" i:type="Mesh"><Attributes><Attribute z:Id="i22"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i22"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i21"/></URDFElement><URDFElement z:Id="i23" i:type="Material"><Attributes><Attribute z:Id="i24"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i25" i:type="Color"><Attributes><Attribute z:Id="i26"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i26"/></URDFElement><URDFElement z:Id="i27" i:type="Texture"><Attributes><Attribute z:Id="i28"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i28"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i25"/><NameAttribute z:Ref="i24"/><Texture z:Ref="i27"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i20"/><Material z:Ref="i23"/><Origin z:Ref="i17"/></URDFElement><URDFElement z:Id="i29" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i30" i:type="Origin"><Attributes><Attribute z:Id="i31"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i32"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i32"/><XYZAttribute z:Ref="i31"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i33" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i34" i:type="Mesh"><Attributes><Attribute z:Id="i35"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i35"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i34"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i33"/><Origin z:Ref="i30"/></URDFElement><URDFElement z:Id="i36" i:type="Joint"><Attributes><Attribute z:Id="i37"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute><Attribute z:Id="i38"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i39" i:type="Origin"><Attributes><Attribute z:Id="i40"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i41"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i41"/><XYZAttribute z:Ref="i40"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i42" i:type="ParentLink"><Attributes><Attribute z:Id="i43"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i43"/></URDFElement><URDFElement z:Id="i44" i:type="ChildLink"><Attributes><Attribute z:Id="i45"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i45"/></URDFElement><URDFElement z:Id="i46" i:type="Axis"><Attributes><Attribute z:Id="i47"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i47"/></URDFElement><URDFElement z:Id="i48" i:type="Limit"><Attributes><Attribute z:Id="i49"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i50"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i51"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i52"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i51"/><LowerAttribute z:Ref="i49"/><UpperAttribute z:Ref="i50"/><VelocityAttribute z:Ref="i52"/></URDFElement><URDFElement z:Id="i53" i:type="Calibration"><Attributes><Attribute z:Id="i54"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i55"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i55"/><RisingAttribute z:Ref="i54"/></URDFElement><URDFElement z:Id="i56" i:type="Dynamics"><Attributes><Attribute z:Id="i57"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i58"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i57"/><FrictionAttribute z:Ref="i58"/></URDFElement><URDFElement z:Id="i59" i:type="SafetyController"><Attributes><Attribute z:Id="i60"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i61"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i62"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i63"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i62"/><KVelocityAttribute z:Ref="i63"/><SoftLowerAttribute z:Ref="i61"/><SoftUpperAttribute z:Ref="i60"/></URDFElement><URDFElement z:Id="i64" i:type="Mimic"><Attributes><Attribute z:Id="i65"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i66"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i67"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i65"/><MultiplierAttribute z:Ref="i66"/><OffsetAttribute z:Ref="i67"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i46"/><AxisName/><Calibration z:Ref="i53"/><Child z:Ref="i44"/><CoordinateSystemName>head</CoordinateSystemName><Dynamics z:Ref="i56"/><Limit z:Ref="i48"/><Mimic z:Ref="i64"/><NameAttribute z:Ref="i37"/><Origin z:Ref="i39"/><Parent z:Ref="i42"/><Safety z:Ref="i59"/><TypeAttribute z:Ref="i38"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i68"><Attributes><Attribute z:Id="i69"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">lf0_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i70" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i71" i:type="Origin"><Attributes><Attribute z:Id="i72"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i73"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i73"/><XYZAttribute z:Ref="i72"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i74" i:type="Mass"><Attributes><Attribute z:Id="i75"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i75"/></URDFElement><URDFElement z:Id="i76" i:type="Inertia"><Attributes><Attribute z:Id="i77"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i78"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i79"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i80"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i81"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i82"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i77"/><IxyAttribute z:Ref="i78"/><IxzAttribute z:Ref="i79"/><IyyAttribute z:Ref="i80"/><IyzAttribute z:Ref="i81"/><IzzAttribute z:Ref="i82"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i76"/><Mass z:Ref="i74"/><Origin z:Ref="i71"/></URDFElement><URDFElement z:Id="i83" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i84" i:type="Origin"><Attributes><Attribute z:Id="i85"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i86"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i86"/><XYZAttribute z:Ref="i85"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i87" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i88" i:type="Mesh"><Attributes><Attribute z:Id="i89"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i89"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i88"/></URDFElement><URDFElement z:Id="i90" i:type="Material"><Attributes><Attribute z:Id="i91"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i92" i:type="Color"><Attributes><Attribute z:Id="i93"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i93"/></URDFElement><URDFElement z:Id="i94" i:type="Texture"><Attributes><Attribute z:Id="i95"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i95"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i92"/><NameAttribute z:Ref="i91"/><Texture z:Ref="i94"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i87"/><Material z:Ref="i90"/><Origin z:Ref="i84"/></URDFElement><URDFElement z:Id="i96" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i97" i:type="Origin"><Attributes><Attribute z:Id="i98"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i99"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i99"/><XYZAttribute z:Ref="i98"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i100" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i101" i:type="Mesh"><Attributes><Attribute z:Id="i102"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i102"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i101"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i100"/><Origin z:Ref="i97"/></URDFElement><URDFElement z:Id="i103" i:type="Joint"><Attributes><Attribute z:Id="i104"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jlf0_link</Value></Attribute><Attribute z:Id="i105"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i106" i:type="Origin"><Attributes><Attribute z:Id="i107"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i108"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i108"/><XYZAttribute z:Ref="i107"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i109" i:type="ParentLink"><Attributes><Attribute z:Id="i110"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i110"/></URDFElement><URDFElement z:Id="i111" i:type="ChildLink"><Attributes><Attribute z:Id="i112"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i112"/></URDFElement><URDFElement z:Id="i113" i:type="Axis"><Attributes><Attribute z:Id="i114"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i114"/></URDFElement><URDFElement z:Id="i115" i:type="Limit"><Attributes><Attribute z:Id="i116"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i117"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i118"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i119"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i118"/><LowerAttribute z:Ref="i116"/><UpperAttribute z:Ref="i117"/><VelocityAttribute z:Ref="i119"/></URDFElement><URDFElement z:Id="i120" i:type="Calibration"><Attributes><Attribute z:Id="i121"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i122"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i122"/><RisingAttribute z:Ref="i121"/></URDFElement><URDFElement z:Id="i123" i:type="Dynamics"><Attributes><Attribute z:Id="i124"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i125"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i124"/><FrictionAttribute z:Ref="i125"/></URDFElement><URDFElement z:Id="i126" i:type="SafetyController"><Attributes><Attribute z:Id="i127"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i128"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i129"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i130"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i129"/><KVelocityAttribute z:Ref="i130"/><SoftLowerAttribute z:Ref="i128"/><SoftUpperAttribute z:Ref="i127"/></URDFElement><URDFElement z:Id="i131" i:type="Mimic"><Attributes><Attribute z:Id="i132"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i133"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i134"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i132"/><MultiplierAttribute z:Ref="i133"/><OffsetAttribute z:Ref="i134"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i113"/><AxisName>lf0_hige</AxisName><Calibration z:Ref="i120"/><Child z:Ref="i111"/><CoordinateSystemName>lf0</CoordinateSystemName><Dynamics z:Ref="i123"/><Limit z:Ref="i115"/><Mimic z:Ref="i131"/><NameAttribute z:Ref="i104"/><Origin z:Ref="i106"/><Parent z:Ref="i109"/><Safety z:Ref="i126"/><TypeAttribute z:Ref="i105"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i135"><Attributes><Attribute z:Id="i136"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">lf1_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i137" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i138" i:type="Origin"><Attributes><Attribute z:Id="i139"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i140"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i140"/><XYZAttribute z:Ref="i139"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i141" i:type="Mass"><Attributes><Attribute z:Id="i142"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i142"/></URDFElement><URDFElement z:Id="i143" i:type="Inertia"><Attributes><Attribute z:Id="i144"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i145"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i146"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i147"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i148"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i149"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i144"/><IxyAttribute z:Ref="i145"/><IxzAttribute z:Ref="i146"/><IyyAttribute z:Ref="i147"/><IyzAttribute z:Ref="i148"/><IzzAttribute z:Ref="i149"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i143"/><Mass z:Ref="i141"/><Origin z:Ref="i138"/></URDFElement><URDFElement z:Id="i150" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i151" i:type="Origin"><Attributes><Attribute z:Id="i152"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i153"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i153"/><XYZAttribute z:Ref="i152"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i154" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i155" i:type="Mesh"><Attributes><Attribute z:Id="i156"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i156"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i155"/></URDFElement><URDFElement z:Id="i157" i:type="Material"><Attributes><Attribute z:Id="i158"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i159" i:type="Color"><Attributes><Attribute z:Id="i160"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i160"/></URDFElement><URDFElement z:Id="i161" i:type="Texture"><Attributes><Attribute z:Id="i162"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i162"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i159"/><NameAttribute z:Ref="i158"/><Texture z:Ref="i161"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i154"/><Material z:Ref="i157"/><Origin z:Ref="i151"/></URDFElement><URDFElement z:Id="i163" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i164" i:type="Origin"><Attributes><Attribute z:Id="i165"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i166"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i166"/><XYZAttribute z:Ref="i165"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i167" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i168" i:type="Mesh"><Attributes><Attribute z:Id="i169"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i169"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i168"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i167"/><Origin z:Ref="i164"/></URDFElement><URDFElement z:Id="i170" i:type="Joint"><Attributes><Attribute z:Id="i171"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jlf1_link</Value></Attribute><Attribute z:Id="i172"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i173" i:type="Origin"><Attributes><Attribute z:Id="i174"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i175"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i175"/><XYZAttribute z:Ref="i174"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i176" i:type="ParentLink"><Attributes><Attribute z:Id="i177"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i177"/></URDFElement><URDFElement z:Id="i178" i:type="ChildLink"><Attributes><Attribute z:Id="i179"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i179"/></URDFElement><URDFElement z:Id="i180" i:type="Axis"><Attributes><Attribute z:Id="i181"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i181"/></URDFElement><URDFElement z:Id="i182" i:type="Limit"><Attributes><Attribute z:Id="i183"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i184"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i185"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i186"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i185"/><LowerAttribute z:Ref="i183"/><UpperAttribute z:Ref="i184"/><VelocityAttribute z:Ref="i186"/></URDFElement><URDFElement z:Id="i187" i:type="Calibration"><Attributes><Attribute z:Id="i188"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i189"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i189"/><RisingAttribute z:Ref="i188"/></URDFElement><URDFElement z:Id="i190" i:type="Dynamics"><Attributes><Attribute z:Id="i191"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i192"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i191"/><FrictionAttribute z:Ref="i192"/></URDFElement><URDFElement z:Id="i193" i:type="SafetyController"><Attributes><Attribute z:Id="i194"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i195"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i196"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i197"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i196"/><KVelocityAttribute z:Ref="i197"/><SoftLowerAttribute z:Ref="i195"/><SoftUpperAttribute z:Ref="i194"/></URDFElement><URDFElement z:Id="i198" i:type="Mimic"><Attributes><Attribute z:Id="i199"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i200"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i201"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i199"/><MultiplierAttribute z:Ref="i200"/><OffsetAttribute z:Ref="i201"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i180"/><AxisName>lf1_hige</AxisName><Calibration z:Ref="i187"/><Child z:Ref="i178"/><CoordinateSystemName>lf1</CoordinateSystemName><Dynamics z:Ref="i190"/><Limit z:Ref="i182"/><Mimic z:Ref="i198"/><NameAttribute z:Ref="i171"/><Origin z:Ref="i173"/><Parent z:Ref="i176"/><Safety z:Ref="i193"/><TypeAttribute z:Ref="i172"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i202"><Attributes><Attribute z:Id="i203"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">lf2_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i204" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i205" i:type="Origin"><Attributes><Attribute z:Id="i206"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i207"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i207"/><XYZAttribute z:Ref="i206"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i208" i:type="Mass"><Attributes><Attribute z:Id="i209"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i209"/></URDFElement><URDFElement z:Id="i210" i:type="Inertia"><Attributes><Attribute z:Id="i211"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i212"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i213"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i214"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i215"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i216"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i211"/><IxyAttribute z:Ref="i212"/><IxzAttribute z:Ref="i213"/><IyyAttribute z:Ref="i214"/><IyzAttribute z:Ref="i215"/><IzzAttribute z:Ref="i216"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i210"/><Mass z:Ref="i208"/><Origin z:Ref="i205"/></URDFElement><URDFElement z:Id="i217" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i218" i:type="Origin"><Attributes><Attribute z:Id="i219"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i220"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i220"/><XYZAttribute z:Ref="i219"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i221" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i222" i:type="Mesh"><Attributes><Attribute z:Id="i223"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i223"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i222"/></URDFElement><URDFElement z:Id="i224" i:type="Material"><Attributes><Attribute z:Id="i225"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i226" i:type="Color"><Attributes><Attribute z:Id="i227"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i227"/></URDFElement><URDFElement z:Id="i228" i:type="Texture"><Attributes><Attribute z:Id="i229"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i229"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i226"/><NameAttribute z:Ref="i225"/><Texture z:Ref="i228"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i221"/><Material z:Ref="i224"/><Origin z:Ref="i218"/></URDFElement><URDFElement z:Id="i230" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i231" i:type="Origin"><Attributes><Attribute z:Id="i232"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i233"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i233"/><XYZAttribute z:Ref="i232"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i234" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i235" i:type="Mesh"><Attributes><Attribute z:Id="i236"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i236"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i235"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i234"/><Origin z:Ref="i231"/></URDFElement><URDFElement z:Id="i237" i:type="Joint"><Attributes><Attribute z:Id="i238"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jlf2_link</Value></Attribute><Attribute z:Id="i239"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i240" i:type="Origin"><Attributes><Attribute z:Id="i241"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i242"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i242"/><XYZAttribute z:Ref="i241"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i243" i:type="ParentLink"><Attributes><Attribute z:Id="i244"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i244"/></URDFElement><URDFElement z:Id="i245" i:type="ChildLink"><Attributes><Attribute z:Id="i246"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i246"/></URDFElement><URDFElement z:Id="i247" i:type="Axis"><Attributes><Attribute z:Id="i248"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i248"/></URDFElement><URDFElement z:Id="i249" i:type="Limit"><Attributes><Attribute z:Id="i250"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i251"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i252"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i253"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i252"/><LowerAttribute z:Ref="i250"/><UpperAttribute z:Ref="i251"/><VelocityAttribute z:Ref="i253"/></URDFElement><URDFElement z:Id="i254" i:type="Calibration"><Attributes><Attribute z:Id="i255"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i256"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i256"/><RisingAttribute z:Ref="i255"/></URDFElement><URDFElement z:Id="i257" i:type="Dynamics"><Attributes><Attribute z:Id="i258"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i259"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i258"/><FrictionAttribute z:Ref="i259"/></URDFElement><URDFElement z:Id="i260" i:type="SafetyController"><Attributes><Attribute z:Id="i261"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i262"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i263"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i264"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i263"/><KVelocityAttribute z:Ref="i264"/><SoftLowerAttribute z:Ref="i262"/><SoftUpperAttribute z:Ref="i261"/></URDFElement><URDFElement z:Id="i265" i:type="Mimic"><Attributes><Attribute z:Id="i266"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i267"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i268"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i266"/><MultiplierAttribute z:Ref="i267"/><OffsetAttribute z:Ref="i268"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i247"/><AxisName>lf2_hige</AxisName><Calibration z:Ref="i254"/><Child z:Ref="i245"/><CoordinateSystemName>lf2</CoordinateSystemName><Dynamics z:Ref="i257"/><Limit z:Ref="i249"/><Mimic z:Ref="i265"/><NameAttribute z:Ref="i238"/><Origin z:Ref="i240"/><Parent z:Ref="i243"/><Safety z:Ref="i260"/><TypeAttribute z:Ref="i239"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i269"><Attributes><Attribute z:Id="i270"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">lf3_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i271" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i272" i:type="Origin"><Attributes><Attribute z:Id="i273"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i274"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i274"/><XYZAttribute z:Ref="i273"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i275" i:type="Mass"><Attributes><Attribute z:Id="i276"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i276"/></URDFElement><URDFElement z:Id="i277" i:type="Inertia"><Attributes><Attribute z:Id="i278"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i279"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i280"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i281"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i282"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i283"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i278"/><IxyAttribute z:Ref="i279"/><IxzAttribute z:Ref="i280"/><IyyAttribute z:Ref="i281"/><IyzAttribute z:Ref="i282"/><IzzAttribute z:Ref="i283"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i277"/><Mass z:Ref="i275"/><Origin z:Ref="i272"/></URDFElement><URDFElement z:Id="i284" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i285" i:type="Origin"><Attributes><Attribute z:Id="i286"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i287"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i287"/><XYZAttribute z:Ref="i286"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i288" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i289" i:type="Mesh"><Attributes><Attribute z:Id="i290"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i290"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i289"/></URDFElement><URDFElement z:Id="i291" i:type="Material"><Attributes><Attribute z:Id="i292"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i293" i:type="Color"><Attributes><Attribute z:Id="i294"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i294"/></URDFElement><URDFElement z:Id="i295" i:type="Texture"><Attributes><Attribute z:Id="i296"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i296"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i293"/><NameAttribute z:Ref="i292"/><Texture z:Ref="i295"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i288"/><Material z:Ref="i291"/><Origin z:Ref="i285"/></URDFElement><URDFElement z:Id="i297" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i298" i:type="Origin"><Attributes><Attribute z:Id="i299"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i300"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i300"/><XYZAttribute z:Ref="i299"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i301" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i302" i:type="Mesh"><Attributes><Attribute z:Id="i303"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i303"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i302"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i301"/><Origin z:Ref="i298"/></URDFElement><URDFElement z:Id="i304" i:type="Joint"><Attributes><Attribute z:Id="i305"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jlf3_link</Value></Attribute><Attribute z:Id="i306"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i307" i:type="Origin"><Attributes><Attribute z:Id="i308"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i309"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i309"/><XYZAttribute z:Ref="i308"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i310" i:type="ParentLink"><Attributes><Attribute z:Id="i311"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i311"/></URDFElement><URDFElement z:Id="i312" i:type="ChildLink"><Attributes><Attribute z:Id="i313"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i313"/></URDFElement><URDFElement z:Id="i314" i:type="Axis"><Attributes><Attribute z:Id="i315"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i315"/></URDFElement><URDFElement z:Id="i316" i:type="Limit"><Attributes><Attribute z:Id="i317"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i318"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i319"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i320"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i319"/><LowerAttribute z:Ref="i317"/><UpperAttribute z:Ref="i318"/><VelocityAttribute z:Ref="i320"/></URDFElement><URDFElement z:Id="i321" i:type="Calibration"><Attributes><Attribute z:Id="i322"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i323"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i323"/><RisingAttribute z:Ref="i322"/></URDFElement><URDFElement z:Id="i324" i:type="Dynamics"><Attributes><Attribute z:Id="i325"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i326"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i325"/><FrictionAttribute z:Ref="i326"/></URDFElement><URDFElement z:Id="i327" i:type="SafetyController"><Attributes><Attribute z:Id="i328"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i329"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i330"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i331"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i330"/><KVelocityAttribute z:Ref="i331"/><SoftLowerAttribute z:Ref="i329"/><SoftUpperAttribute z:Ref="i328"/></URDFElement><URDFElement z:Id="i332" i:type="Mimic"><Attributes><Attribute z:Id="i333"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i334"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i335"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i333"/><MultiplierAttribute z:Ref="i334"/><OffsetAttribute z:Ref="i335"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i314"/><AxisName>lf3_hige</AxisName><Calibration z:Ref="i321"/><Child z:Ref="i312"/><CoordinateSystemName>lf3</CoordinateSystemName><Dynamics z:Ref="i324"/><Limit z:Ref="i316"/><Mimic z:Ref="i332"/><NameAttribute z:Ref="i305"/><Origin z:Ref="i307"/><Parent z:Ref="i310"/><Safety z:Ref="i327"/><TypeAttribute z:Ref="i306"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i297"/><Inertial z:Ref="i271"/><Joint z:Ref="i304"/><NameAttribute z:Ref="i270"/><Parent z:Ref="i202"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8IiXOzjS0ANABAADtgxYhTTwQAAAAQAAAAAQAAAAEAAABKAQAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i284"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i230"/><Inertial z:Ref="i204"/><Joint z:Ref="i237"/><NameAttribute z:Ref="i203"/><Parent z:Ref="i135"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8J81MPXH+BLQAyAEAAO2DFiFNPBAAAABAAAAABAAAAAQAAADABAAA=</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8YNYI6ZztgU08tADEAMgBAADtgxYhTTy8AUwBlAHIAdgBvAC0AMQBAADWCOmc7YFNPBAAAABAAAAABAAAAAgAAADMBAAAZAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i217"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i163"/><Inertial z:Ref="i137"/><Joint z:Ref="i170"/><NameAttribute z:Ref="i136"/><Parent z:Ref="i68"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8J81MnWX+BLQAzAEAAO2DFiFNPBAAAABAAAAABAAAAAQAAAB4BAAA=</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8YNYI6ZztgU08tADEAMABAADtgxYhTTy8AUwBlAHIAdgBvAC0AMQBAADWCOmc7YFNPBAAAABAAAAABAAAAAgAAACEBAAAZAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i150"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i96"/><Inertial z:Ref="i70"/><Joint z:Ref="i103"/><NameAttribute z:Ref="i69"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8L81N/ge+AqJotADEAOABAADtgxYhTTwQAAAAQAAAAAQAAAAEAAADuAAAA</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8XNYI6ZztgU08tADgAQAA7YMWIU08vAFMAZQByAHYAbwAtADEAQAA1gjpnO2BTTwQAAAAQAAAAAQAAAAIAAADWAAAAGQAAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i83"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link><Link z:Id="i336"><Attributes><Attribute z:Id="i337"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">rf0_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i338" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i339" i:type="Origin"><Attributes><Attribute z:Id="i340"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i341"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i341"/><XYZAttribute z:Ref="i340"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i342" i:type="Mass"><Attributes><Attribute z:Id="i343"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i343"/></URDFElement><URDFElement z:Id="i344" i:type="Inertia"><Attributes><Attribute z:Id="i345"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i346"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i347"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i348"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i349"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i350"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i345"/><IxyAttribute z:Ref="i346"/><IxzAttribute z:Ref="i347"/><IyyAttribute z:Ref="i348"/><IyzAttribute z:Ref="i349"/><IzzAttribute z:Ref="i350"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i344"/><Mass z:Ref="i342"/><Origin z:Ref="i339"/></URDFElement><URDFElement z:Id="i351" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i352" i:type="Origin"><Attributes><Attribute z:Id="i353"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i354"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i354"/><XYZAttribute z:Ref="i353"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i355" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i356" i:type="Mesh"><Attributes><Attribute z:Id="i357"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i357"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i356"/></URDFElement><URDFElement z:Id="i358" i:type="Material"><Attributes><Attribute z:Id="i359"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i360" i:type="Color"><Attributes><Attribute z:Id="i361"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i361"/></URDFElement><URDFElement z:Id="i362" i:type="Texture"><Attributes><Attribute z:Id="i363"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i363"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i360"/><NameAttribute z:Ref="i359"/><Texture z:Ref="i362"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i355"/><Material z:Ref="i358"/><Origin z:Ref="i352"/></URDFElement><URDFElement z:Id="i364" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i365" i:type="Origin"><Attributes><Attribute z:Id="i366"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i367"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i367"/><XYZAttribute z:Ref="i366"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i368" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i369" i:type="Mesh"><Attributes><Attribute z:Id="i370"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i370"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i369"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i368"/><Origin z:Ref="i365"/></URDFElement><URDFElement z:Id="i371" i:type="Joint"><Attributes><Attribute z:Id="i372"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jrf0_link</Value></Attribute><Attribute z:Id="i373"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i374" i:type="Origin"><Attributes><Attribute z:Id="i375"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i376"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i376"/><XYZAttribute z:Ref="i375"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i377" i:type="ParentLink"><Attributes><Attribute z:Id="i378"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i378"/></URDFElement><URDFElement z:Id="i379" i:type="ChildLink"><Attributes><Attribute z:Id="i380"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i380"/></URDFElement><URDFElement z:Id="i381" i:type="Axis"><Attributes><Attribute z:Id="i382"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i382"/></URDFElement><URDFElement z:Id="i383" i:type="Limit"><Attributes><Attribute z:Id="i384"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i385"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i386"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i387"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i386"/><LowerAttribute z:Ref="i384"/><UpperAttribute z:Ref="i385"/><VelocityAttribute z:Ref="i387"/></URDFElement><URDFElement z:Id="i388" i:type="Calibration"><Attributes><Attribute z:Id="i389"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i390"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i390"/><RisingAttribute z:Ref="i389"/></URDFElement><URDFElement z:Id="i391" i:type="Dynamics"><Attributes><Attribute z:Id="i392"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i393"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i392"/><FrictionAttribute z:Ref="i393"/></URDFElement><URDFElement z:Id="i394" i:type="SafetyController"><Attributes><Attribute z:Id="i395"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i396"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i397"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i398"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i397"/><KVelocityAttribute z:Ref="i398"/><SoftLowerAttribute z:Ref="i396"/><SoftUpperAttribute z:Ref="i395"/></URDFElement><URDFElement z:Id="i399" i:type="Mimic"><Attributes><Attribute z:Id="i400"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i401"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i402"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i400"/><MultiplierAttribute z:Ref="i401"/><OffsetAttribute z:Ref="i402"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i381"/><AxisName>rf0_hige</AxisName><Calibration z:Ref="i388"/><Child z:Ref="i379"/><CoordinateSystemName>rf0</CoordinateSystemName><Dynamics z:Ref="i391"/><Limit z:Ref="i383"/><Mimic z:Ref="i399"/><NameAttribute z:Ref="i372"/><Origin z:Ref="i374"/><Parent z:Ref="i377"/><Safety z:Ref="i394"/><TypeAttribute z:Ref="i373"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i403"><Attributes><Attribute z:Id="i404"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">rf1_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i405" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i406" i:type="Origin"><Attributes><Attribute z:Id="i407"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i408"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i408"/><XYZAttribute z:Ref="i407"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i409" i:type="Mass"><Attributes><Attribute z:Id="i410"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i410"/></URDFElement><URDFElement z:Id="i411" i:type="Inertia"><Attributes><Attribute z:Id="i412"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i413"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i414"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i415"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i416"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i417"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i412"/><IxyAttribute z:Ref="i413"/><IxzAttribute z:Ref="i414"/><IyyAttribute z:Ref="i415"/><IyzAttribute z:Ref="i416"/><IzzAttribute z:Ref="i417"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i411"/><Mass z:Ref="i409"/><Origin z:Ref="i406"/></URDFElement><URDFElement z:Id="i418" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i419" i:type="Origin"><Attributes><Attribute z:Id="i420"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i421"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i421"/><XYZAttribute z:Ref="i420"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i422" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i423" i:type="Mesh"><Attributes><Attribute z:Id="i424"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i424"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i423"/></URDFElement><URDFElement z:Id="i425" i:type="Material"><Attributes><Attribute z:Id="i426"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i427" i:type="Color"><Attributes><Attribute z:Id="i428"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i428"/></URDFElement><URDFElement z:Id="i429" i:type="Texture"><Attributes><Attribute z:Id="i430"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i430"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i427"/><NameAttribute z:Ref="i426"/><Texture z:Ref="i429"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i422"/><Material z:Ref="i425"/><Origin z:Ref="i419"/></URDFElement><URDFElement z:Id="i431" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i432" i:type="Origin"><Attributes><Attribute z:Id="i433"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i434"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i434"/><XYZAttribute z:Ref="i433"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i435" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i436" i:type="Mesh"><Attributes><Attribute z:Id="i437"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i437"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i436"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i435"/><Origin z:Ref="i432"/></URDFElement><URDFElement z:Id="i438" i:type="Joint"><Attributes><Attribute z:Id="i439"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jrf1_link</Value></Attribute><Attribute z:Id="i440"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i441" i:type="Origin"><Attributes><Attribute z:Id="i442"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i443"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i443"/><XYZAttribute z:Ref="i442"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i444" i:type="ParentLink"><Attributes><Attribute z:Id="i445"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i445"/></URDFElement><URDFElement z:Id="i446" i:type="ChildLink"><Attributes><Attribute z:Id="i447"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i447"/></URDFElement><URDFElement z:Id="i448" i:type="Axis"><Attributes><Attribute z:Id="i449"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i449"/></URDFElement><URDFElement z:Id="i450" i:type="Limit"><Attributes><Attribute z:Id="i451"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i452"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i453"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i454"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i453"/><LowerAttribute z:Ref="i451"/><UpperAttribute z:Ref="i452"/><VelocityAttribute z:Ref="i454"/></URDFElement><URDFElement z:Id="i455" i:type="Calibration"><Attributes><Attribute z:Id="i456"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i457"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i457"/><RisingAttribute z:Ref="i456"/></URDFElement><URDFElement z:Id="i458" i:type="Dynamics"><Attributes><Attribute z:Id="i459"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i460"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i459"/><FrictionAttribute z:Ref="i460"/></URDFElement><URDFElement z:Id="i461" i:type="SafetyController"><Attributes><Attribute z:Id="i462"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i463"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i464"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i465"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i464"/><KVelocityAttribute z:Ref="i465"/><SoftLowerAttribute z:Ref="i463"/><SoftUpperAttribute z:Ref="i462"/></URDFElement><URDFElement z:Id="i466" i:type="Mimic"><Attributes><Attribute z:Id="i467"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i468"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i469"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i467"/><MultiplierAttribute z:Ref="i468"/><OffsetAttribute z:Ref="i469"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i448"/><AxisName>rf1_hige</AxisName><Calibration z:Ref="i455"/><Child z:Ref="i446"/><CoordinateSystemName>rf1</CoordinateSystemName><Dynamics z:Ref="i458"/><Limit z:Ref="i450"/><Mimic z:Ref="i466"/><NameAttribute z:Ref="i439"/><Origin z:Ref="i441"/><Parent z:Ref="i444"/><Safety z:Ref="i461"/><TypeAttribute z:Ref="i440"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i470"><Attributes><Attribute z:Id="i471"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">rf2_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i472" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i473" i:type="Origin"><Attributes><Attribute z:Id="i474"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i475"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i475"/><XYZAttribute z:Ref="i474"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i476" i:type="Mass"><Attributes><Attribute z:Id="i477"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i477"/></URDFElement><URDFElement z:Id="i478" i:type="Inertia"><Attributes><Attribute z:Id="i479"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i480"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i481"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i482"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i483"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i484"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i479"/><IxyAttribute z:Ref="i480"/><IxzAttribute z:Ref="i481"/><IyyAttribute z:Ref="i482"/><IyzAttribute z:Ref="i483"/><IzzAttribute z:Ref="i484"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i478"/><Mass z:Ref="i476"/><Origin z:Ref="i473"/></URDFElement><URDFElement z:Id="i485" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i486" i:type="Origin"><Attributes><Attribute z:Id="i487"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i488"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i488"/><XYZAttribute z:Ref="i487"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i489" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i490" i:type="Mesh"><Attributes><Attribute z:Id="i491"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i491"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i490"/></URDFElement><URDFElement z:Id="i492" i:type="Material"><Attributes><Attribute z:Id="i493"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i494" i:type="Color"><Attributes><Attribute z:Id="i495"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i495"/></URDFElement><URDFElement z:Id="i496" i:type="Texture"><Attributes><Attribute z:Id="i497"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i497"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i494"/><NameAttribute z:Ref="i493"/><Texture z:Ref="i496"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i489"/><Material z:Ref="i492"/><Origin z:Ref="i486"/></URDFElement><URDFElement z:Id="i498" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i499" i:type="Origin"><Attributes><Attribute z:Id="i500"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i501"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i501"/><XYZAttribute z:Ref="i500"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i502" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i503" i:type="Mesh"><Attributes><Attribute z:Id="i504"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i504"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i503"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i502"/><Origin z:Ref="i499"/></URDFElement><URDFElement z:Id="i505" i:type="Joint"><Attributes><Attribute z:Id="i506"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jrf2_link</Value></Attribute><Attribute z:Id="i507"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i508" i:type="Origin"><Attributes><Attribute z:Id="i509"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i510"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i510"/><XYZAttribute z:Ref="i509"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i511" i:type="ParentLink"><Attributes><Attribute z:Id="i512"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i512"/></URDFElement><URDFElement z:Id="i513" i:type="ChildLink"><Attributes><Attribute z:Id="i514"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i514"/></URDFElement><URDFElement z:Id="i515" i:type="Axis"><Attributes><Attribute z:Id="i516"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i516"/></URDFElement><URDFElement z:Id="i517" i:type="Limit"><Attributes><Attribute z:Id="i518"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i519"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i520"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i521"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i520"/><LowerAttribute z:Ref="i518"/><UpperAttribute z:Ref="i519"/><VelocityAttribute z:Ref="i521"/></URDFElement><URDFElement z:Id="i522" i:type="Calibration"><Attributes><Attribute z:Id="i523"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i524"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i524"/><RisingAttribute z:Ref="i523"/></URDFElement><URDFElement z:Id="i525" i:type="Dynamics"><Attributes><Attribute z:Id="i526"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i527"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i526"/><FrictionAttribute z:Ref="i527"/></URDFElement><URDFElement z:Id="i528" i:type="SafetyController"><Attributes><Attribute z:Id="i529"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i530"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i531"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i532"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i531"/><KVelocityAttribute z:Ref="i532"/><SoftLowerAttribute z:Ref="i530"/><SoftUpperAttribute z:Ref="i529"/></URDFElement><URDFElement z:Id="i533" i:type="Mimic"><Attributes><Attribute z:Id="i534"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i535"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i536"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i534"/><MultiplierAttribute z:Ref="i535"/><OffsetAttribute z:Ref="i536"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i515"/><AxisName>lf2_hige</AxisName><Calibration z:Ref="i522"/><Child z:Ref="i513"/><CoordinateSystemName>rf2</CoordinateSystemName><Dynamics z:Ref="i525"/><Limit z:Ref="i517"/><Mimic z:Ref="i533"/><NameAttribute z:Ref="i506"/><Origin z:Ref="i508"/><Parent z:Ref="i511"/><Safety z:Ref="i528"/><TypeAttribute z:Ref="i507"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i537"><Attributes><Attribute z:Id="i538"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">rf3_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i539" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i540" i:type="Origin"><Attributes><Attribute z:Id="i541"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i542"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i542"/><XYZAttribute z:Ref="i541"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i543" i:type="Mass"><Attributes><Attribute z:Id="i544"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i544"/></URDFElement><URDFElement z:Id="i545" i:type="Inertia"><Attributes><Attribute z:Id="i546"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i547"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i548"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i549"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i550"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i551"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i546"/><IxyAttribute z:Ref="i547"/><IxzAttribute z:Ref="i548"/><IyyAttribute z:Ref="i549"/><IyzAttribute z:Ref="i550"/><IzzAttribute z:Ref="i551"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i545"/><Mass z:Ref="i543"/><Origin z:Ref="i540"/></URDFElement><URDFElement z:Id="i552" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i553" i:type="Origin"><Attributes><Attribute z:Id="i554"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i555"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i555"/><XYZAttribute z:Ref="i554"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i556" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i557" i:type="Mesh"><Attributes><Attribute z:Id="i558"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i558"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i557"/></URDFElement><URDFElement z:Id="i559" i:type="Material"><Attributes><Attribute z:Id="i560"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i561" i:type="Color"><Attributes><Attribute z:Id="i562"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i562"/></URDFElement><URDFElement z:Id="i563" i:type="Texture"><Attributes><Attribute z:Id="i564"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i564"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i561"/><NameAttribute z:Ref="i560"/><Texture z:Ref="i563"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i556"/><Material z:Ref="i559"/><Origin z:Ref="i553"/></URDFElement><URDFElement z:Id="i565" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i566" i:type="Origin"><Attributes><Attribute z:Id="i567"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i568"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i568"/><XYZAttribute z:Ref="i567"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i569" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i570" i:type="Mesh"><Attributes><Attribute z:Id="i571"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i571"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i570"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i569"/><Origin z:Ref="i566"/></URDFElement><URDFElement z:Id="i572" i:type="Joint"><Attributes><Attribute z:Id="i573"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jrf3_link</Value></Attribute><Attribute z:Id="i574"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i575" i:type="Origin"><Attributes><Attribute z:Id="i576"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i577"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i577"/><XYZAttribute z:Ref="i576"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i578" i:type="ParentLink"><Attributes><Attribute z:Id="i579"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i579"/></URDFElement><URDFElement z:Id="i580" i:type="ChildLink"><Attributes><Attribute z:Id="i581"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i581"/></URDFElement><URDFElement z:Id="i582" i:type="Axis"><Attributes><Attribute z:Id="i583"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i583"/></URDFElement><URDFElement z:Id="i584" i:type="Limit"><Attributes><Attribute z:Id="i585"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i586"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i587"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i588"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i587"/><LowerAttribute z:Ref="i585"/><UpperAttribute z:Ref="i586"/><VelocityAttribute z:Ref="i588"/></URDFElement><URDFElement z:Id="i589" i:type="Calibration"><Attributes><Attribute z:Id="i590"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i591"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i591"/><RisingAttribute z:Ref="i590"/></URDFElement><URDFElement z:Id="i592" i:type="Dynamics"><Attributes><Attribute z:Id="i593"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i594"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i593"/><FrictionAttribute z:Ref="i594"/></URDFElement><URDFElement z:Id="i595" i:type="SafetyController"><Attributes><Attribute z:Id="i596"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i597"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i598"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i599"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i598"/><KVelocityAttribute z:Ref="i599"/><SoftLowerAttribute z:Ref="i597"/><SoftUpperAttribute z:Ref="i596"/></URDFElement><URDFElement z:Id="i600" i:type="Mimic"><Attributes><Attribute z:Id="i601"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i602"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i603"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i601"/><MultiplierAttribute z:Ref="i602"/><OffsetAttribute z:Ref="i603"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i582"/><AxisName>rf3_hige</AxisName><Calibration z:Ref="i589"/><Child z:Ref="i580"/><CoordinateSystemName>rf3</CoordinateSystemName><Dynamics z:Ref="i592"/><Limit z:Ref="i584"/><Mimic z:Ref="i600"/><NameAttribute z:Ref="i573"/><Origin z:Ref="i575"/><Parent z:Ref="i578"/><Safety z:Ref="i595"/><TypeAttribute z:Ref="i574"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i565"/><Inertial z:Ref="i539"/><Joint z:Ref="i572"/><NameAttribute z:Ref="i538"/><Parent z:Ref="i470"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8IiXOzjS0AMwBAADtgxYhTTwQAAAAQAAAAAQAAAAEAAABHAQAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i552"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i498"/><Inertial z:Ref="i472"/><Joint z:Ref="i505"/><NameAttribute z:Ref="i471"/><Parent z:Ref="i403"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8J81MPXH+BLQAxAEAAO2DFiFNPBAAAABAAAAABAAAAAQAAAC0BAAA=</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8YNYI6ZztgU08tADEAMwBAADtgxYhTTy8AUwBlAHIAdgBvAC0AMQBAADWCOmc7YFNPBAAAABAAAAABAAAAAgAAADgBAAAZAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i485"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i431"/><Inertial z:Ref="i405"/><Joint z:Ref="i438"/><NameAttribute z:Ref="i404"/><Parent z:Ref="i336"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8J81MnWX+BLQAyAEAAO2DFiFNPBAAAABAAAAABAAAAAQAAABsBAAA=</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8YNYI6ZztgU08tADEAMQBAADtgxYhTTy8AUwBlAHIAdgBvAC0AMQBAADWCOmc7YFNPBAAAABAAAAABAAAAAgAAACcBAAAZAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i418"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i364"/><Inertial z:Ref="i338"/><Joint z:Ref="i371"/><NameAttribute z:Ref="i337"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8L81N/ge+AqJotADEANgBAADtgxYhTTwQAAAAQAAAAAQAAAAEAAADnAAAA</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8XNYI6ZztgU08tADkAQAA7YMWIU08vAFMAZQByAHYAbwAtADEAQAA1gjpnO2BTTwQAAAAQAAAAAQAAAAIAAADiAAAAGQAAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i351"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8IO05TTy0AMgBAADtgxYhTTwQAAAAQAAAAAQAAAAEAAABjAAAA</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8QYgBhAHQAZQByAGkAYQAgADkAdgAtADEAQAA7YMWIU08EAAAAEAAAAAEAAAABAAAAjgAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8NUwB0AGUAcAAgAFUAcAAtADEAQAA7YMWIU08EAAAAEAAAAAEAAAABAAAATQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v9HMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8AQgBvAGEAcgBkAH4AUgBrAFcANwAuAHMAdABlAHAALQAxAEAAMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAAQAAAAQAAAAAQAAAAIAAAAyAAAAKAAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8hRgByAGUAZQBuAG8AdgBlACAARQBTAFAAMwAyAC0AUwAzAC0AVwBSAE8ATwBNAC0AQwBBAE0ALQAxAEAAO2DFiFNPBAAAABAAAAABAAAAAQAAABkAAAA=</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/OMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAAxADUAfgBIAEQAUgAtAFQASABfADIAMABQAC0AUAAyAC4ANQA0AC0AVgAtAEYAfgBIAEQAUgAtAEYALQAyAC4ANQA0AF8AMQB4ADIAMAB+AFYATQBaAEMALgBzAHQAZQBwAC0AMQBAADMARABfAFAAQwBCADEAXwAyADAAMgA2AC0AMAA4AC0AMQAwAC4AcwB0AGUAcAAvAEgARABSAC0AVABIAF8AMgAwAFAALQBQADIALgA1ADQALQBWAC0ARgB+AEgARABSAC0ARgAtADIALgA1ADQAXwAxAHgAMgAwAH4AWgA3AHEAUgAuAHMAdABlAHAALQAxAEAASAAxADUAfgBIAEQAUgAtAFQASABfADIAMABQAC0AUAAyAC4ANQA0AC0AVgAtAEYAfgBIAEQAUgAtAEYALQAyAC4ANQA0AF8AMQB4ADIAMAB+AFYATQBaAEMALgBzAHQAZQBwAAQAAAAQAAAAAQAAAAMAAAAyAAAAJQAAABkAAAA=</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/SMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAAxAH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AVQBzAEgARgAuAHMAdABlAHAALQAxAEAAMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC8ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AbQA3ADMAcgAuAHMAdABlAHAALQAxAEAASAAxAH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AVQBzAEgARgAuAHMAdABlAHAABAAAABAAAAABAAAAAwAAADIAAAAgAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/SMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAA4AH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AUwBoAHoAcgAuAHMAdABlAHAALQAxAEAAMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC8ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AbQA3ADMAcgAuAHMAdABlAHAALQAxAEAASAA4AH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AUwBoAHoAcgAuAHMAdABlAHAABAAAABAAAAABAAAAAwAAADIAAAAiAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/SMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAAyAH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AQwBrAG0AaQAuAHMAdABlAHAALQAxAEAAMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC8ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AbQA3ADMAcgAuAHMAdABlAHAALQAxAEAASAAyAH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AQwBrAG0AaQAuAHMAdABlAHAABAAAABAAAAABAAAAAwAAADIAAAAhAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/SMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAA0AH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4ANwBtADIAdwAuAHMAdABlAHAALQAxAEAAMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC8ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AbQA3ADMAcgAuAHMAdABlAHAALQAxAEAASAA0AH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4ANwBtADIAdwAuAHMAdABlAHAABAAAABAAAAABAAAAAwAAADIAAAAfAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/MMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAA2AH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBGAH4ASABEAFIALQBGAC0AMgAuADUANABfADEAeAAyADAAfgBGAEYAQgBhAC4AcwB0AGUAcAAtADEAQAAzAEQAXwBQAEMAQgAxAF8AMgAwADIANgAtADAAOAAtADEAMAAuAHMAdABlAHAALwBIAEQAUgAtAFQASABfADIAMABQAC0AUAAyAC4ANQA0AC0AVgAtAEYAfgBIAEQAUgAtAEYALQAyAC4ANQA0AF8AMQB4ADIAMAB+AFoANwBxAFIALgBzAHQAZQBwAC0AMQBAAEgANgB+AEgARABSAC0AVABIAF8AMgAwAFAALQBQADIALgA1ADQALQBWAC0ARgB+AEgARABSAC0ARgAtADIALgA1ADQAXwAxAHgAMgAwAH4ARgBGAEIAYQAuAHMAdABlAHAABAAAABAAAAABAAAAAwAAADIAAAAnAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/SMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAAzAH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AMgBUADEAeQAuAHMAdABlAHAALQAxAEAAMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC8ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AbQA3ADMAcgAuAHMAdABlAHAALQAxAEAASAAzAH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AMgBUADEAeQAuAHMAdABlAHAABAAAABAAAAABAAAAAwAAADIAAAAjAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/SMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAA1AH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AVAA3AHgASAAuAHMAdABlAHAALQAxAEAAMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC8ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AbQA3ADMAcgAuAHMAdABlAHAALQAxAEAASAA1AH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AVAA3AHgASAAuAHMAdABlAHAABAAAABAAAAABAAAAAwAAADIAAAAkAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8XNYI6ZztgU08tADUAQAA7YMWIU08vAFMAZQByAHYAbwAtADEAQAA1gjpnO2BTTwQAAAAQAAAAAQAAAAIAAACuAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8XNYI6ZztgU08tADQAQAA7YMWIU08vAFMAZQByAHYAbwAtADEAQAA1gjpnO2BTTwQAAAAQAAAAAQAAAAIAAACnAAAAGQAAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
|
||
2026-09-05 15:57:04,445 INFO ExportHelperExtension.cs: 347 - Creating joint lf0_link
|
||
2026-09-05 15:57:04,787 WARN ExportHelperExtension.cs: 351 - Creating joint from parent head_link to child lf0_link failed
|
||
2026-09-05 15:57:04,796 INFO ExportHelperExtension.cs: 347 - Creating joint lf1_link
|
||
2026-09-05 15:57:04,943 WARN ExportHelperExtension.cs: 351 - Creating joint from parent lf0_link to child lf1_link failed
|
||
2026-09-05 15:57:04,951 INFO ExportHelperExtension.cs: 347 - Creating joint lf2_link
|
||
2026-09-05 15:57:05,093 WARN ExportHelperExtension.cs: 351 - Creating joint from parent lf1_link to child lf2_link failed
|
||
2026-09-05 15:57:05,100 INFO ExportHelperExtension.cs: 347 - Creating joint lf3_link
|
||
2026-09-05 15:57:05,222 WARN ExportHelperExtension.cs: 351 - Creating joint from parent lf2_link to child lf3_link failed
|
||
2026-09-05 15:57:05,229 INFO ExportHelperExtension.cs: 347 - Creating joint rf0_link
|
||
2026-09-05 15:57:05,339 WARN ExportHelperExtension.cs: 351 - Creating joint from parent head_link to child rf0_link failed
|
||
2026-09-05 15:57:05,347 INFO ExportHelperExtension.cs: 347 - Creating joint rf1_link
|
||
2026-09-05 15:57:05,461 WARN ExportHelperExtension.cs: 351 - Creating joint from parent rf0_link to child rf1_link failed
|
||
2026-09-05 15:57:05,469 INFO ExportHelperExtension.cs: 347 - Creating joint rf2_link
|
||
2026-09-05 15:57:05,577 WARN ExportHelperExtension.cs: 351 - Creating joint from parent rf1_link to child rf2_link failed
|
||
2026-09-05 15:57:05,585 INFO ExportHelperExtension.cs: 347 - Creating joint rf3_link
|
||
2026-09-05 15:57:05,692 WARN ExportHelperExtension.cs: 351 - Creating joint from parent rf2_link to child rf3_link failed
|
||
2026-09-05 15:57:05,799 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:57:05,807 INFO ExportHelperExtension.cs: 1136 - Found 991 in ×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:57:05,809 INFO ExportHelperExtension.cs: 1145 - Found 9 features of type [CoordSys] in ×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:57:05,811 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
|
||
2026-09-05 15:57:05,811 INFO ExportHelperExtension.cs: 1160 - 22 components to check
|
||
2026-09-05 15:57:05,811 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Step Up-1
|
||
2026-09-05 15:57:05,812 INFO ExportHelperExtension.cs: 1136 - Found 74 in Step Up-1
|
||
2026-09-05 15:57:05,812 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Step Up-1
|
||
2026-09-05 15:57:05,813 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from bateria 9v-1
|
||
2026-09-05 15:57:05,813 INFO ExportHelperExtension.cs: 1136 - Found 129 in bateria 9v-1
|
||
2026-09-05 15:57:05,814 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in bateria 9v-1
|
||
2026-09-05 15:57:05,814 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Freenove ESP32-S3-WROOM-CAM-1
|
||
2026-09-05 15:57:05,816 INFO ExportHelperExtension.cs: 1136 - Found 669 in Freenove ESP32-S3-WROOM-CAM-1
|
||
2026-09-05 15:57:05,818 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Freenove ESP32-S3-WROOM-CAM-1
|
||
2026-09-05 15:57:05,818 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from camera_OV2640_002.step-1
|
||
2026-09-05 15:57:05,819 INFO ExportHelperExtension.cs: 1136 - Found 27 in camera_OV2640_002.step-1
|
||
2026-09-05 15:57:05,819 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in camera_OV2640_002.step-1
|
||
2026-09-05 15:57:05,819 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3D_PCB1_2026-08-10.step-1
|
||
2026-09-05 15:57:05,820 INFO ExportHelperExtension.cs: 1136 - Found 38 in 3D_PCB1_2026-08-10.step-1
|
||
2026-09-05 15:57:05,820 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3D_PCB1_2026-08-10.step-1
|
||
2026-09-05 15:57:05,821 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Ö÷Ìå-2
|
||
2026-09-05 15:57:05,821 INFO ExportHelperExtension.cs: 1136 - Found 53 in Ö÷Ìå-2
|
||
2026-09-05 15:57:05,821 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Ö÷Ìå-2
|
||
2026-09-05 15:57:05,822 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-10
|
||
2026-09-05 15:57:05,822 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-10
|
||
2026-09-05 15:57:05,822 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-10
|
||
2026-09-05 15:57:05,823 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ÓÒСÍÈ-2
|
||
2026-09-05 15:57:05,823 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒСÍÈ-2
|
||
2026-09-05 15:57:05,823 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ÓÒСÍÈ-2
|
||
2026-09-05 15:57:05,824 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ÓÒÍÈ¿è¹Ç-18
|
||
2026-09-05 15:57:05,824 INFO ExportHelperExtension.cs: 1136 - Found 41 in ÓÒÍÈ¿è¹Ç-18
|
||
2026-09-05 15:57:05,824 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ÓÒÍÈ¿è¹Ç-18
|
||
2026-09-05 15:57:05,826 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-4
|
||
2026-09-05 15:57:05,826 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-4
|
||
2026-09-05 15:57:05,832 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-4
|
||
2026-09-05 15:57:05,833 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ÓÒ´óÍÈ-2
|
||
2026-09-05 15:57:05,863 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒ´óÍÈ-2
|
||
2026-09-05 15:57:05,864 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ÓÒ´óÍÈ-2
|
||
2026-09-05 15:57:05,864 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-11
|
||
2026-09-05 15:57:05,865 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-11
|
||
2026-09-05 15:57:05,865 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-11
|
||
2026-09-05 15:57:05,866 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-8
|
||
2026-09-05 15:57:05,866 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-8
|
||
2026-09-05 15:57:05,867 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-8
|
||
2026-09-05 15:57:05,867 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-5
|
||
2026-09-05 15:57:05,867 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-5
|
||
2026-09-05 15:57:05,867 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-5
|
||
2026-09-05 15:57:05,868 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-9
|
||
2026-09-05 15:57:05,868 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-9
|
||
2026-09-05 15:57:05,868 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-9
|
||
2026-09-05 15:57:05,869 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ÓÒ´óÍÈ-3
|
||
2026-09-05 15:57:05,869 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒ´óÍÈ-3
|
||
2026-09-05 15:57:05,870 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ÓÒ´óÍÈ-3
|
||
2026-09-05 15:57:05,870 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ÓÒÍÈ¿è¹Ç-16
|
||
2026-09-05 15:57:05,870 INFO ExportHelperExtension.cs: 1136 - Found 41 in ÓÒÍÈ¿è¹Ç-16
|
||
2026-09-05 15:57:05,870 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ÓÒÍÈ¿è¹Ç-16
|
||
2026-09-05 15:57:05,871 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ÓÒСÍÈ-1
|
||
2026-09-05 15:57:05,871 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒСÍÈ-1
|
||
2026-09-05 15:57:05,871 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ÓÒСÍÈ-1
|
||
2026-09-05 15:57:05,872 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Óñ×ã-3
|
||
2026-09-05 15:57:05,872 INFO ExportHelperExtension.cs: 1136 - Found 39 in Óñ×ã-3
|
||
2026-09-05 15:57:05,872 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Óñ×ã-3
|
||
2026-09-05 15:57:05,873 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Óñ×ã-4
|
||
2026-09-05 15:57:05,873 INFO ExportHelperExtension.cs: 1136 - Found 39 in Óñ×ã-4
|
||
2026-09-05 15:57:05,874 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Óñ×ã-4
|
||
2026-09-05 15:57:05,874 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-12
|
||
2026-09-05 15:57:05,874 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-12
|
||
2026-09-05 15:57:05,875 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-12
|
||
2026-09-05 15:57:05,875 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ¶æ»ú×ÜÌå-13
|
||
2026-09-05 15:57:05,875 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-13
|
||
2026-09-05 15:57:05,876 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ¶æ»ú×ÜÌå-13
|
||
2026-09-05 15:57:05,876 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:57:05,877 INFO ExportHelperExtension.cs: 1136 - Found 991 in ×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:57:05,880 INFO ExportHelperExtension.cs: 1145 - Found 8 features of type [RefAxis] in ×Ü×°Ìå.SLDASM
|
||
2026-09-05 15:57:05,880 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
|
||
2026-09-05 15:57:05,880 INFO ExportHelperExtension.cs: 1160 - 22 components to check
|
||
2026-09-05 15:57:05,880 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Step Up-1
|
||
2026-09-05 15:57:05,881 INFO ExportHelperExtension.cs: 1136 - Found 74 in Step Up-1
|
||
2026-09-05 15:57:05,882 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Step Up-1
|
||
2026-09-05 15:57:05,882 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from bateria 9v-1
|
||
2026-09-05 15:57:05,883 INFO ExportHelperExtension.cs: 1136 - Found 129 in bateria 9v-1
|
||
2026-09-05 15:57:05,883 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in bateria 9v-1
|
||
2026-09-05 15:57:05,885 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Freenove ESP32-S3-WROOM-CAM-1
|
||
2026-09-05 15:57:05,886 INFO ExportHelperExtension.cs: 1136 - Found 669 in Freenove ESP32-S3-WROOM-CAM-1
|
||
2026-09-05 15:57:05,888 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Freenove ESP32-S3-WROOM-CAM-1
|
||
2026-09-05 15:57:05,889 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from camera_OV2640_002.step-1
|
||
2026-09-05 15:57:05,889 INFO ExportHelperExtension.cs: 1136 - Found 27 in camera_OV2640_002.step-1
|
||
2026-09-05 15:57:05,890 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in camera_OV2640_002.step-1
|
||
2026-09-05 15:57:05,890 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3D_PCB1_2026-08-10.step-1
|
||
2026-09-05 15:57:05,890 INFO ExportHelperExtension.cs: 1136 - Found 38 in 3D_PCB1_2026-08-10.step-1
|
||
2026-09-05 15:57:05,891 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3D_PCB1_2026-08-10.step-1
|
||
2026-09-05 15:57:05,891 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Ö÷Ìå-2
|
||
2026-09-05 15:57:05,891 INFO ExportHelperExtension.cs: 1136 - Found 53 in Ö÷Ìå-2
|
||
2026-09-05 15:57:05,892 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Ö÷Ìå-2
|
||
2026-09-05 15:57:05,892 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-10
|
||
2026-09-05 15:57:05,893 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-10
|
||
2026-09-05 15:57:05,893 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-10
|
||
2026-09-05 15:57:05,893 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ÓÒСÍÈ-2
|
||
2026-09-05 15:57:05,893 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒСÍÈ-2
|
||
2026-09-05 15:57:05,894 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ÓÒСÍÈ-2
|
||
2026-09-05 15:57:05,894 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ÓÒÍÈ¿è¹Ç-18
|
||
2026-09-05 15:57:05,894 INFO ExportHelperExtension.cs: 1136 - Found 41 in ÓÒÍÈ¿è¹Ç-18
|
||
2026-09-05 15:57:05,895 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ÓÒÍÈ¿è¹Ç-18
|
||
2026-09-05 15:57:05,895 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-4
|
||
2026-09-05 15:57:05,895 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-4
|
||
2026-09-05 15:57:05,896 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-4
|
||
2026-09-05 15:57:05,896 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ÓÒ´óÍÈ-2
|
||
2026-09-05 15:57:05,896 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒ´óÍÈ-2
|
||
2026-09-05 15:57:05,897 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ÓÒ´óÍÈ-2
|
||
2026-09-05 15:57:05,897 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-11
|
||
2026-09-05 15:57:05,897 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-11
|
||
2026-09-05 15:57:05,898 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-11
|
||
2026-09-05 15:57:05,898 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-8
|
||
2026-09-05 15:57:05,898 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-8
|
||
2026-09-05 15:57:05,898 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-8
|
||
2026-09-05 15:57:05,899 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-5
|
||
2026-09-05 15:57:05,899 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-5
|
||
2026-09-05 15:57:05,899 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-5
|
||
2026-09-05 15:57:05,899 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-9
|
||
2026-09-05 15:57:05,901 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-9
|
||
2026-09-05 15:57:05,901 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-9
|
||
2026-09-05 15:57:05,901 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ÓÒ´óÍÈ-3
|
||
2026-09-05 15:57:05,902 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒ´óÍÈ-3
|
||
2026-09-05 15:57:05,902 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ÓÒ´óÍÈ-3
|
||
2026-09-05 15:57:05,902 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ÓÒÍÈ¿è¹Ç-16
|
||
2026-09-05 15:57:05,902 INFO ExportHelperExtension.cs: 1136 - Found 41 in ÓÒÍÈ¿è¹Ç-16
|
||
2026-09-05 15:57:05,903 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ÓÒÍÈ¿è¹Ç-16
|
||
2026-09-05 15:57:05,903 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ÓÒСÍÈ-1
|
||
2026-09-05 15:57:05,903 INFO ExportHelperExtension.cs: 1136 - Found 31 in ÓÒСÍÈ-1
|
||
2026-09-05 15:57:05,904 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ÓÒСÍÈ-1
|
||
2026-09-05 15:57:05,904 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Óñ×ã-3
|
||
2026-09-05 15:57:05,904 INFO ExportHelperExtension.cs: 1136 - Found 39 in Óñ×ã-3
|
||
2026-09-05 15:57:05,905 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Óñ×ã-3
|
||
2026-09-05 15:57:05,905 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Óñ×ã-4
|
||
2026-09-05 15:57:05,905 INFO ExportHelperExtension.cs: 1136 - Found 39 in Óñ×ã-4
|
||
2026-09-05 15:57:05,906 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Óñ×ã-4
|
||
2026-09-05 15:57:05,906 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-12
|
||
2026-09-05 15:57:05,906 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-12
|
||
2026-09-05 15:57:05,907 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-12
|
||
2026-09-05 15:57:05,907 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ¶æ»ú×ÜÌå-13
|
||
2026-09-05 15:57:05,907 INFO ExportHelperExtension.cs: 1136 - Found 27 in ¶æ»ú×ÜÌå-13
|
||
2026-09-05 15:57:05,908 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ¶æ»ú×ÜÌå-13
|
||
2026-09-05 15:57:05,958 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
|
||
2026-09-05 15:58:24,202 INFO AssemblyExportForm.cs: 253 - Completing URDF export
|
||
2026-09-05 15:58:24,232 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
|
||
<Link z:Id="i1" xmlns="http://schemas.datacontract.org/2004/07/SW2URDF" xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/"><Attributes><Attribute z:Id="i2"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">head_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i3" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i4" i:type="Origin"><Attributes><Attribute z:Id="i5"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i6"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i6"/><XYZAttribute z:Ref="i5"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i7" i:type="Mass"><Attributes><Attribute z:Id="i8"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i8"/></URDFElement><URDFElement z:Id="i9" i:type="Inertia"><Attributes><Attribute z:Id="i10"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i11"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i12"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i13"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i14"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i15"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i10"/><IxyAttribute z:Ref="i11"/><IxzAttribute z:Ref="i12"/><IyyAttribute z:Ref="i13"/><IyzAttribute z:Ref="i14"/><IzzAttribute z:Ref="i15"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i9"/><Mass z:Ref="i7"/><Origin z:Ref="i4"/></URDFElement><URDFElement z:Id="i16" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i17" i:type="Origin"><Attributes><Attribute z:Id="i18"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i19"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i19"/><XYZAttribute z:Ref="i18"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i20" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i21" i:type="Mesh"><Attributes><Attribute z:Id="i22"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i22"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i21"/></URDFElement><URDFElement z:Id="i23" i:type="Material"><Attributes><Attribute z:Id="i24"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i25" i:type="Color"><Attributes><Attribute z:Id="i26"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i26"/></URDFElement><URDFElement z:Id="i27" i:type="Texture"><Attributes><Attribute z:Id="i28"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i28"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i25"/><NameAttribute z:Ref="i24"/><Texture z:Ref="i27"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i20"/><Material z:Ref="i23"/><Origin z:Ref="i17"/></URDFElement><URDFElement z:Id="i29" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i30" i:type="Origin"><Attributes><Attribute z:Id="i31"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i32"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i32"/><XYZAttribute z:Ref="i31"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i33" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i34" i:type="Mesh"><Attributes><Attribute z:Id="i35"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i35"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i34"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i33"/><Origin z:Ref="i30"/></URDFElement><URDFElement z:Id="i36" i:type="Joint"><Attributes><Attribute z:Id="i37"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute><Attribute z:Id="i38"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i39" i:type="Origin"><Attributes><Attribute z:Id="i40"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i41"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i41"/><XYZAttribute z:Ref="i40"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i42" i:type="ParentLink"><Attributes><Attribute z:Id="i43"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i43"/></URDFElement><URDFElement z:Id="i44" i:type="ChildLink"><Attributes><Attribute z:Id="i45"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i45"/></URDFElement><URDFElement z:Id="i46" i:type="Axis"><Attributes><Attribute z:Id="i47"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i47"/></URDFElement><URDFElement z:Id="i48" i:type="Limit"><Attributes><Attribute z:Id="i49"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i50"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i51"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i52"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i51"/><LowerAttribute z:Ref="i49"/><UpperAttribute z:Ref="i50"/><VelocityAttribute z:Ref="i52"/></URDFElement><URDFElement z:Id="i53" i:type="Calibration"><Attributes><Attribute z:Id="i54"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i55"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i55"/><RisingAttribute z:Ref="i54"/></URDFElement><URDFElement z:Id="i56" i:type="Dynamics"><Attributes><Attribute z:Id="i57"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i58"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i57"/><FrictionAttribute z:Ref="i58"/></URDFElement><URDFElement z:Id="i59" i:type="SafetyController"><Attributes><Attribute z:Id="i60"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i61"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i62"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i63"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i62"/><KVelocityAttribute z:Ref="i63"/><SoftLowerAttribute z:Ref="i61"/><SoftUpperAttribute z:Ref="i60"/></URDFElement><URDFElement z:Id="i64" i:type="Mimic"><Attributes><Attribute z:Id="i65"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i66"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i67"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i65"/><MultiplierAttribute z:Ref="i66"/><OffsetAttribute z:Ref="i67"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i46"/><AxisName/><Calibration z:Ref="i53"/><Child z:Ref="i44"/><CoordinateSystemName>head</CoordinateSystemName><Dynamics z:Ref="i56"/><Limit z:Ref="i48"/><Mimic z:Ref="i64"/><NameAttribute z:Ref="i37"/><Origin z:Ref="i39"/><Parent z:Ref="i42"/><Safety z:Ref="i59"/><TypeAttribute z:Ref="i38"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i68"><Attributes><Attribute z:Id="i69"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">lf0_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i70" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i71" i:type="Origin"><Attributes><Attribute z:Id="i72"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i73"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i73"/><XYZAttribute z:Ref="i72"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i74" i:type="Mass"><Attributes><Attribute z:Id="i75"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i75"/></URDFElement><URDFElement z:Id="i76" i:type="Inertia"><Attributes><Attribute z:Id="i77"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i78"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i79"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i80"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i81"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i82"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i77"/><IxyAttribute z:Ref="i78"/><IxzAttribute z:Ref="i79"/><IyyAttribute z:Ref="i80"/><IyzAttribute z:Ref="i81"/><IzzAttribute z:Ref="i82"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i76"/><Mass z:Ref="i74"/><Origin z:Ref="i71"/></URDFElement><URDFElement z:Id="i83" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i84" i:type="Origin"><Attributes><Attribute z:Id="i85"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i86"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i86"/><XYZAttribute z:Ref="i85"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i87" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i88" i:type="Mesh"><Attributes><Attribute z:Id="i89"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i89"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i88"/></URDFElement><URDFElement z:Id="i90" i:type="Material"><Attributes><Attribute z:Id="i91"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i92" i:type="Color"><Attributes><Attribute z:Id="i93"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i93"/></URDFElement><URDFElement z:Id="i94" i:type="Texture"><Attributes><Attribute z:Id="i95"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i95"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i92"/><NameAttribute z:Ref="i91"/><Texture z:Ref="i94"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i87"/><Material z:Ref="i90"/><Origin z:Ref="i84"/></URDFElement><URDFElement z:Id="i96" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i97" i:type="Origin"><Attributes><Attribute z:Id="i98"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i99"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i99"/><XYZAttribute z:Ref="i98"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i100" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i101" i:type="Mesh"><Attributes><Attribute z:Id="i102"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i102"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i101"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i100"/><Origin z:Ref="i97"/></URDFElement><URDFElement z:Id="i103" i:type="Joint"><Attributes><Attribute z:Id="i104"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jlf0_link</Value></Attribute><Attribute z:Id="i105"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i106" i:type="Origin"><Attributes><Attribute z:Id="i107"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i108"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i108"/><XYZAttribute z:Ref="i107"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i109" i:type="ParentLink"><Attributes><Attribute z:Id="i110"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i110"/></URDFElement><URDFElement z:Id="i111" i:type="ChildLink"><Attributes><Attribute z:Id="i112"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i112"/></URDFElement><URDFElement z:Id="i113" i:type="Axis"><Attributes><Attribute z:Id="i114"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i114"/></URDFElement><URDFElement z:Id="i115" i:type="Limit"><Attributes><Attribute z:Id="i116"><AttributeType>lower</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i117"><AttributeType>upper</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i118"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i119"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>true</required><EffortAttribute z:Ref="i118"/><LowerAttribute z:Ref="i116"/><UpperAttribute z:Ref="i117"/><VelocityAttribute z:Ref="i119"/></URDFElement><URDFElement z:Id="i120" i:type="Calibration"><Attributes><Attribute z:Id="i121"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i122"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i122"/><RisingAttribute z:Ref="i121"/></URDFElement><URDFElement z:Id="i123" i:type="Dynamics"><Attributes><Attribute z:Id="i124"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i125"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i124"/><FrictionAttribute z:Ref="i125"/></URDFElement><URDFElement z:Id="i126" i:type="SafetyController"><Attributes><Attribute z:Id="i127"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i128"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i129"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i130"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i129"/><KVelocityAttribute z:Ref="i130"/><SoftLowerAttribute z:Ref="i128"/><SoftUpperAttribute z:Ref="i127"/></URDFElement><URDFElement z:Id="i131" i:type="Mimic"><Attributes><Attribute z:Id="i132"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i133"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i134"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i132"/><MultiplierAttribute z:Ref="i133"/><OffsetAttribute z:Ref="i134"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i113"/><AxisName>lf0_hige</AxisName><Calibration z:Ref="i120"/><Child z:Ref="i111"/><CoordinateSystemName>lf0</CoordinateSystemName><Dynamics z:Ref="i123"/><Limit z:Ref="i115"/><Mimic z:Ref="i131"/><NameAttribute z:Ref="i104"/><Origin z:Ref="i106"/><Parent z:Ref="i109"/><Safety z:Ref="i126"/><TypeAttribute z:Ref="i105"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i135"><Attributes><Attribute z:Id="i136"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">lf1_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i137" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i138" i:type="Origin"><Attributes><Attribute z:Id="i139"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i140"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i140"/><XYZAttribute z:Ref="i139"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i141" i:type="Mass"><Attributes><Attribute z:Id="i142"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i142"/></URDFElement><URDFElement z:Id="i143" i:type="Inertia"><Attributes><Attribute z:Id="i144"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i145"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i146"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i147"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i148"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i149"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i144"/><IxyAttribute z:Ref="i145"/><IxzAttribute z:Ref="i146"/><IyyAttribute z:Ref="i147"/><IyzAttribute z:Ref="i148"/><IzzAttribute z:Ref="i149"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i143"/><Mass z:Ref="i141"/><Origin z:Ref="i138"/></URDFElement><URDFElement z:Id="i150" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i151" i:type="Origin"><Attributes><Attribute z:Id="i152"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i153"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i153"/><XYZAttribute z:Ref="i152"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i154" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i155" i:type="Mesh"><Attributes><Attribute z:Id="i156"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i156"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i155"/></URDFElement><URDFElement z:Id="i157" i:type="Material"><Attributes><Attribute z:Id="i158"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i159" i:type="Color"><Attributes><Attribute z:Id="i160"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i160"/></URDFElement><URDFElement z:Id="i161" i:type="Texture"><Attributes><Attribute z:Id="i162"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i162"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i159"/><NameAttribute z:Ref="i158"/><Texture z:Ref="i161"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i154"/><Material z:Ref="i157"/><Origin z:Ref="i151"/></URDFElement><URDFElement z:Id="i163" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i164" i:type="Origin"><Attributes><Attribute z:Id="i165"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i166"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i166"/><XYZAttribute z:Ref="i165"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i167" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i168" i:type="Mesh"><Attributes><Attribute z:Id="i169"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i169"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i168"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i167"/><Origin z:Ref="i164"/></URDFElement><URDFElement z:Id="i170" i:type="Joint"><Attributes><Attribute z:Id="i171"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jlf1_link</Value></Attribute><Attribute z:Id="i172"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i173" i:type="Origin"><Attributes><Attribute z:Id="i174"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i175"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i175"/><XYZAttribute z:Ref="i174"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i176" i:type="ParentLink"><Attributes><Attribute z:Id="i177"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i177"/></URDFElement><URDFElement z:Id="i178" i:type="ChildLink"><Attributes><Attribute z:Id="i179"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i179"/></URDFElement><URDFElement z:Id="i180" i:type="Axis"><Attributes><Attribute z:Id="i181"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i181"/></URDFElement><URDFElement z:Id="i182" i:type="Limit"><Attributes><Attribute z:Id="i183"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i184"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i185"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i186"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i185"/><LowerAttribute z:Ref="i183"/><UpperAttribute z:Ref="i184"/><VelocityAttribute z:Ref="i186"/></URDFElement><URDFElement z:Id="i187" i:type="Calibration"><Attributes><Attribute z:Id="i188"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i189"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i189"/><RisingAttribute z:Ref="i188"/></URDFElement><URDFElement z:Id="i190" i:type="Dynamics"><Attributes><Attribute z:Id="i191"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i192"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i191"/><FrictionAttribute z:Ref="i192"/></URDFElement><URDFElement z:Id="i193" i:type="SafetyController"><Attributes><Attribute z:Id="i194"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i195"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i196"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i197"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i196"/><KVelocityAttribute z:Ref="i197"/><SoftLowerAttribute z:Ref="i195"/><SoftUpperAttribute z:Ref="i194"/></URDFElement><URDFElement z:Id="i198" i:type="Mimic"><Attributes><Attribute z:Id="i199"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i200"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i201"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i199"/><MultiplierAttribute z:Ref="i200"/><OffsetAttribute z:Ref="i201"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i180"/><AxisName>lf1_hige</AxisName><Calibration z:Ref="i187"/><Child z:Ref="i178"/><CoordinateSystemName>lf1</CoordinateSystemName><Dynamics z:Ref="i190"/><Limit z:Ref="i182"/><Mimic z:Ref="i198"/><NameAttribute z:Ref="i171"/><Origin z:Ref="i173"/><Parent z:Ref="i176"/><Safety z:Ref="i193"/><TypeAttribute z:Ref="i172"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i202"><Attributes><Attribute z:Id="i203"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">lf2_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i204" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i205" i:type="Origin"><Attributes><Attribute z:Id="i206"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i207"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i207"/><XYZAttribute z:Ref="i206"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i208" i:type="Mass"><Attributes><Attribute z:Id="i209"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i209"/></URDFElement><URDFElement z:Id="i210" i:type="Inertia"><Attributes><Attribute z:Id="i211"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i212"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i213"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i214"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i215"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i216"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i211"/><IxyAttribute z:Ref="i212"/><IxzAttribute z:Ref="i213"/><IyyAttribute z:Ref="i214"/><IyzAttribute z:Ref="i215"/><IzzAttribute z:Ref="i216"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i210"/><Mass z:Ref="i208"/><Origin z:Ref="i205"/></URDFElement><URDFElement z:Id="i217" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i218" i:type="Origin"><Attributes><Attribute z:Id="i219"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i220"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i220"/><XYZAttribute z:Ref="i219"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i221" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i222" i:type="Mesh"><Attributes><Attribute z:Id="i223"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i223"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i222"/></URDFElement><URDFElement z:Id="i224" i:type="Material"><Attributes><Attribute z:Id="i225"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i226" i:type="Color"><Attributes><Attribute z:Id="i227"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i227"/></URDFElement><URDFElement z:Id="i228" i:type="Texture"><Attributes><Attribute z:Id="i229"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i229"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i226"/><NameAttribute z:Ref="i225"/><Texture z:Ref="i228"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i221"/><Material z:Ref="i224"/><Origin z:Ref="i218"/></URDFElement><URDFElement z:Id="i230" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i231" i:type="Origin"><Attributes><Attribute z:Id="i232"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i233"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i233"/><XYZAttribute z:Ref="i232"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i234" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i235" i:type="Mesh"><Attributes><Attribute z:Id="i236"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i236"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i235"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i234"/><Origin z:Ref="i231"/></URDFElement><URDFElement z:Id="i237" i:type="Joint"><Attributes><Attribute z:Id="i238"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jlf2_link</Value></Attribute><Attribute z:Id="i239"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i240" i:type="Origin"><Attributes><Attribute z:Id="i241"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i242"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i242"/><XYZAttribute z:Ref="i241"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i243" i:type="ParentLink"><Attributes><Attribute z:Id="i244"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i244"/></URDFElement><URDFElement z:Id="i245" i:type="ChildLink"><Attributes><Attribute z:Id="i246"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i246"/></URDFElement><URDFElement z:Id="i247" i:type="Axis"><Attributes><Attribute z:Id="i248"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i248"/></URDFElement><URDFElement z:Id="i249" i:type="Limit"><Attributes><Attribute z:Id="i250"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i251"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i252"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i253"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i252"/><LowerAttribute z:Ref="i250"/><UpperAttribute z:Ref="i251"/><VelocityAttribute z:Ref="i253"/></URDFElement><URDFElement z:Id="i254" i:type="Calibration"><Attributes><Attribute z:Id="i255"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i256"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i256"/><RisingAttribute z:Ref="i255"/></URDFElement><URDFElement z:Id="i257" i:type="Dynamics"><Attributes><Attribute z:Id="i258"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i259"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i258"/><FrictionAttribute z:Ref="i259"/></URDFElement><URDFElement z:Id="i260" i:type="SafetyController"><Attributes><Attribute z:Id="i261"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i262"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i263"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i264"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i263"/><KVelocityAttribute z:Ref="i264"/><SoftLowerAttribute z:Ref="i262"/><SoftUpperAttribute z:Ref="i261"/></URDFElement><URDFElement z:Id="i265" i:type="Mimic"><Attributes><Attribute z:Id="i266"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i267"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i268"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i266"/><MultiplierAttribute z:Ref="i267"/><OffsetAttribute z:Ref="i268"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i247"/><AxisName>lf2_hige</AxisName><Calibration z:Ref="i254"/><Child z:Ref="i245"/><CoordinateSystemName>lf2</CoordinateSystemName><Dynamics z:Ref="i257"/><Limit z:Ref="i249"/><Mimic z:Ref="i265"/><NameAttribute z:Ref="i238"/><Origin z:Ref="i240"/><Parent z:Ref="i243"/><Safety z:Ref="i260"/><TypeAttribute z:Ref="i239"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i269"><Attributes><Attribute z:Id="i270"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">lf3_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i271" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i272" i:type="Origin"><Attributes><Attribute z:Id="i273"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i274"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i274"/><XYZAttribute z:Ref="i273"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i275" i:type="Mass"><Attributes><Attribute z:Id="i276"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i276"/></URDFElement><URDFElement z:Id="i277" i:type="Inertia"><Attributes><Attribute z:Id="i278"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i279"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i280"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i281"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i282"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i283"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i278"/><IxyAttribute z:Ref="i279"/><IxzAttribute z:Ref="i280"/><IyyAttribute z:Ref="i281"/><IyzAttribute z:Ref="i282"/><IzzAttribute z:Ref="i283"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i277"/><Mass z:Ref="i275"/><Origin z:Ref="i272"/></URDFElement><URDFElement z:Id="i284" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i285" i:type="Origin"><Attributes><Attribute z:Id="i286"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i287"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i287"/><XYZAttribute z:Ref="i286"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i288" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i289" i:type="Mesh"><Attributes><Attribute z:Id="i290"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i290"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i289"/></URDFElement><URDFElement z:Id="i291" i:type="Material"><Attributes><Attribute z:Id="i292"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i293" i:type="Color"><Attributes><Attribute z:Id="i294"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i294"/></URDFElement><URDFElement z:Id="i295" i:type="Texture"><Attributes><Attribute z:Id="i296"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i296"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i293"/><NameAttribute z:Ref="i292"/><Texture z:Ref="i295"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i288"/><Material z:Ref="i291"/><Origin z:Ref="i285"/></URDFElement><URDFElement z:Id="i297" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i298" i:type="Origin"><Attributes><Attribute z:Id="i299"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i300"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i300"/><XYZAttribute z:Ref="i299"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i301" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i302" i:type="Mesh"><Attributes><Attribute z:Id="i303"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i303"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i302"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i301"/><Origin z:Ref="i298"/></URDFElement><URDFElement z:Id="i304" i:type="Joint"><Attributes><Attribute z:Id="i305"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jlf3_link</Value></Attribute><Attribute z:Id="i306"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i307" i:type="Origin"><Attributes><Attribute z:Id="i308"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i309"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i309"/><XYZAttribute z:Ref="i308"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i310" i:type="ParentLink"><Attributes><Attribute z:Id="i311"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i311"/></URDFElement><URDFElement z:Id="i312" i:type="ChildLink"><Attributes><Attribute z:Id="i313"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i313"/></URDFElement><URDFElement z:Id="i314" i:type="Axis"><Attributes><Attribute z:Id="i315"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i315"/></URDFElement><URDFElement z:Id="i316" i:type="Limit"><Attributes><Attribute z:Id="i317"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i318"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i319"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i320"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i319"/><LowerAttribute z:Ref="i317"/><UpperAttribute z:Ref="i318"/><VelocityAttribute z:Ref="i320"/></URDFElement><URDFElement z:Id="i321" i:type="Calibration"><Attributes><Attribute z:Id="i322"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i323"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i323"/><RisingAttribute z:Ref="i322"/></URDFElement><URDFElement z:Id="i324" i:type="Dynamics"><Attributes><Attribute z:Id="i325"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i326"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i325"/><FrictionAttribute z:Ref="i326"/></URDFElement><URDFElement z:Id="i327" i:type="SafetyController"><Attributes><Attribute z:Id="i328"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i329"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i330"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i331"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i330"/><KVelocityAttribute z:Ref="i331"/><SoftLowerAttribute z:Ref="i329"/><SoftUpperAttribute z:Ref="i328"/></URDFElement><URDFElement z:Id="i332" i:type="Mimic"><Attributes><Attribute z:Id="i333"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i334"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i335"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i333"/><MultiplierAttribute z:Ref="i334"/><OffsetAttribute z:Ref="i335"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i314"/><AxisName>lf3_hige</AxisName><Calibration z:Ref="i321"/><Child z:Ref="i312"/><CoordinateSystemName>lf3</CoordinateSystemName><Dynamics z:Ref="i324"/><Limit z:Ref="i316"/><Mimic z:Ref="i332"/><NameAttribute z:Ref="i305"/><Origin z:Ref="i307"/><Parent z:Ref="i310"/><Safety z:Ref="i327"/><TypeAttribute z:Ref="i306"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i297"/><Inertial z:Ref="i271"/><Joint z:Ref="i304"/><NameAttribute z:Ref="i270"/><Parent z:Ref="i202"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8IiXOzjS0ANABAADtgxYhTTwQAAAAQAAAAAQAAAAEAAABKAQAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i284"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i230"/><Inertial z:Ref="i204"/><Joint z:Ref="i237"/><NameAttribute z:Ref="i203"/><Parent z:Ref="i135"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8J81MPXH+BLQAyAEAAO2DFiFNPBAAAABAAAAABAAAAAQAAADABAAA=</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8YNYI6ZztgU08tADEAMgBAADtgxYhTTy8AUwBlAHIAdgBvAC0AMQBAADWCOmc7YFNPBAAAABAAAAABAAAAAgAAADMBAAAZAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i217"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i163"/><Inertial z:Ref="i137"/><Joint z:Ref="i170"/><NameAttribute z:Ref="i136"/><Parent z:Ref="i68"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8J81MnWX+BLQAzAEAAO2DFiFNPBAAAABAAAAABAAAAAQAAAB4BAAA=</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8YNYI6ZztgU08tADEAMABAADtgxYhTTy8AUwBlAHIAdgBvAC0AMQBAADWCOmc7YFNPBAAAABAAAAABAAAAAgAAACEBAAAZAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i150"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i96"/><Inertial z:Ref="i70"/><Joint z:Ref="i103"/><NameAttribute z:Ref="i69"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8L81N/ge+AqJotADEAOABAADtgxYhTTwQAAAAQAAAAAQAAAAEAAADuAAAA</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8XNYI6ZztgU08tADgAQAA7YMWIU08vAFMAZQByAHYAbwAtADEAQAA1gjpnO2BTTwQAAAAQAAAAAQAAAAIAAADWAAAAGQAAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i83"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link><Link z:Id="i336"><Attributes><Attribute z:Id="i337"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">rf0_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i338" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i339" i:type="Origin"><Attributes><Attribute z:Id="i340"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i341"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i341"/><XYZAttribute z:Ref="i340"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i342" i:type="Mass"><Attributes><Attribute z:Id="i343"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i343"/></URDFElement><URDFElement z:Id="i344" i:type="Inertia"><Attributes><Attribute z:Id="i345"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i346"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i347"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i348"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i349"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i350"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i345"/><IxyAttribute z:Ref="i346"/><IxzAttribute z:Ref="i347"/><IyyAttribute z:Ref="i348"/><IyzAttribute z:Ref="i349"/><IzzAttribute z:Ref="i350"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i344"/><Mass z:Ref="i342"/><Origin z:Ref="i339"/></URDFElement><URDFElement z:Id="i351" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i352" i:type="Origin"><Attributes><Attribute z:Id="i353"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i354"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i354"/><XYZAttribute z:Ref="i353"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i355" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i356" i:type="Mesh"><Attributes><Attribute z:Id="i357"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i357"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i356"/></URDFElement><URDFElement z:Id="i358" i:type="Material"><Attributes><Attribute z:Id="i359"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i360" i:type="Color"><Attributes><Attribute z:Id="i361"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i361"/></URDFElement><URDFElement z:Id="i362" i:type="Texture"><Attributes><Attribute z:Id="i363"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i363"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i360"/><NameAttribute z:Ref="i359"/><Texture z:Ref="i362"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i355"/><Material z:Ref="i358"/><Origin z:Ref="i352"/></URDFElement><URDFElement z:Id="i364" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i365" i:type="Origin"><Attributes><Attribute z:Id="i366"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i367"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i367"/><XYZAttribute z:Ref="i366"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i368" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i369" i:type="Mesh"><Attributes><Attribute z:Id="i370"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i370"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i369"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i368"/><Origin z:Ref="i365"/></URDFElement><URDFElement z:Id="i371" i:type="Joint"><Attributes><Attribute z:Id="i372"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jrf0_link</Value></Attribute><Attribute z:Id="i373"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i374" i:type="Origin"><Attributes><Attribute z:Id="i375"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i376"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i376"/><XYZAttribute z:Ref="i375"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i377" i:type="ParentLink"><Attributes><Attribute z:Id="i378"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i378"/></URDFElement><URDFElement z:Id="i379" i:type="ChildLink"><Attributes><Attribute z:Id="i380"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i380"/></URDFElement><URDFElement z:Id="i381" i:type="Axis"><Attributes><Attribute z:Id="i382"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i382"/></URDFElement><URDFElement z:Id="i383" i:type="Limit"><Attributes><Attribute z:Id="i384"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i385"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i386"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i387"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i386"/><LowerAttribute z:Ref="i384"/><UpperAttribute z:Ref="i385"/><VelocityAttribute z:Ref="i387"/></URDFElement><URDFElement z:Id="i388" i:type="Calibration"><Attributes><Attribute z:Id="i389"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i390"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i390"/><RisingAttribute z:Ref="i389"/></URDFElement><URDFElement z:Id="i391" i:type="Dynamics"><Attributes><Attribute z:Id="i392"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i393"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i392"/><FrictionAttribute z:Ref="i393"/></URDFElement><URDFElement z:Id="i394" i:type="SafetyController"><Attributes><Attribute z:Id="i395"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i396"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i397"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i398"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i397"/><KVelocityAttribute z:Ref="i398"/><SoftLowerAttribute z:Ref="i396"/><SoftUpperAttribute z:Ref="i395"/></URDFElement><URDFElement z:Id="i399" i:type="Mimic"><Attributes><Attribute z:Id="i400"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i401"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i402"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i400"/><MultiplierAttribute z:Ref="i401"/><OffsetAttribute z:Ref="i402"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i381"/><AxisName>rf0_hige</AxisName><Calibration z:Ref="i388"/><Child z:Ref="i379"/><CoordinateSystemName>rf0</CoordinateSystemName><Dynamics z:Ref="i391"/><Limit z:Ref="i383"/><Mimic z:Ref="i399"/><NameAttribute z:Ref="i372"/><Origin z:Ref="i374"/><Parent z:Ref="i377"/><Safety z:Ref="i394"/><TypeAttribute z:Ref="i373"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i403"><Attributes><Attribute z:Id="i404"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">rf1_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i405" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i406" i:type="Origin"><Attributes><Attribute z:Id="i407"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i408"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i408"/><XYZAttribute z:Ref="i407"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i409" i:type="Mass"><Attributes><Attribute z:Id="i410"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i410"/></URDFElement><URDFElement z:Id="i411" i:type="Inertia"><Attributes><Attribute z:Id="i412"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i413"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i414"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i415"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i416"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i417"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i412"/><IxyAttribute z:Ref="i413"/><IxzAttribute z:Ref="i414"/><IyyAttribute z:Ref="i415"/><IyzAttribute z:Ref="i416"/><IzzAttribute z:Ref="i417"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i411"/><Mass z:Ref="i409"/><Origin z:Ref="i406"/></URDFElement><URDFElement z:Id="i418" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i419" i:type="Origin"><Attributes><Attribute z:Id="i420"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i421"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i421"/><XYZAttribute z:Ref="i420"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i422" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i423" i:type="Mesh"><Attributes><Attribute z:Id="i424"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i424"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i423"/></URDFElement><URDFElement z:Id="i425" i:type="Material"><Attributes><Attribute z:Id="i426"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i427" i:type="Color"><Attributes><Attribute z:Id="i428"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i428"/></URDFElement><URDFElement z:Id="i429" i:type="Texture"><Attributes><Attribute z:Id="i430"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i430"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i427"/><NameAttribute z:Ref="i426"/><Texture z:Ref="i429"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i422"/><Material z:Ref="i425"/><Origin z:Ref="i419"/></URDFElement><URDFElement z:Id="i431" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i432" i:type="Origin"><Attributes><Attribute z:Id="i433"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i434"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i434"/><XYZAttribute z:Ref="i433"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i435" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i436" i:type="Mesh"><Attributes><Attribute z:Id="i437"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i437"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i436"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i435"/><Origin z:Ref="i432"/></URDFElement><URDFElement z:Id="i438" i:type="Joint"><Attributes><Attribute z:Id="i439"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jrf1_link</Value></Attribute><Attribute z:Id="i440"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i441" i:type="Origin"><Attributes><Attribute z:Id="i442"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i443"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i443"/><XYZAttribute z:Ref="i442"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i444" i:type="ParentLink"><Attributes><Attribute z:Id="i445"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i445"/></URDFElement><URDFElement z:Id="i446" i:type="ChildLink"><Attributes><Attribute z:Id="i447"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i447"/></URDFElement><URDFElement z:Id="i448" i:type="Axis"><Attributes><Attribute z:Id="i449"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i449"/></URDFElement><URDFElement z:Id="i450" i:type="Limit"><Attributes><Attribute z:Id="i451"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i452"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i453"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i454"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i453"/><LowerAttribute z:Ref="i451"/><UpperAttribute z:Ref="i452"/><VelocityAttribute z:Ref="i454"/></URDFElement><URDFElement z:Id="i455" i:type="Calibration"><Attributes><Attribute z:Id="i456"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i457"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i457"/><RisingAttribute z:Ref="i456"/></URDFElement><URDFElement z:Id="i458" i:type="Dynamics"><Attributes><Attribute z:Id="i459"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i460"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i459"/><FrictionAttribute z:Ref="i460"/></URDFElement><URDFElement z:Id="i461" i:type="SafetyController"><Attributes><Attribute z:Id="i462"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i463"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i464"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i465"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i464"/><KVelocityAttribute z:Ref="i465"/><SoftLowerAttribute z:Ref="i463"/><SoftUpperAttribute z:Ref="i462"/></URDFElement><URDFElement z:Id="i466" i:type="Mimic"><Attributes><Attribute z:Id="i467"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i468"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i469"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i467"/><MultiplierAttribute z:Ref="i468"/><OffsetAttribute z:Ref="i469"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i448"/><AxisName>rf1_hige</AxisName><Calibration z:Ref="i455"/><Child z:Ref="i446"/><CoordinateSystemName>rf1</CoordinateSystemName><Dynamics z:Ref="i458"/><Limit z:Ref="i450"/><Mimic z:Ref="i466"/><NameAttribute z:Ref="i439"/><Origin z:Ref="i441"/><Parent z:Ref="i444"/><Safety z:Ref="i461"/><TypeAttribute z:Ref="i440"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i470"><Attributes><Attribute z:Id="i471"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">rf2_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i472" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i473" i:type="Origin"><Attributes><Attribute z:Id="i474"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i475"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i475"/><XYZAttribute z:Ref="i474"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i476" i:type="Mass"><Attributes><Attribute z:Id="i477"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i477"/></URDFElement><URDFElement z:Id="i478" i:type="Inertia"><Attributes><Attribute z:Id="i479"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i480"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i481"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i482"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i483"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i484"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i479"/><IxyAttribute z:Ref="i480"/><IxzAttribute z:Ref="i481"/><IyyAttribute z:Ref="i482"/><IyzAttribute z:Ref="i483"/><IzzAttribute z:Ref="i484"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i478"/><Mass z:Ref="i476"/><Origin z:Ref="i473"/></URDFElement><URDFElement z:Id="i485" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i486" i:type="Origin"><Attributes><Attribute z:Id="i487"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i488"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i488"/><XYZAttribute z:Ref="i487"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i489" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i490" i:type="Mesh"><Attributes><Attribute z:Id="i491"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i491"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i490"/></URDFElement><URDFElement z:Id="i492" i:type="Material"><Attributes><Attribute z:Id="i493"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i494" i:type="Color"><Attributes><Attribute z:Id="i495"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i495"/></URDFElement><URDFElement z:Id="i496" i:type="Texture"><Attributes><Attribute z:Id="i497"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i497"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i494"/><NameAttribute z:Ref="i493"/><Texture z:Ref="i496"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i489"/><Material z:Ref="i492"/><Origin z:Ref="i486"/></URDFElement><URDFElement z:Id="i498" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i499" i:type="Origin"><Attributes><Attribute z:Id="i500"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i501"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i501"/><XYZAttribute z:Ref="i500"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i502" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i503" i:type="Mesh"><Attributes><Attribute z:Id="i504"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i504"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i503"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i502"/><Origin z:Ref="i499"/></URDFElement><URDFElement z:Id="i505" i:type="Joint"><Attributes><Attribute z:Id="i506"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jrf2_link</Value></Attribute><Attribute z:Id="i507"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i508" i:type="Origin"><Attributes><Attribute z:Id="i509"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i510"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i510"/><XYZAttribute z:Ref="i509"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i511" i:type="ParentLink"><Attributes><Attribute z:Id="i512"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i512"/></URDFElement><URDFElement z:Id="i513" i:type="ChildLink"><Attributes><Attribute z:Id="i514"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i514"/></URDFElement><URDFElement z:Id="i515" i:type="Axis"><Attributes><Attribute z:Id="i516"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i516"/></URDFElement><URDFElement z:Id="i517" i:type="Limit"><Attributes><Attribute z:Id="i518"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i519"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i520"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i521"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i520"/><LowerAttribute z:Ref="i518"/><UpperAttribute z:Ref="i519"/><VelocityAttribute z:Ref="i521"/></URDFElement><URDFElement z:Id="i522" i:type="Calibration"><Attributes><Attribute z:Id="i523"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i524"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i524"/><RisingAttribute z:Ref="i523"/></URDFElement><URDFElement z:Id="i525" i:type="Dynamics"><Attributes><Attribute z:Id="i526"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i527"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i526"/><FrictionAttribute z:Ref="i527"/></URDFElement><URDFElement z:Id="i528" i:type="SafetyController"><Attributes><Attribute z:Id="i529"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i530"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i531"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i532"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i531"/><KVelocityAttribute z:Ref="i532"/><SoftLowerAttribute z:Ref="i530"/><SoftUpperAttribute z:Ref="i529"/></URDFElement><URDFElement z:Id="i533" i:type="Mimic"><Attributes><Attribute z:Id="i534"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i535"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i536"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i534"/><MultiplierAttribute z:Ref="i535"/><OffsetAttribute z:Ref="i536"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i515"/><AxisName>lf2_hige</AxisName><Calibration z:Ref="i522"/><Child z:Ref="i513"/><CoordinateSystemName>rf2</CoordinateSystemName><Dynamics z:Ref="i525"/><Limit z:Ref="i517"/><Mimic z:Ref="i533"/><NameAttribute z:Ref="i506"/><Origin z:Ref="i508"/><Parent z:Ref="i511"/><Safety z:Ref="i528"/><TypeAttribute z:Ref="i507"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children><Link z:Id="i537"><Attributes><Attribute z:Id="i538"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">rf3_link</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i539" i:type="Inertial"><Attributes/><ChildElements><URDFElement z:Id="i540" i:type="Origin"><Attributes><Attribute z:Id="i541"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i542"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i542"/><XYZAttribute z:Ref="i541"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i543" i:type="Mass"><Attributes><Attribute z:Id="i544"><AttributeType>value</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>mass</ElementName><required>false</required><ValueAttribute z:Ref="i544"/></URDFElement><URDFElement z:Id="i545" i:type="Inertia"><Attributes><Attribute z:Id="i546"><AttributeType>ixx</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i547"><AttributeType>ixy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i548"><AttributeType>ixz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i549"><AttributeType>iyy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i550"><AttributeType>iyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute><Attribute z:Id="i551"><AttributeType>izz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:double" xmlns:a="http://www.w3.org/2001/XMLSchema">0</Value></Attribute></Attributes><ChildElements/><ElementName>inertia</ElementName><required>false</required><IxxAttribute z:Ref="i546"/><IxyAttribute z:Ref="i547"/><IxzAttribute z:Ref="i548"/><IyyAttribute z:Ref="i549"/><IyzAttribute z:Ref="i550"/><IzzAttribute z:Ref="i551"/></URDFElement></ChildElements><ElementName>inertial</ElementName><required>false</required><Inertia z:Ref="i545"/><Mass z:Ref="i543"/><Origin z:Ref="i540"/></URDFElement><URDFElement z:Id="i552" i:type="Visual"><Attributes/><ChildElements><URDFElement z:Id="i553" i:type="Origin"><Attributes><Attribute z:Id="i554"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i555"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i555"/><XYZAttribute z:Ref="i554"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i556" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i557" i:type="Mesh"><Attributes><Attribute z:Id="i558"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i558"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i557"/></URDFElement><URDFElement z:Id="i559" i:type="Material"><Attributes><Attribute z:Id="i560"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements><URDFElement z:Id="i561" i:type="Color"><Attributes><Attribute z:Id="i562"><AttributeType>rgba</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double><a:double>1</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>color</ElementName><required>false</required><RGBAAttribute z:Ref="i562"/></URDFElement><URDFElement z:Id="i563" i:type="Texture"><Attributes><Attribute z:Id="i564"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>texture</ElementName><required>false</required><FilenameAttribute z:Ref="i564"/><wFilename/></URDFElement></ChildElements><ElementName>material</ElementName><required>false</required><Color z:Ref="i561"/><NameAttribute z:Ref="i560"/><Texture z:Ref="i563"/></URDFElement></ChildElements><ElementName>visual</ElementName><required>false</required><Geometry z:Ref="i556"/><Material z:Ref="i559"/><Origin z:Ref="i553"/></URDFElement><URDFElement z:Id="i565" i:type="Collision"><Attributes/><ChildElements><URDFElement z:Id="i566" i:type="Origin"><Attributes><Attribute z:Id="i567"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i568"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i568"/><XYZAttribute z:Ref="i567"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i569" i:type="Geometry"><Attributes/><ChildElements><URDFElement z:Id="i570" i:type="Mesh"><Attributes><Attribute z:Id="i571"><AttributeType>filename</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mesh</ElementName><required>false</required><FilenameAttribute z:Ref="i571"/></URDFElement></ChildElements><ElementName>geometry</ElementName><required>true</required><Mesh z:Ref="i570"/></URDFElement></ChildElements><ElementName>collision</ElementName><required>false</required><Geometry z:Ref="i569"/><Origin z:Ref="i566"/></URDFElement><URDFElement z:Id="i572" i:type="Joint"><Attributes><Attribute z:Id="i573"><AttributeType>name</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">jrf3_link</Value></Attribute><Attribute z:Id="i574"><AttributeType>type</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema">revolute</Value></Attribute></Attributes><ChildElements><URDFElement z:Id="i575" i:type="Origin"><Attributes><Attribute z:Id="i576"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute><Attribute z:Id="i577"><AttributeType>rpy</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>origin</ElementName><required>false</required><RPYAttribute z:Ref="i577"/><XYZAttribute z:Ref="i576"/><isCustomized>false</isCustomized></URDFElement><URDFElement z:Id="i578" i:type="ParentLink"><Attributes><Attribute z:Id="i579"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>parent</ElementName><required>true</required><NameAttribute z:Ref="i579"/></URDFElement><URDFElement z:Id="i580" i:type="ChildLink"><Attributes><Attribute z:Id="i581"><AttributeType>link</AttributeType><IsRequired>true</IsRequired><Value i:type="a:string" xmlns:a="http://www.w3.org/2001/XMLSchema"/></Attribute></Attributes><ChildElements/><ElementName>child</ElementName><required>true</required><NameAttribute z:Ref="i581"/></URDFElement><URDFElement z:Id="i582" i:type="Axis"><Attributes><Attribute z:Id="i583"><AttributeType>xyz</AttributeType><IsRequired>true</IsRequired><Value i:type="a:ArrayOfdouble" xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:double>0</a:double><a:double>0</a:double><a:double>0</a:double></Value></Attribute></Attributes><ChildElements/><ElementName>axis</ElementName><required>false</required><XYZAttribute z:Ref="i583"/></URDFElement><URDFElement z:Id="i584" i:type="Limit"><Attributes><Attribute z:Id="i585"><AttributeType>lower</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i586"><AttributeType>upper</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i587"><AttributeType>effort</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i588"><AttributeType>velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>limit</ElementName><required>false</required><EffortAttribute z:Ref="i587"/><LowerAttribute z:Ref="i585"/><UpperAttribute z:Ref="i586"/><VelocityAttribute z:Ref="i588"/></URDFElement><URDFElement z:Id="i589" i:type="Calibration"><Attributes><Attribute z:Id="i590"><AttributeType>rising</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i591"><AttributeType>falling</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>calibration</ElementName><required>false</required><FallingAttribute z:Ref="i591"/><RisingAttribute z:Ref="i590"/></URDFElement><URDFElement z:Id="i592" i:type="Dynamics"><Attributes><Attribute z:Id="i593"><AttributeType>damping</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i594"><AttributeType>friction</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>dynamics</ElementName><required>false</required><DampingAttribute z:Ref="i593"/><FrictionAttribute z:Ref="i594"/></URDFElement><URDFElement z:Id="i595" i:type="SafetyController"><Attributes><Attribute z:Id="i596"><AttributeType>soft_upper_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i597"><AttributeType>soft_lower_limit</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i598"><AttributeType>k_position</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i599"><AttributeType>k_velocity</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>safety_controller</ElementName><required>false</required><KPositionAttribute z:Ref="i598"/><KVelocityAttribute z:Ref="i599"/><SoftLowerAttribute z:Ref="i597"/><SoftUpperAttribute z:Ref="i596"/></URDFElement><URDFElement z:Id="i600" i:type="Mimic"><Attributes><Attribute z:Id="i601"><AttributeType>joint</AttributeType><IsRequired>true</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i602"><AttributeType>multiplier</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute><Attribute z:Id="i603"><AttributeType>offset</AttributeType><IsRequired>false</IsRequired><Value i:nil="true"/></Attribute></Attributes><ChildElements/><ElementName>mimic</ElementName><required>false</required><JointNameAttribute z:Ref="i601"/><MultiplierAttribute z:Ref="i602"/><OffsetAttribute z:Ref="i603"/></URDFElement></ChildElements><ElementName>joint</ElementName><required>false</required><Axis z:Ref="i582"/><AxisName>rf3_hige</AxisName><Calibration z:Ref="i589"/><Child z:Ref="i580"/><CoordinateSystemName>rf3</CoordinateSystemName><Dynamics z:Ref="i592"/><Limit z:Ref="i584"/><Mimic z:Ref="i600"/><NameAttribute z:Ref="i573"/><Origin z:Ref="i575"/><Parent z:Ref="i578"/><Safety z:Ref="i595"/><TypeAttribute z:Ref="i574"/></URDFElement></ChildElements><ElementName>link</ElementName><required>true</required><Children/><Collision z:Ref="i565"/><Inertial z:Ref="i539"/><Joint z:Ref="i572"/><NameAttribute z:Ref="i538"/><Parent z:Ref="i470"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8IiXOzjS0AMwBAADtgxYhTTwQAAAAQAAAAAQAAAAEAAABHAQAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i552"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i498"/><Inertial z:Ref="i472"/><Joint z:Ref="i505"/><NameAttribute z:Ref="i471"/><Parent z:Ref="i403"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8J81MPXH+BLQAxAEAAO2DFiFNPBAAAABAAAAABAAAAAQAAAC0BAAA=</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8YNYI6ZztgU08tADEAMwBAADtgxYhTTy8AUwBlAHIAdgBvAC0AMQBAADWCOmc7YFNPBAAAABAAAAABAAAAAgAAADgBAAAZAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i485"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i431"/><Inertial z:Ref="i405"/><Joint z:Ref="i438"/><NameAttribute z:Ref="i404"/><Parent z:Ref="i336"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8J81MnWX+BLQAyAEAAO2DFiFNPBAAAABAAAAABAAAAAQAAABsBAAA=</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8YNYI6ZztgU08tADEAMQBAADtgxYhTTy8AUwBlAHIAdgBvAC0AMQBAADWCOmc7YFNPBAAAABAAAAABAAAAAgAAACcBAAAZAAAA</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i418"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i364"/><Inertial z:Ref="i338"/><Joint z:Ref="i371"/><NameAttribute z:Ref="i337"/><Parent z:Ref="i1"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8L81N/ge+AqJotADEANgBAADtgxYhTTwQAAAAQAAAAAQAAAAEAAADnAAAA</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8XNYI6ZztgU08tADkAQAA7YMWIU08vAFMAZQByAHYAbwAtADEAQAA1gjpnO2BTTwQAAAAQAAAAAQAAAAIAAADiAAAAGQAAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i351"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link></Children><Collision z:Ref="i29"/><Inertial z:Ref="i3"/><Joint z:Ref="i36"/><NameAttribute z:Ref="i2"/><Parent i:nil="true"/><STLQualityFine>false</STLQualityFine><SWComponentPIDs xmlns:a="http://schemas.microsoft.com/2003/10/Serialization/Arrays"><a:base64Binary>UEYAAAUAAAD//v8IO05TTy0AMgBAADtgxYhTTwQAAAAQAAAAAQAAAAEAAABjAAAA</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8QYgBhAHQAZQByAGkAYQAgADkAdgAtADEAQAA7YMWIU08EAAAAEAAAAAEAAAABAAAAjgAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8NUwB0AGUAcAAgAFUAcAAtADEAQAA7YMWIU08EAAAAEAAAAAEAAAABAAAATQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v9HMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8AQgBvAGEAcgBkAH4AUgBrAFcANwAuAHMAdABlAHAALQAxAEAAMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAAQAAAAQAAAAAQAAAAIAAAAyAAAAKAAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8hRgByAGUAZQBuAG8AdgBlACAARQBTAFAAMwAyAC0AUwAzAC0AVwBSAE8ATwBNAC0AQwBBAE0ALQAxAEAAO2DFiFNPBAAAABAAAAABAAAAAQAAABkAAAA=</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/OMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAAxADUAfgBIAEQAUgAtAFQASABfADIAMABQAC0AUAAyAC4ANQA0AC0AVgAtAEYAfgBIAEQAUgAtAEYALQAyAC4ANQA0AF8AMQB4ADIAMAB+AFYATQBaAEMALgBzAHQAZQBwAC0AMQBAADMARABfAFAAQwBCADEAXwAyADAAMgA2AC0AMAA4AC0AMQAwAC4AcwB0AGUAcAAvAEgARABSAC0AVABIAF8AMgAwAFAALQBQADIALgA1ADQALQBWAC0ARgB+AEgARABSAC0ARgAtADIALgA1ADQAXwAxAHgAMgAwAH4AWgA3AHEAUgAuAHMAdABlAHAALQAxAEAASAAxADUAfgBIAEQAUgAtAFQASABfADIAMABQAC0AUAAyAC4ANQA0AC0AVgAtAEYAfgBIAEQAUgAtAEYALQAyAC4ANQA0AF8AMQB4ADIAMAB+AFYATQBaAEMALgBzAHQAZQBwAAQAAAAQAAAAAQAAAAMAAAAyAAAAJQAAABkAAAA=</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/SMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAAxAH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AVQBzAEgARgAuAHMAdABlAHAALQAxAEAAMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC8ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AbQA3ADMAcgAuAHMAdABlAHAALQAxAEAASAAxAH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AVQBzAEgARgAuAHMAdABlAHAABAAAABAAAAABAAAAAwAAADIAAAAgAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/SMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAA4AH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AUwBoAHoAcgAuAHMAdABlAHAALQAxAEAAMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC8ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AbQA3ADMAcgAuAHMAdABlAHAALQAxAEAASAA4AH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AUwBoAHoAcgAuAHMAdABlAHAABAAAABAAAAABAAAAAwAAADIAAAAiAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/SMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAAyAH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AQwBrAG0AaQAuAHMAdABlAHAALQAxAEAAMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC8ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AbQA3ADMAcgAuAHMAdABlAHAALQAxAEAASAAyAH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AQwBrAG0AaQAuAHMAdABlAHAABAAAABAAAAABAAAAAwAAADIAAAAhAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/SMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAA0AH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4ANwBtADIAdwAuAHMAdABlAHAALQAxAEAAMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC8ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AbQA3ADMAcgAuAHMAdABlAHAALQAxAEAASAA0AH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4ANwBtADIAdwAuAHMAdABlAHAABAAAABAAAAABAAAAAwAAADIAAAAfAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/MMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAA2AH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBGAH4ASABEAFIALQBGAC0AMgAuADUANABfADEAeAAyADAAfgBGAEYAQgBhAC4AcwB0AGUAcAAtADEAQAAzAEQAXwBQAEMAQgAxAF8AMgAwADIANgAtADAAOAAtADEAMAAuAHMAdABlAHAALwBIAEQAUgAtAFQASABfADIAMABQAC0AUAAyAC4ANQA0AC0AVgAtAEYAfgBIAEQAUgAtAEYALQAyAC4ANQA0AF8AMQB4ADIAMAB+AFoANwBxAFIALgBzAHQAZQBwAC0AMQBAAEgANgB+AEgARABSAC0AVABIAF8AMgAwAFAALQBQADIALgA1ADQALQBWAC0ARgB+AEgARABSAC0ARgAtADIALgA1ADQAXwAxAHgAMgAwAH4ARgBGAEIAYQAuAHMAdABlAHAABAAAABAAAAABAAAAAwAAADIAAAAnAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/SMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAAzAH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AMgBUADEAeQAuAHMAdABlAHAALQAxAEAAMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC8ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AbQA3ADMAcgAuAHMAdABlAHAALQAxAEAASAAzAH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AMgBUADEAeQAuAHMAdABlAHAABAAAABAAAAABAAAAAwAAADIAAAAjAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v/SMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC0AMQBAADtgxYhTTy8ASAA1AH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AVAA3AHgASAAuAHMAdABlAHAALQAxAEAAMwBEAF8AUABDAEIAMQBfADIAMAAyADYALQAwADgALQAxADAALgBzAHQAZQBwAC8ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AbQA3ADMAcgAuAHMAdABlAHAALQAxAEAASAA1AH4ASABEAFIALQBUAEgAXwAyADAAUAAtAFAAMgAuADUANAAtAFYALQBNAC0AMQB+AEgARABSAC0ATQAtADIALgA1ADQAXwAxAHgAMgAwAH4AVAA3AHgASAAuAHMAdABlAHAABAAAABAAAAABAAAAAwAAADIAAAAkAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8XNYI6ZztgU08tADUAQAA7YMWIU08vAFMAZQByAHYAbwAtADEAQAA1gjpnO2BTTwQAAAAQAAAAAQAAAAIAAACuAAAAGQAAAA==</a:base64Binary><a:base64Binary>UEYAAAUAAAD//v8XNYI6ZztgU08tADQAQAA7YMWIU08vAFMAZQByAHYAbwAtADEAQAA1gjpnO2BTTwQAAAAQAAAAAQAAAAIAAACnAAAAGQAAAA==</a:base64Binary></SWComponentPIDs><SWMainComponentPID i:nil="true"/><Visual z:Ref="i16"/><isFixedFrame>false</isFixedFrame><isIncomplete>false</isIncomplete></Link>
|
||
2026-09-05 15:58:57,255 INFO AssemblyExportForm.cs: 309 - Saving URDF package to C:\Users\ZhenaiWin\Documents\Bot3dData\2foot
|
||
2026-09-05 15:58:57,257 INFO ExportHelper.cs: 147 - Beginning the export process
|
||
2026-09-05 15:58:57,260 INFO ExportHelper.cs: 153 - Creating package directories with name 2foot and save path C:\Users\ZhenaiWin\Documents\Bot3dData
|
||
2026-09-05 15:58:58,912 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at C:\Users\ZhenaiWin\Documents\Bot3dData\2foot\CMakeLists.txt
|
||
2026-09-05 15:58:58,921 INFO ExportHelper.cs: 166 - Creating joint names config at C:\Users\ZhenaiWin\Documents\Bot3dData\2foot\config\joint_names_2foot.yaml
|
||
2026-09-05 15:58:58,923 INFO ExportHelper.cs: 170 - Creating package.xml at C:\Users\ZhenaiWin\Documents\Bot3dData\2foot\package.xml
|
||
2026-09-05 15:58:58,923 INFO PackageXMLWriter.cs: 21 - Creating package.xml at C:\Users\ZhenaiWin\Documents\Bot3dData\2foot\package.xml
|
||
2026-09-05 15:58:58,927 INFO ExportHelper.cs: 177 - Creating RVIZ launch file in C:\Users\ZhenaiWin\Documents\Bot3dData\2foot\launch\
|
||
2026-09-05 15:58:58,929 INFO ExportHelper.cs: 182 - Creating Gazebo launch file in C:\Users\ZhenaiWin\Documents\Bot3dData\2foot\launch\
|
||
2026-09-05 15:58:58,931 INFO ExportHelper.cs: 187 - Saving existing STL preferences
|
||
2026-09-05 15:58:58,931 INFO ExportHelper.cs: 450 - Saving users preferences
|
||
2026-09-05 15:58:58,932 INFO ExportHelper.cs: 190 - Modifying STL preferences
|
||
2026-09-05 15:58:58,933 INFO ExportHelper.cs: 464 - Setting STL preferences
|
||
2026-09-05 15:58:58,939 INFO ExportHelper.cs: 196 - Found 0 hidden components
|
||
2026-09-05 15:58:58,939 INFO ExportHelper.cs: 197 - Hiding all components
|
||
2026-09-05 15:58:59,348 INFO ExportHelper.cs: 204 - Beginning individual files export
|
||
2026-09-05 15:58:59,352 INFO ExportHelper.cs: 270 - Exporting link: head_link
|
||
2026-09-05 15:58:59,352 INFO ExportHelper.cs: 272 - Link head_link has 2 children
|
||
2026-09-05 15:58:59,353 INFO ExportHelper.cs: 270 - Exporting link: lf0_link
|
||
2026-09-05 15:58:59,353 INFO ExportHelper.cs: 272 - Link lf0_link has 1 children
|
||
2026-09-05 15:58:59,354 INFO ExportHelper.cs: 270 - Exporting link: lf1_link
|
||
2026-09-05 15:58:59,354 INFO ExportHelper.cs: 272 - Link lf1_link has 1 children
|
||
2026-09-05 15:58:59,354 INFO ExportHelper.cs: 270 - Exporting link: lf2_link
|
||
2026-09-05 15:58:59,355 INFO ExportHelper.cs: 272 - Link lf2_link has 1 children
|
||
2026-09-05 15:58:59,355 INFO ExportHelper.cs: 270 - Exporting link: lf3_link
|
||
2026-09-05 15:58:59,355 INFO ExportHelper.cs: 272 - Link lf3_link has 0 children
|
||
2026-09-05 15:58:59,356 INFO ExportHelper.cs: 317 - lf3_link: Exporting STL with coordinate frame lf3
|
||
2026-09-05 15:58:59,357 INFO ExportHelper.cs: 322 - lf3_link: Reference geometry name
|
||
2026-09-05 15:58:59,369 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\ZhenaiWin\Documents\Bot3dData\2foot\meshes\lf3_link.STL
|
||
2026-09-05 15:58:59,466 INFO ExportHelper.cs: 405 - Removing SW header in STL file
|
||
2026-09-05 15:58:59,467 INFO ExportHelper.cs: 317 - lf2_link: Exporting STL with coordinate frame lf2
|
||
2026-09-05 15:58:59,468 INFO ExportHelper.cs: 322 - lf2_link: Reference geometry name
|
||
2026-09-05 15:58:59,534 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\ZhenaiWin\Documents\Bot3dData\2foot\meshes\lf2_link.STL
|
||
2026-09-05 15:58:59,612 INFO ExportHelper.cs: 405 - Removing SW header in STL file
|
||
2026-09-05 15:58:59,613 INFO ExportHelper.cs: 317 - lf1_link: Exporting STL with coordinate frame lf1
|
||
2026-09-05 15:58:59,614 INFO ExportHelper.cs: 322 - lf1_link: Reference geometry name
|
||
2026-09-05 15:58:59,656 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\ZhenaiWin\Documents\Bot3dData\2foot\meshes\lf1_link.STL
|
||
2026-09-05 15:58:59,732 INFO ExportHelper.cs: 405 - Removing SW header in STL file
|
||
2026-09-05 15:58:59,733 INFO ExportHelper.cs: 317 - lf0_link: Exporting STL with coordinate frame lf0
|
||
2026-09-05 15:58:59,733 INFO ExportHelper.cs: 322 - lf0_link: Reference geometry name
|
||
2026-09-05 15:58:59,777 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\ZhenaiWin\Documents\Bot3dData\2foot\meshes\lf0_link.STL
|
||
2026-09-05 15:58:59,851 INFO ExportHelper.cs: 405 - Removing SW header in STL file
|
||
2026-09-05 15:58:59,854 INFO ExportHelper.cs: 270 - Exporting link: rf0_link
|
||
2026-09-05 15:58:59,854 INFO ExportHelper.cs: 272 - Link rf0_link has 1 children
|
||
2026-09-05 15:58:59,855 INFO ExportHelper.cs: 270 - Exporting link: rf1_link
|
||
2026-09-05 15:58:59,855 INFO ExportHelper.cs: 272 - Link rf1_link has 1 children
|
||
2026-09-05 15:58:59,856 INFO ExportHelper.cs: 270 - Exporting link: rf2_link
|
||
2026-09-05 15:58:59,856 INFO ExportHelper.cs: 272 - Link rf2_link has 1 children
|
||
2026-09-05 15:58:59,857 INFO ExportHelper.cs: 270 - Exporting link: rf3_link
|
||
2026-09-05 15:58:59,857 INFO ExportHelper.cs: 272 - Link rf3_link has 0 children
|
||
2026-09-05 15:58:59,857 INFO ExportHelper.cs: 317 - rf3_link: Exporting STL with coordinate frame rf3
|
||
2026-09-05 15:58:59,857 INFO ExportHelper.cs: 322 - rf3_link: Reference geometry name
|
||
2026-09-05 15:58:59,870 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\ZhenaiWin\Documents\Bot3dData\2foot\meshes\rf3_link.STL
|
||
2026-09-05 15:58:59,930 INFO ExportHelper.cs: 405 - Removing SW header in STL file
|
||
2026-09-05 15:58:59,932 INFO ExportHelper.cs: 317 - rf2_link: Exporting STL with coordinate frame rf2
|
||
2026-09-05 15:58:59,933 INFO ExportHelper.cs: 322 - rf2_link: Reference geometry name
|
||
2026-09-05 15:58:59,995 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\ZhenaiWin\Documents\Bot3dData\2foot\meshes\rf2_link.STL
|
||
2026-09-05 15:59:00,072 INFO ExportHelper.cs: 405 - Removing SW header in STL file
|
||
2026-09-05 15:59:00,074 INFO ExportHelper.cs: 317 - rf1_link: Exporting STL with coordinate frame rf1
|
||
2026-09-05 15:59:00,074 INFO ExportHelper.cs: 322 - rf1_link: Reference geometry name
|
||
2026-09-05 15:59:00,128 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\ZhenaiWin\Documents\Bot3dData\2foot\meshes\rf1_link.STL
|
||
2026-09-05 15:59:00,203 INFO ExportHelper.cs: 405 - Removing SW header in STL file
|
||
2026-09-05 15:59:00,205 INFO ExportHelper.cs: 317 - rf0_link: Exporting STL with coordinate frame rf0
|
||
2026-09-05 15:59:00,206 INFO ExportHelper.cs: 322 - rf0_link: Reference geometry name
|
||
2026-09-05 15:59:00,246 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\ZhenaiWin\Documents\Bot3dData\2foot\meshes\rf0_link.STL
|
||
2026-09-05 15:59:00,323 INFO ExportHelper.cs: 405 - Removing SW header in STL file
|
||
2026-09-05 15:59:00,324 INFO ExportHelper.cs: 317 - head_link: Exporting STL with coordinate frame head
|
||
2026-09-05 15:59:00,324 INFO ExportHelper.cs: 322 - head_link: Reference geometry name
|
||
2026-09-05 15:59:00,572 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\ZhenaiWin\Documents\Bot3dData\2foot\meshes\head_link.STL
|
||
2026-09-05 15:59:05,907 INFO ExportHelper.cs: 405 - Removing SW header in STL file
|
||
2026-09-05 15:59:05,908 INFO ExportHelper.cs: 145 - Showing all components except previously hidden components
|
||
2026-09-05 15:59:07,260 INFO ExportHelper.cs: 145 - Resetting STL preferences
|
||
2026-09-05 15:59:07,265 INFO ExportHelper.cs: 478 - Returning STL preferences to user preferences
|
||
2026-09-05 15:59:07,266 INFO ExportHelper.cs: 228 - Writing URDF file to C:\Users\ZhenaiWin\Documents\Bot3dData\2foot\urdf\2foot.urdf
|
||
2026-09-05 15:59:07,344 INFO CSVImportExport.cs: 32 - Writing CSV file C:\Users\ZhenaiWin\Documents\Bot3dData\2foot\urdf\2foot.csv
|
||
2026-09-05 15:59:07,362 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
|
||
2026-09-05 15:59:07,363 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
|
||
2026-09-05 15:59:07,364 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
|
||
2026-09-05 15:59:07,364 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
|
||
2026-09-05 15:59:07,364 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
|
||
2026-09-05 15:59:07,365 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
|
||
2026-09-05 15:59:07,365 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
|
||
2026-09-05 15:59:07,365 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
|
||
2026-09-05 15:59:07,366 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
|
||
2026-09-05 15:59:07,366 INFO ExportHelper.cs: 234 - Copying log file
|
||
2026-09-05 15:59:07,370 INFO ExportHelper.cs: 439 - Copying C:\Users\ZhenaiWin\sw2urdf_logs\sw2urdf.log to C:\Users\ZhenaiWin\Documents\Bot3dData\2foot\export.log
|