diff --git a/.idea/.gitignore b/.idea/.gitignore new file mode 100644 index 00000000..359bb530 --- /dev/null +++ b/.idea/.gitignore @@ -0,0 +1,3 @@ +# 默认忽略的文件 +/shelf/ +/workspace.xml diff --git a/.idea/inspectionProfiles/Project_Default.xml b/.idea/inspectionProfiles/Project_Default.xml new file mode 100644 index 00000000..c01bb9f6 --- /dev/null +++ b/.idea/inspectionProfiles/Project_Default.xml @@ -0,0 +1,12 @@ + + + + \ No newline at end of file diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml new file mode 100644 index 00000000..105ce2da --- /dev/null +++ b/.idea/inspectionProfiles/profiles_settings.xml @@ -0,0 +1,6 @@ + + + + \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml new file mode 100644 index 00000000..c03fb9a1 --- /dev/null +++ b/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/.idea/sim.iml b/.idea/sim.iml new file mode 100644 index 00000000..8b8c3954 --- /dev/null +++ b/.idea/sim.iml @@ -0,0 +1,12 @@ + + + + + + + + + + \ No newline at end of file diff --git a/.idea/vcs.xml b/.idea/vcs.xml new file mode 100644 index 00000000..35eb1ddf --- /dev/null +++ b/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/3d_model/README.md b/3d_model/README.md new file mode 100644 index 00000000..89e500b7 --- /dev/null +++ b/3d_model/README.md @@ -0,0 +1,5 @@ +1.this solidwork 3d-model based on onshape https://cad.onshape.com/documents/b4672a7f8ce3947bd250f2c1/w/ff02744612b3ad395d4541a6/e/6e9a04dde965d2dab1a3d9af + +2.I modify only add coordinate system and rotary joint, in order 3d-model transform to urdf by solidworks to urdf so easy. + +3.solidworks to urdf utils https://wiki.ros.org/sw_urdf_exporter diff --git a/3d_model/solidworks-for-zeroth01/2_1_200.SLDPRT b/3d_model/solidworks-for-zeroth01/2_1_200.SLDPRT new file mode 100644 index 00000000..6fe382bd Binary files /dev/null and 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b/3d_model/solidworks-for-zeroth01/right_shoulder_yaw.SLDPRT differ diff --git a/3d_model/solidworks-for-zeroth01/right_shoulder_yaw_motor.SLDPRT b/3d_model/solidworks-for-zeroth01/right_shoulder_yaw_motor.SLDPRT new file mode 100644 index 00000000..e384db33 Binary files /dev/null and b/3d_model/solidworks-for-zeroth01/right_shoulder_yaw_motor.SLDPRT differ diff --git a/3d_model/solidworks-for-zeroth01/zeroth01.SLDASM b/3d_model/solidworks-for-zeroth01/zeroth01.SLDASM new file mode 100644 index 00000000..87894c9a Binary files /dev/null and b/3d_model/solidworks-for-zeroth01/zeroth01.SLDASM differ diff --git a/3d_model/urdf-for-zeroth01/README.md b/3d_model/urdf-for-zeroth01/README.md new file mode 100644 index 00000000..86087ae4 --- /dev/null +++ b/3d_model/urdf-for-zeroth01/README.md @@ -0,0 +1,3 @@ +open url https://gkjohnson.github.io/urdf-loaders/javascript/example/bundle/ +add zeroth to page +can dispplay in browser \ No newline at end of file diff --git a/3d_model/urdf-for-zeroth01/zeroth/CMakeLists.txt b/3d_model/urdf-for-zeroth01/zeroth/CMakeLists.txt new file mode 100644 index 00000000..dc4fecf6 --- /dev/null +++ b/3d_model/urdf-for-zeroth01/zeroth/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(zeroth) + +find_package(catkin REQUIRED) + +catkin_package() + +find_package(roslaunch) + +foreach(dir config launch meshes urdf) + install(DIRECTORY ${dir}/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) +endforeach(dir) diff --git a/3d_model/urdf-for-zeroth01/zeroth/config/joint_names_zeroth.yaml b/3d_model/urdf-for-zeroth01/zeroth/config/joint_names_zeroth.yaml new file mode 100644 index 00000000..9b03355b --- /dev/null +++ b/3d_model/urdf-for-zeroth01/zeroth/config/joint_names_zeroth.yaml @@ -0,0 +1 @@ +controller_joint_names: ['', 'right_hip_pitch', 'right_hip_yaw', 'right_hip_roll', 'right_knee_pitch', 'right_ankle_pitch', 'left_hip_pitch', 'left_hip_yaw', 'left_hip_roll', 'left_knee_pitch', 'left_ankle_pitch', ] diff --git a/3d_model/urdf-for-zeroth01/zeroth/export.log b/3d_model/urdf-for-zeroth01/zeroth/export.log new file mode 100644 index 00000000..0473056c --- /dev/null +++ b/3d_model/urdf-for-zeroth01/zeroth/export.log @@ -0,0 +1,1746 @@ +2025-05-22 10:35:28,678 INFO Logger.cs: 70 - +-------------------------------------------------------------------------------- +2025-05-22 10:35:28,701 INFO Logger.cs: 71 - Logging commencing for SW2URDF exporter +2025-05-22 10:35:28,702 INFO Logger.cs: 73 - Commit version 1.6.0-4-g7f85cfe +2025-05-22 10:35:28,702 INFO Logger.cs: 74 - Build version 1.6.7995.38578 +2025-05-22 10:35:28,704 INFO SwAddin.cs: 192 - Attempting to connect to SW +2025-05-22 10:35:28,704 INFO SwAddin.cs: 197 - Setting up callbacks +2025-05-22 10:35:28,705 INFO SwAddin.cs: 201 - Setting up command manager +2025-05-22 10:35:28,706 INFO SwAddin.cs: 204 - Adding command manager +2025-05-22 10:35:28,707 INFO SwAddin.cs: 263 - Adding Assembly export to file menu +2025-05-22 10:35:28,709 INFO SwAddin.cs: 272 - Adding Part export to file menu +2025-05-22 10:35:28,709 INFO SwAddin.cs: 210 - Adding event handlers +2025-05-22 10:35:28,711 INFO SwAddin.cs: 217 - Connecting plugin to SolidWorks +2025-05-22 11:23:45,068 INFO SwAddin.cs: 294 - Assembly export called for file Opus.SLDASM +2025-05-22 11:23:46,712 INFO SwAddin.cs: 313 - Saving assembly +2025-05-22 11:23:48,213 INFO SwAddin.cs: 316 - Opening property manager +2025-05-22 11:23:48,237 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Opus.SLDASM +2025-05-22 11:23:48,242 INFO ExportHelperExtension.cs: 1136 - Found 189 in Opus.SLDASM +2025-05-22 11:23:48,244 INFO ExportHelperExtension.cs: 1145 - Found 17 features of type [CoordSys] in Opus.SLDASM +2025-05-22 11:23:48,244 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2025-05-22 11:23:48,245 INFO ExportHelperExtension.cs: 1160 - 115 components to check +2025-05-22 11:23:48,246 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Torso-1 +2025-05-22 11:23:48,246 INFO ExportHelperExtension.cs: 1136 - Found 28 in Torso-1 +2025-05-22 11:23:48,247 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Torso-1 +2025-05-22 11:23:48,247 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from [Draft] Speaker Mount-1 +2025-05-22 11:23:48,247 INFO ExportHelperExtension.cs: 1136 - Found 28 in [Draft] Speaker Mount-1 +2025-05-22 11:23:48,247 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in [Draft] Speaker Mount-1 +2025-05-22 11:23:48,248 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Electronics Mount-1 +2025-05-22 11:23:48,248 INFO ExportHelperExtension.cs: 1136 - Found 28 in Electronics Mount-1 +2025-05-22 11:23:48,248 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Electronics Mount-1 +2025-05-22 11:23:48,249 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from left_elbow_yaw_motor-1 +2025-05-22 11:23:48,249 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_elbow_yaw_motor-1 +2025-05-22 11:23:48,249 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in left_elbow_yaw_motor-1 +2025-05-22 11:23:48,250 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from left_hand-1 +2025-05-22 11:23:48,250 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_hand-1 +2025-05-22 11:23:48,250 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in left_hand-1 +2025-05-22 11:23:48,250 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Chamfered plain washer normal M2-1 +2025-05-22 11:23:48,251 INFO ExportHelperExtension.cs: 1136 - Found 28 in Chamfered plain washer normal M2-1 +2025-05-22 11:23:48,251 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Chamfered plain washer normal M2-1 +2025-05-22 11:23:48,251 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from left_shoulder_yaw-1 +2025-05-22 11:23:48,252 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_shoulder_yaw-1 +2025-05-22 11:23:48,252 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in left_shoulder_yaw-1 +2025-05-22 11:23:48,252 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ankle_pitch_right-1 +2025-05-22 11:23:48,252 INFO ExportHelperExtension.cs: 1136 - Found 28 in ankle_pitch_right-1 +2025-05-22 11:23:48,253 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ankle_pitch_right-1 +2025-05-22 11:23:48,253 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from elbow_bracket_left-1 +2025-05-22 11:23:48,253 INFO ExportHelperExtension.cs: 1136 - Found 28 in elbow_bracket_left-1 +2025-05-22 11:23:48,254 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in elbow_bracket_left-1 +2025-05-22 11:23:48,254 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from hip_roll_left-1 +2025-05-22 11:23:48,254 INFO ExportHelperExtension.cs: 1136 - Found 28 in hip_roll_left-1 +2025-05-22 11:23:48,254 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in hip_roll_left-1 +2025-05-22 11:23:48,255 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from right_shoulder_pitch_motor-1 +2025-05-22 11:23:48,255 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_shoulder_pitch_motor-1 +2025-05-22 11:23:48,255 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in right_shoulder_pitch_motor-1 +2025-05-22 11:23:48,255 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from left_shoulder_pitch_motor-1 +2025-05-22 11:23:48,256 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_shoulder_pitch_motor-1 +2025-05-22 11:23:48,256 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in left_shoulder_pitch_motor-1 +2025-05-22 11:23:48,256 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from foot_right-1 +2025-05-22 11:23:48,257 INFO ExportHelperExtension.cs: 1136 - Found 28 in foot_right-1 +2025-05-22 11:23:48,257 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in foot_right-1 +2025-05-22 11:23:48,257 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ankle_pitch_left-1 +2025-05-22 11:23:48,258 INFO ExportHelperExtension.cs: 1136 - Found 28 in ankle_pitch_left-1 +2025-05-22 11:23:48,258 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ankle_pitch_left-1 +2025-05-22 11:23:48,258 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from left_ankle_pitch_motor-1 +2025-05-22 11:23:48,258 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_ankle_pitch_motor-1 +2025-05-22 11:23:48,261 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in left_ankle_pitch_motor-1 +2025-05-22 11:23:48,261 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from right_hip_yaw_motor-1 +2025-05-22 11:23:48,278 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_hip_yaw_motor-1 +2025-05-22 11:23:48,279 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in right_hip_yaw_motor-1 +2025-05-22 11:23:48,279 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from left_shoulder_yaw_motor-1 +2025-05-22 11:23:48,279 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_shoulder_yaw_motor-1 +2025-05-22 11:23:48,280 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in left_shoulder_yaw_motor-1 +2025-05-22 11:23:48,280 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from right_knee_pitch_motor-1 +2025-05-22 11:23:48,280 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_knee_pitch_motor-1 +2025-05-22 11:23:48,281 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in right_knee_pitch_motor-1 +2025-05-22 11:23:48,281 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from left_hip_pitch_motor-1 +2025-05-22 11:23:48,281 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_hip_pitch_motor-1 +2025-05-22 11:23:48,282 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in left_hip_pitch_motor-1 +2025-05-22 11:23:48,282 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Head-1 +2025-05-22 11:23:48,282 INFO ExportHelperExtension.cs: 1136 - Found 28 in Head-1 +2025-05-22 11:23:48,282 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Head-1 +2025-05-22 11:23:48,283 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from knee_pitch_right-1 +2025-05-22 11:23:48,283 INFO ExportHelperExtension.cs: 1136 - Found 28 in knee_pitch_right-1 +2025-05-22 11:23:48,283 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in knee_pitch_right-1 +2025-05-22 11:23:48,284 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from hip_yaw_left-1 +2025-05-22 11:23:48,284 INFO ExportHelperExtension.cs: 1136 - Found 28 in hip_yaw_left-1 +2025-05-22 11:23:48,284 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in hip_yaw_left-1 +2025-05-22 11:23:48,284 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from BackPack-1 +2025-05-22 11:23:48,285 INFO ExportHelperExtension.cs: 1136 - Found 28 in BackPack-1 +2025-05-22 11:23:48,285 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in BackPack-1 +2025-05-22 11:23:48,285 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Extruded_1-1 +2025-05-22 11:23:48,286 INFO ExportHelperExtension.cs: 1136 - Found 31 in Extruded_1-1 +2025-05-22 11:23:48,286 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Extruded_1-1 +2025-05-22 11:23:48,286 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-LED_0603_R_Pad004-1 +2025-05-22 11:23:48,286 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-LED_0603_R_Pad004-1 +2025-05-22 11:23:48,287 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-LED_0603_R_Pad004-1 +2025-05-22 11:23:48,287 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from left_hip_roll_motor-1 +2025-05-22 11:23:48,287 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_hip_roll_motor-1 +2025-05-22 11:23:48,288 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in left_hip_roll_motor-1 +2025-05-22 11:23:48,288 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Extruded-1 +2025-05-22 11:23:48,288 INFO ExportHelperExtension.cs: 1136 - Found 32 in Extruded-1 +2025-05-22 11:23:48,288 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Extruded-1 +2025-05-22 11:23:48,289 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LCD IMU-1 +2025-05-22 11:23:48,289 INFO ExportHelperExtension.cs: 1136 - Found 28 in LCD IMU-1 +2025-05-22 11:23:48,289 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LCD IMU-1 +2025-05-22 11:23:48,289 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from SOLID-1-1 +2025-05-22 11:23:48,290 INFO ExportHelperExtension.cs: 1136 - Found 49 in SOLID-1-1 +2025-05-22 11:23:48,290 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in SOLID-1-1 +2025-05-22 11:23:48,290 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from right_hip_pitch_motor-1 +2025-05-22 11:23:48,291 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_hip_pitch_motor-1 +2025-05-22 11:23:48,291 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in right_hip_pitch_motor-1 +2025-05-22 11:23:48,291 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Extruded_4-1 +2025-05-22 11:23:48,291 INFO ExportHelperExtension.cs: 1136 - Found 30 in Extruded_4-1 +2025-05-22 11:23:48,292 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Extruded_4-1 +2025-05-22 11:23:48,292 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from hip_yaw_right-1 +2025-05-22 11:23:48,292 INFO ExportHelperExtension.cs: 1136 - Found 28 in hip_yaw_right-1 +2025-05-22 11:23:48,293 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in hip_yaw_right-1 +2025-05-22 11:23:48,293 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _2_1_2_3_4_AF0_8-1 +2025-05-22 11:23:48,293 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_8-1 +2025-05-22 11:23:48,294 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _2_1_2_3_4_AF0_8-1 +2025-05-22 11:23:48,294 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Milk Camera-1 +2025-05-22 11:23:48,294 INFO ExportHelperExtension.cs: 1136 - Found 28 in Milk Camera-1 +2025-05-22 11:23:48,294 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Milk Camera-1 +2025-05-22 11:23:48,295 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from left_knee_pitch_motor-1 +2025-05-22 11:23:48,295 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_knee_pitch_motor-1 +2025-05-22 11:23:48,295 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in left_knee_pitch_motor-1 +2025-05-22 11:23:48,295 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Torso to Neck-1 +2025-05-22 11:23:48,296 INFO ExportHelperExtension.cs: 1136 - Found 28 in Torso to Neck-1 +2025-05-22 11:23:48,296 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Torso to Neck-1 +2025-05-22 11:23:48,296 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from hip_roll_right-1 +2025-05-22 11:23:48,297 INFO ExportHelperExtension.cs: 1136 - Found 28 in hip_roll_right-1 +2025-05-22 11:23:48,297 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in hip_roll_right-1 +2025-05-22 11:23:48,297 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from SOT-23-1 +2025-05-22 11:23:48,297 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOT-23-1 +2025-05-22 11:23:48,298 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in SOT-23-1 +2025-05-22 11:23:48,298 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _2_1_2_3_4_AF0_7-1 +2025-05-22 11:23:48,298 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_7-1 +2025-05-22 11:23:48,299 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _2_1_2_3_4_AF0_7-1 +2025-05-22 11:23:48,299 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Chamfered plain washer normal M3-1 +2025-05-22 11:23:48,299 INFO ExportHelperExtension.cs: 1136 - Found 28 in Chamfered plain washer normal M3-1 +2025-05-22 11:23:48,299 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Chamfered plain washer normal M3-1 +2025-05-22 11:23:48,300 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3_1_2_A_2-1 +2025-05-22 11:23:48,300 INFO ExportHelperExtension.cs: 1136 - Found 28 in 3_1_2_A_2-1 +2025-05-22 11:23:48,300 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3_1_2_A_2-1 +2025-05-22 11:23:48,300 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from right_ankle_pitch_motor-1 +2025-05-22 11:23:48,301 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_ankle_pitch_motor-1 +2025-05-22 11:23:48,301 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in right_ankle_pitch_motor-1 +2025-05-22 11:23:48,301 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Extruded_3-1 +2025-05-22 11:23:48,302 INFO ExportHelperExtension.cs: 1136 - Found 30 in Extruded_3-1 +2025-05-22 11:23:48,302 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Extruded_3-1 +2025-05-22 11:23:48,302 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from elbow_bracket_right-1 +2025-05-22 11:23:48,302 INFO ExportHelperExtension.cs: 1136 - Found 28 in elbow_bracket_right-1 +2025-05-22 11:23:48,303 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in elbow_bracket_right-1 +2025-05-22 11:23:48,303 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from right_hand-1 +2025-05-22 11:23:48,303 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_hand-1 +2025-05-22 11:23:48,304 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in right_hand-1 +2025-05-22 11:23:48,304 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-LED_0603_R_Pocket001-1 +2025-05-22 11:23:48,304 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-LED_0603_R_Pocket001-1 +2025-05-22 11:23:48,304 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-LED_0603_R_Pocket001-1 +2025-05-22 11:23:48,305 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 2_1_200_2-1 +2025-05-22 11:23:48,305 INFO ExportHelperExtension.cs: 1136 - Found 28 in 2_1_200_2-1 +2025-05-22 11:23:48,305 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 2_1_200_2-1 +2025-05-22 11:23:48,305 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Extruded_5-1 +2025-05-22 11:23:48,306 INFO ExportHelperExtension.cs: 1136 - Found 29 in Extruded_5-1 +2025-05-22 11:23:48,306 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Extruded_5-1 +2025-05-22 11:23:48,306 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _2_1_2_3_4_AF0_6-1 +2025-05-22 11:23:48,307 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_6-1 +2025-05-22 11:23:48,307 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _2_1_2_3_4_AF0_6-1 +2025-05-22 11:23:48,307 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-DG350-3,5-02P-1 +2025-05-22 11:23:48,307 INFO ExportHelperExtension.cs: 1136 - Found 32 in User_Library-DG350-3,5-02P-1 +2025-05-22 11:23:48,308 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-DG350-3,5-02P-1 +2025-05-22 11:23:48,308 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 5_1_2_3_400_8-1 +2025-05-22 11:23:48,308 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_8-1 +2025-05-22 11:23:48,309 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 5_1_2_3_400_8-1 +2025-05-22 11:23:48,309 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from X2564WV-03-N0SN_1-1 +2025-05-22 11:23:48,309 INFO ExportHelperExtension.cs: 1136 - Found 28 in X2564WV-03-N0SN_1-1 +2025-05-22 11:23:48,310 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in X2564WV-03-N0SN_1-1 +2025-05-22 11:23:48,310 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-TO-223_3_1-1 +2025-05-22 11:23:48,310 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-TO-223_3_1-1 +2025-05-22 11:23:48,310 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-TO-223_3_1-1 +2025-05-22 11:23:48,311 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 5_1_2_3_400_2-1 +2025-05-22 11:23:48,311 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_2-1 +2025-05-22 11:23:48,311 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 5_1_2_3_400_2-1 +2025-05-22 11:23:48,311 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 5_1_2_3_400_7-1 +2025-05-22 11:23:48,312 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_7-1 +2025-05-22 11:23:48,312 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 5_1_2_3_400_7-1 +2025-05-22 11:23:48,312 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-QFN-16-1 +2025-05-22 11:23:48,313 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-QFN-16-1 +2025-05-22 11:23:48,313 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-QFN-16-1 +2025-05-22 11:23:48,313 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-TO-223_5_1-1 +2025-05-22 11:23:48,314 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-TO-223_5_1-1 +2025-05-22 11:23:48,314 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-TO-223_5_1-1 +2025-05-22 11:23:48,314 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Extruded_2-1 +2025-05-22 11:23:48,314 INFO ExportHelperExtension.cs: 1136 - Found 30 in Extruded_2-1 +2025-05-22 11:23:48,315 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Extruded_2-1 +2025-05-22 11:23:48,315 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _2_1_2_3_4_AF0_5-1 +2025-05-22 11:23:48,315 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_5-1 +2025-05-22 11:23:48,316 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _2_1_2_3_4_AF0_5-1 +2025-05-22 11:23:48,316 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Extruded_9-1 +2025-05-22 11:23:48,316 INFO ExportHelperExtension.cs: 1136 - Found 28 in Extruded_9-1 +2025-05-22 11:23:48,316 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Extruded_9-1 +2025-05-22 11:23:48,317 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _2_1_2_3_4_AF0_2-1 +2025-05-22 11:23:48,317 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_2-1 +2025-05-22 11:23:48,317 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _2_1_2_3_4_AF0_2-1 +2025-05-22 11:23:48,317 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-sop-8-1 +2025-05-22 11:23:48,318 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-sop-8-1 +2025-05-22 11:23:48,318 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-sop-8-1 +2025-05-22 11:23:48,318 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-0603_SMD_Capacitor_1-1 +2025-05-22 11:23:48,319 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_1-1 +2025-05-22 11:23:48,319 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-0603_SMD_Capacitor_1-1 +2025-05-22 11:23:48,319 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 5_1_2_3_400-1 +2025-05-22 11:23:48,319 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400-1 +2025-05-22 11:23:48,320 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 5_1_2_3_400-1 +2025-05-22 11:23:48,320 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from SOD323_1-1 +2025-05-22 11:23:48,320 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOD323_1-1 +2025-05-22 11:23:48,321 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in SOD323_1-1 +2025-05-22 11:23:48,321 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from SOD323_2-1 +2025-05-22 11:23:48,321 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOD323_2-1 +2025-05-22 11:23:48,321 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in SOD323_2-1 +2025-05-22 11:23:48,322 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-0603_SMD_Capacitor-1 +2025-05-22 11:23:48,322 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor-1 +2025-05-22 11:23:48,322 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-0603_SMD_Capacitor-1 +2025-05-22 11:23:48,323 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 2_1_200_1-1 +2025-05-22 11:23:48,328 INFO ExportHelperExtension.cs: 1136 - Found 28 in 2_1_200_1-1 +2025-05-22 11:23:48,329 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 2_1_200_1-1 +2025-05-22 11:23:48,329 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Extruded_6-1 +2025-05-22 11:23:48,330 INFO ExportHelperExtension.cs: 1136 - Found 29 in Extruded_6-1 +2025-05-22 11:23:48,330 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Extruded_6-1 +2025-05-22 11:23:48,330 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Board-1 +2025-05-22 11:23:48,331 INFO ExportHelperExtension.cs: 1136 - Found 28 in Board-1 +2025-05-22 11:23:48,331 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Board-1 +2025-05-22 11:23:48,331 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _2_1_2_3_4_AF0_4-1 +2025-05-22 11:23:48,331 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_4-1 +2025-05-22 11:23:48,332 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _2_1_2_3_4_AF0_4-1 +2025-05-22 11:23:48,332 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-TO-223_2_1-1 +2025-05-22 11:23:48,332 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-TO-223_2_1-1 +2025-05-22 11:23:48,333 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-TO-223_2_1-1 +2025-05-22 11:23:48,333 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _2_1_2_3_4_AF0-1 +2025-05-22 11:23:48,333 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0-1 +2025-05-22 11:23:48,333 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _2_1_2_3_4_AF0-1 +2025-05-22 11:23:48,334 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3_1_2_A-1 +2025-05-22 11:23:48,334 INFO ExportHelperExtension.cs: 1136 - Found 28 in 3_1_2_A-1 +2025-05-22 11:23:48,334 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3_1_2_A-1 +2025-05-22 11:23:48,334 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Extruded_8-1 +2025-05-22 11:23:48,335 INFO ExportHelperExtension.cs: 1136 - Found 29 in Extruded_8-1 +2025-05-22 11:23:48,335 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Extruded_8-1 +2025-05-22 11:23:48,335 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _1_1_20001-1 +2025-05-22 11:23:48,336 INFO ExportHelperExtension.cs: 1136 - Found 28 in _1_1_20001-1 +2025-05-22 11:23:48,336 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _1_1_20001-1 +2025-05-22 11:23:48,336 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-0603_SMD_Capacitor_5-1 +2025-05-22 11:23:48,336 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_5-1 +2025-05-22 11:23:48,337 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-0603_SMD_Capacitor_5-1 +2025-05-22 11:23:48,337 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 5_1_2_3_400_3-1 +2025-05-22 11:23:48,337 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_3-1 +2025-05-22 11:23:48,338 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 5_1_2_3_400_3-1 +2025-05-22 11:23:48,338 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-LED_0603_R_Fillet-1 +2025-05-22 11:23:48,338 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-LED_0603_R_Fillet-1 +2025-05-22 11:23:48,338 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-LED_0603_R_Fillet-1 +2025-05-22 11:23:48,339 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _1_1_20001_2-1 +2025-05-22 11:23:48,339 INFO ExportHelperExtension.cs: 1136 - Found 28 in _1_1_20001_2-1 +2025-05-22 11:23:48,339 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _1_1_20001_2-1 +2025-05-22 11:23:48,340 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-LED_0603_R_Pad-1 +2025-05-22 11:23:48,340 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-LED_0603_R_Pad-1 +2025-05-22 11:23:48,340 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-LED_0603_R_Pad-1 +2025-05-22 11:23:48,340 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 5_1_2_3_400_1-1 +2025-05-22 11:23:48,341 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_1-1 +2025-05-22 11:23:48,341 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 5_1_2_3_400_1-1 +2025-05-22 11:23:48,341 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from SOD323_3-1 +2025-05-22 11:23:48,341 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOD323_3-1 +2025-05-22 11:23:48,342 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in SOD323_3-1 +2025-05-22 11:23:48,342 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-0603_SMD_Capacitor_3-1 +2025-05-22 11:23:48,342 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_3-1 +2025-05-22 11:23:48,343 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-0603_SMD_Capacitor_3-1 +2025-05-22 11:23:48,343 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-TO-223_1_1-1 +2025-05-22 11:23:48,343 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-TO-223_1_1-1 +2025-05-22 11:23:48,343 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-TO-223_1_1-1 +2025-05-22 11:23:48,344 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _2_1_2_3_4_AF0_3-1 +2025-05-22 11:23:48,344 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_3-1 +2025-05-22 11:23:48,344 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _2_1_2_3_4_AF0_3-1 +2025-05-22 11:23:48,345 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 5_1_2_3_400_6-1 +2025-05-22 11:23:48,345 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_6-1 +2025-05-22 11:23:48,346 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 5_1_2_3_400_6-1 +2025-05-22 11:23:48,346 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-0603_SMD_Capacitor_4-1 +2025-05-22 11:23:48,346 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_4-1 +2025-05-22 11:23:48,347 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-0603_SMD_Capacitor_4-1 +2025-05-22 11:23:48,347 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _1_1_20001_1-1 +2025-05-22 11:23:48,347 INFO ExportHelperExtension.cs: 1136 - Found 28 in _1_1_20001_1-1 +2025-05-22 11:23:48,348 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _1_1_20001_1-1 +2025-05-22 11:23:48,348 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3_1_2_A_1-1 +2025-05-22 11:23:48,349 INFO ExportHelperExtension.cs: 1136 - Found 28 in 3_1_2_A_1-1 +2025-05-22 11:23:48,349 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3_1_2_A_1-1 +2025-05-22 11:23:48,349 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _2_1_2_3_4_AF0_1-1 +2025-05-22 11:23:48,350 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_1-1 +2025-05-22 11:23:48,350 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _2_1_2_3_4_AF0_1-1 +2025-05-22 11:23:48,350 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-0603_SMD_Capacitor_2-1 +2025-05-22 11:23:48,350 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_2-1 +2025-05-22 11:23:48,351 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-0603_SMD_Capacitor_2-1 +2025-05-22 11:23:48,351 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 2_1_200-1 +2025-05-22 11:23:48,351 INFO ExportHelperExtension.cs: 1136 - Found 28 in 2_1_200-1 +2025-05-22 11:23:48,352 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 2_1_200-1 +2025-05-22 11:23:48,352 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Extruded_7-1 +2025-05-22 11:23:48,352 INFO ExportHelperExtension.cs: 1136 - Found 29 in Extruded_7-1 +2025-05-22 11:23:48,352 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Extruded_7-1 +2025-05-22 11:23:48,353 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-0603_SMD_Capacitor_6-1 +2025-05-22 11:23:48,353 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_6-1 +2025-05-22 11:23:48,353 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-0603_SMD_Capacitor_6-1 +2025-05-22 11:23:48,353 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-TO-223_4_1-1 +2025-05-22 11:23:48,354 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-TO-223_4_1-1 +2025-05-22 11:23:48,354 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-TO-223_4_1-1 +2025-05-22 11:23:48,354 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Neck Mount-1 +2025-05-22 11:23:48,355 INFO ExportHelperExtension.cs: 1136 - Found 28 in Neck Mount-1 +2025-05-22 11:23:48,355 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Neck Mount-1 +2025-05-22 11:23:48,355 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from IMU Mount PCB-1 +2025-05-22 11:23:48,355 INFO ExportHelperExtension.cs: 1136 - Found 28 in IMU Mount PCB-1 +2025-05-22 11:23:48,356 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in IMU Mount PCB-1 +2025-05-22 11:23:48,356 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from right_shoulder_yaw-1 +2025-05-22 11:23:48,356 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_shoulder_yaw-1 +2025-05-22 11:23:48,357 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in right_shoulder_yaw-1 +2025-05-22 11:23:48,357 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from dc-005-5a-20-1 +2025-05-22 11:23:48,357 INFO ExportHelperExtension.cs: 1136 - Found 28 in dc-005-5a-20-1 +2025-05-22 11:23:48,357 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in dc-005-5a-20-1 +2025-05-22 11:23:48,358 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from SOLID_1-1-1 +2025-05-22 11:23:48,358 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOLID_1-1-1 +2025-05-22 11:23:48,358 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in SOLID_1-1-1 +2025-05-22 11:23:48,358 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from hip_pitch_dual_carry-1 +2025-05-22 11:23:48,359 INFO ExportHelperExtension.cs: 1136 - Found 28 in hip_pitch_dual_carry-1 +2025-05-22 11:23:48,359 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in hip_pitch_dual_carry-1 +2025-05-22 11:23:48,359 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from SOLID-2-1 +2025-05-22 11:23:48,360 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOLID-2-1 +2025-05-22 11:23:48,360 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in SOLID-2-1 +2025-05-22 11:23:48,360 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from foot_left-1 +2025-05-22 11:23:48,360 INFO ExportHelperExtension.cs: 1136 - Found 28 in foot_left-1 +2025-05-22 11:23:48,361 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in foot_left-1 +2025-05-22 11:23:48,361 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from right_hip_roll_motor-1 +2025-05-22 11:23:48,361 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_hip_roll_motor-1 +2025-05-22 11:23:48,362 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in right_hip_roll_motor-1 +2025-05-22 11:23:48,362 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 5_1_2_3_400_5-1 +2025-05-22 11:23:48,362 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_5-1 +2025-05-22 11:23:48,363 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 5_1_2_3_400_5-1 +2025-05-22 11:23:48,363 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from SOD323-1 +2025-05-22 11:23:48,363 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOD323-1 +2025-05-22 11:23:48,363 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in SOD323-1 +2025-05-22 11:23:48,364 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 5_1_2_3_400_4-1 +2025-05-22 11:23:48,364 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_4-1 +2025-05-22 11:23:48,364 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 5_1_2_3_400_4-1 +2025-05-22 11:23:48,365 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-LED_0603_R_Pocket002-1 +2025-05-22 11:23:48,365 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-LED_0603_R_Pocket002-1 +2025-05-22 11:23:48,365 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-LED_0603_R_Pocket002-1 +2025-05-22 11:23:48,365 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from X2564WV-03-N0SN-1 +2025-05-22 11:23:48,366 INFO ExportHelperExtension.cs: 1136 - Found 28 in X2564WV-03-N0SN-1 +2025-05-22 11:23:48,366 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in X2564WV-03-N0SN-1 +2025-05-22 11:23:48,366 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from right_elbow_yaw_motor-1 +2025-05-22 11:23:48,367 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_elbow_yaw_motor-1 +2025-05-22 11:23:48,367 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in right_elbow_yaw_motor-1 +2025-05-22 11:23:48,367 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from right_shoulder_yaw_motor-1 +2025-05-22 11:23:48,367 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_shoulder_yaw_motor-1 +2025-05-22 11:23:48,368 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in right_shoulder_yaw_motor-1 +2025-05-22 11:23:48,368 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from left_hip_yaw_motor-1 +2025-05-22 11:23:48,368 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_hip_yaw_motor-1 +2025-05-22 11:23:48,369 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in left_hip_yaw_motor-1 +2025-05-22 11:23:48,369 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Electronics mount _1_-1 +2025-05-22 11:23:48,369 INFO ExportHelperExtension.cs: 1136 - Found 35 in Electronics mount _1_-1 +2025-05-22 11:23:48,370 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Electronics mount _1_-1 +2025-05-22 11:23:48,370 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from knee_pitch_left-1 +2025-05-22 11:23:48,370 INFO ExportHelperExtension.cs: 1136 - Found 28 in knee_pitch_left-1 +2025-05-22 11:23:48,370 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in knee_pitch_left-1 +2025-05-22 11:23:48,371 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Opus.SLDASM +2025-05-22 11:23:48,371 INFO ExportHelperExtension.cs: 1136 - Found 189 in Opus.SLDASM +2025-05-22 11:23:48,372 INFO ExportHelperExtension.cs: 1145 - Found 16 features of type [RefAxis] in Opus.SLDASM +2025-05-22 11:23:48,372 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2025-05-22 11:23:48,372 INFO ExportHelperExtension.cs: 1160 - 115 components to check +2025-05-22 11:23:48,373 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Torso-1 +2025-05-22 11:23:48,373 INFO ExportHelperExtension.cs: 1136 - Found 28 in Torso-1 +2025-05-22 11:23:48,373 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Torso-1 +2025-05-22 11:23:48,373 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from [Draft] Speaker Mount-1 +2025-05-22 11:23:48,374 INFO ExportHelperExtension.cs: 1136 - Found 28 in [Draft] Speaker Mount-1 +2025-05-22 11:23:48,374 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in [Draft] Speaker Mount-1 +2025-05-22 11:23:48,374 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Electronics Mount-1 +2025-05-22 11:23:48,375 INFO ExportHelperExtension.cs: 1136 - Found 28 in Electronics Mount-1 +2025-05-22 11:23:48,375 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Electronics Mount-1 +2025-05-22 11:23:48,375 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from left_elbow_yaw_motor-1 +2025-05-22 11:23:48,376 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_elbow_yaw_motor-1 +2025-05-22 11:23:48,379 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in left_elbow_yaw_motor-1 +2025-05-22 11:23:48,380 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from left_hand-1 +2025-05-22 11:23:48,392 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_hand-1 +2025-05-22 11:23:48,392 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in left_hand-1 +2025-05-22 11:23:48,392 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Chamfered plain washer normal M2-1 +2025-05-22 11:23:48,393 INFO ExportHelperExtension.cs: 1136 - Found 28 in Chamfered plain washer normal M2-1 +2025-05-22 11:23:48,393 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Chamfered plain washer normal M2-1 +2025-05-22 11:23:48,393 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from left_shoulder_yaw-1 +2025-05-22 11:23:48,394 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_shoulder_yaw-1 +2025-05-22 11:23:48,394 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in left_shoulder_yaw-1 +2025-05-22 11:23:48,394 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ankle_pitch_right-1 +2025-05-22 11:23:48,394 INFO ExportHelperExtension.cs: 1136 - Found 28 in ankle_pitch_right-1 +2025-05-22 11:23:48,395 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ankle_pitch_right-1 +2025-05-22 11:23:48,395 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from elbow_bracket_left-1 +2025-05-22 11:23:48,395 INFO ExportHelperExtension.cs: 1136 - Found 28 in elbow_bracket_left-1 +2025-05-22 11:23:48,395 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in elbow_bracket_left-1 +2025-05-22 11:23:48,396 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from hip_roll_left-1 +2025-05-22 11:23:48,396 INFO ExportHelperExtension.cs: 1136 - Found 28 in hip_roll_left-1 +2025-05-22 11:23:48,396 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in hip_roll_left-1 +2025-05-22 11:23:48,397 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from right_shoulder_pitch_motor-1 +2025-05-22 11:23:48,397 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_shoulder_pitch_motor-1 +2025-05-22 11:23:48,397 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in right_shoulder_pitch_motor-1 +2025-05-22 11:23:48,397 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from left_shoulder_pitch_motor-1 +2025-05-22 11:23:48,398 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_shoulder_pitch_motor-1 +2025-05-22 11:23:48,398 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in left_shoulder_pitch_motor-1 +2025-05-22 11:23:48,398 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from foot_right-1 +2025-05-22 11:23:48,399 INFO ExportHelperExtension.cs: 1136 - Found 28 in foot_right-1 +2025-05-22 11:23:48,399 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in foot_right-1 +2025-05-22 11:23:48,399 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ankle_pitch_left-1 +2025-05-22 11:23:48,399 INFO ExportHelperExtension.cs: 1136 - Found 28 in ankle_pitch_left-1 +2025-05-22 11:23:48,400 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ankle_pitch_left-1 +2025-05-22 11:23:48,400 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from left_ankle_pitch_motor-1 +2025-05-22 11:23:48,400 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_ankle_pitch_motor-1 +2025-05-22 11:23:48,401 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in left_ankle_pitch_motor-1 +2025-05-22 11:23:48,401 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from right_hip_yaw_motor-1 +2025-05-22 11:23:48,401 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_hip_yaw_motor-1 +2025-05-22 11:23:48,401 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in right_hip_yaw_motor-1 +2025-05-22 11:23:48,402 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from left_shoulder_yaw_motor-1 +2025-05-22 11:23:48,402 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_shoulder_yaw_motor-1 +2025-05-22 11:23:48,402 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in left_shoulder_yaw_motor-1 +2025-05-22 11:23:48,403 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from right_knee_pitch_motor-1 +2025-05-22 11:23:48,403 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_knee_pitch_motor-1 +2025-05-22 11:23:48,403 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in right_knee_pitch_motor-1 +2025-05-22 11:23:48,403 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from left_hip_pitch_motor-1 +2025-05-22 11:23:48,404 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_hip_pitch_motor-1 +2025-05-22 11:23:48,404 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in left_hip_pitch_motor-1 +2025-05-22 11:23:48,404 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Head-1 +2025-05-22 11:23:48,404 INFO ExportHelperExtension.cs: 1136 - Found 28 in Head-1 +2025-05-22 11:23:48,405 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Head-1 +2025-05-22 11:23:48,405 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from knee_pitch_right-1 +2025-05-22 11:23:48,405 INFO ExportHelperExtension.cs: 1136 - Found 28 in knee_pitch_right-1 +2025-05-22 11:23:48,406 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in knee_pitch_right-1 +2025-05-22 11:23:48,406 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from hip_yaw_left-1 +2025-05-22 11:23:48,406 INFO ExportHelperExtension.cs: 1136 - Found 28 in hip_yaw_left-1 +2025-05-22 11:23:48,406 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in hip_yaw_left-1 +2025-05-22 11:23:48,407 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from BackPack-1 +2025-05-22 11:23:48,407 INFO ExportHelperExtension.cs: 1136 - Found 28 in BackPack-1 +2025-05-22 11:23:48,407 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in BackPack-1 +2025-05-22 11:23:48,407 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Extruded_1-1 +2025-05-22 11:23:48,408 INFO ExportHelperExtension.cs: 1136 - Found 31 in Extruded_1-1 +2025-05-22 11:23:48,408 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Extruded_1-1 +2025-05-22 11:23:48,408 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-LED_0603_R_Pad004-1 +2025-05-22 11:23:48,409 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-LED_0603_R_Pad004-1 +2025-05-22 11:23:48,409 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-LED_0603_R_Pad004-1 +2025-05-22 11:23:48,409 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from left_hip_roll_motor-1 +2025-05-22 11:23:48,409 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_hip_roll_motor-1 +2025-05-22 11:23:48,410 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in left_hip_roll_motor-1 +2025-05-22 11:23:48,410 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Extruded-1 +2025-05-22 11:23:48,410 INFO ExportHelperExtension.cs: 1136 - Found 32 in Extruded-1 +2025-05-22 11:23:48,411 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Extruded-1 +2025-05-22 11:23:48,411 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LCD IMU-1 +2025-05-22 11:23:48,411 INFO ExportHelperExtension.cs: 1136 - Found 28 in LCD IMU-1 +2025-05-22 11:23:48,411 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LCD IMU-1 +2025-05-22 11:23:48,412 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from SOLID-1-1 +2025-05-22 11:23:48,412 INFO ExportHelperExtension.cs: 1136 - Found 49 in SOLID-1-1 +2025-05-22 11:23:48,412 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in SOLID-1-1 +2025-05-22 11:23:48,413 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from right_hip_pitch_motor-1 +2025-05-22 11:23:48,413 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_hip_pitch_motor-1 +2025-05-22 11:23:48,413 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in right_hip_pitch_motor-1 +2025-05-22 11:23:48,413 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Extruded_4-1 +2025-05-22 11:23:48,414 INFO ExportHelperExtension.cs: 1136 - Found 30 in Extruded_4-1 +2025-05-22 11:23:48,414 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Extruded_4-1 +2025-05-22 11:23:48,414 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from hip_yaw_right-1 +2025-05-22 11:23:48,415 INFO ExportHelperExtension.cs: 1136 - Found 28 in hip_yaw_right-1 +2025-05-22 11:23:48,415 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in hip_yaw_right-1 +2025-05-22 11:23:48,415 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _2_1_2_3_4_AF0_8-1 +2025-05-22 11:23:48,416 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_8-1 +2025-05-22 11:23:48,416 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _2_1_2_3_4_AF0_8-1 +2025-05-22 11:23:48,416 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Milk Camera-1 +2025-05-22 11:23:48,416 INFO ExportHelperExtension.cs: 1136 - Found 28 in Milk Camera-1 +2025-05-22 11:23:48,417 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Milk Camera-1 +2025-05-22 11:23:48,417 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from left_knee_pitch_motor-1 +2025-05-22 11:23:48,417 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_knee_pitch_motor-1 +2025-05-22 11:23:48,417 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in left_knee_pitch_motor-1 +2025-05-22 11:23:48,418 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Torso to Neck-1 +2025-05-22 11:23:48,418 INFO ExportHelperExtension.cs: 1136 - Found 28 in Torso to Neck-1 +2025-05-22 11:23:48,418 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Torso to Neck-1 +2025-05-22 11:23:48,419 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from hip_roll_right-1 +2025-05-22 11:23:48,419 INFO ExportHelperExtension.cs: 1136 - Found 28 in hip_roll_right-1 +2025-05-22 11:23:48,419 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in hip_roll_right-1 +2025-05-22 11:23:48,419 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from SOT-23-1 +2025-05-22 11:23:48,420 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOT-23-1 +2025-05-22 11:23:48,420 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in SOT-23-1 +2025-05-22 11:23:48,420 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _2_1_2_3_4_AF0_7-1 +2025-05-22 11:23:48,421 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_7-1 +2025-05-22 11:23:48,421 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _2_1_2_3_4_AF0_7-1 +2025-05-22 11:23:48,421 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Chamfered plain washer normal M3-1 +2025-05-22 11:23:48,421 INFO ExportHelperExtension.cs: 1136 - Found 28 in Chamfered plain washer normal M3-1 +2025-05-22 11:23:48,422 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Chamfered plain washer normal M3-1 +2025-05-22 11:23:48,422 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3_1_2_A_2-1 +2025-05-22 11:23:48,422 INFO ExportHelperExtension.cs: 1136 - Found 28 in 3_1_2_A_2-1 +2025-05-22 11:23:48,423 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3_1_2_A_2-1 +2025-05-22 11:23:48,423 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from right_ankle_pitch_motor-1 +2025-05-22 11:23:48,423 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_ankle_pitch_motor-1 +2025-05-22 11:23:48,423 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in right_ankle_pitch_motor-1 +2025-05-22 11:23:48,424 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Extruded_3-1 +2025-05-22 11:23:48,424 INFO ExportHelperExtension.cs: 1136 - Found 30 in Extruded_3-1 +2025-05-22 11:23:48,424 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Extruded_3-1 +2025-05-22 11:23:48,425 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from elbow_bracket_right-1 +2025-05-22 11:23:48,425 INFO ExportHelperExtension.cs: 1136 - Found 28 in elbow_bracket_right-1 +2025-05-22 11:23:48,425 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in elbow_bracket_right-1 +2025-05-22 11:23:48,425 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from right_hand-1 +2025-05-22 11:23:48,426 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_hand-1 +2025-05-22 11:23:48,426 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in right_hand-1 +2025-05-22 11:23:48,426 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-LED_0603_R_Pocket001-1 +2025-05-22 11:23:48,427 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-LED_0603_R_Pocket001-1 +2025-05-22 11:23:48,427 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-LED_0603_R_Pocket001-1 +2025-05-22 11:23:48,427 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 2_1_200_2-1 +2025-05-22 11:23:48,428 INFO ExportHelperExtension.cs: 1136 - Found 28 in 2_1_200_2-1 +2025-05-22 11:23:48,428 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 2_1_200_2-1 +2025-05-22 11:23:48,428 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Extruded_5-1 +2025-05-22 11:23:48,429 INFO ExportHelperExtension.cs: 1136 - Found 29 in Extruded_5-1 +2025-05-22 11:23:48,429 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Extruded_5-1 +2025-05-22 11:23:48,429 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _2_1_2_3_4_AF0_6-1 +2025-05-22 11:23:48,429 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_6-1 +2025-05-22 11:23:48,430 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _2_1_2_3_4_AF0_6-1 +2025-05-22 11:23:48,430 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-DG350-3,5-02P-1 +2025-05-22 11:23:48,430 INFO ExportHelperExtension.cs: 1136 - Found 32 in User_Library-DG350-3,5-02P-1 +2025-05-22 11:23:48,431 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-DG350-3,5-02P-1 +2025-05-22 11:23:48,431 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 5_1_2_3_400_8-1 +2025-05-22 11:23:48,431 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_8-1 +2025-05-22 11:23:48,431 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 5_1_2_3_400_8-1 +2025-05-22 11:23:48,432 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from X2564WV-03-N0SN_1-1 +2025-05-22 11:23:48,432 INFO ExportHelperExtension.cs: 1136 - Found 28 in X2564WV-03-N0SN_1-1 +2025-05-22 11:23:48,432 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in X2564WV-03-N0SN_1-1 +2025-05-22 11:23:48,433 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-TO-223_3_1-1 +2025-05-22 11:23:48,433 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-TO-223_3_1-1 +2025-05-22 11:23:48,433 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-TO-223_3_1-1 +2025-05-22 11:23:48,433 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 5_1_2_3_400_2-1 +2025-05-22 11:23:48,434 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_2-1 +2025-05-22 11:23:48,434 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 5_1_2_3_400_2-1 +2025-05-22 11:23:48,435 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 5_1_2_3_400_7-1 +2025-05-22 11:23:48,435 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_7-1 +2025-05-22 11:23:48,435 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 5_1_2_3_400_7-1 +2025-05-22 11:23:48,435 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-QFN-16-1 +2025-05-22 11:23:48,436 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-QFN-16-1 +2025-05-22 11:23:48,436 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-QFN-16-1 +2025-05-22 11:23:48,436 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-TO-223_5_1-1 +2025-05-22 11:23:48,437 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-TO-223_5_1-1 +2025-05-22 11:23:48,439 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-TO-223_5_1-1 +2025-05-22 11:23:48,440 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Extruded_2-1 +2025-05-22 11:23:48,454 INFO ExportHelperExtension.cs: 1136 - Found 30 in Extruded_2-1 +2025-05-22 11:23:48,454 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Extruded_2-1 +2025-05-22 11:23:48,454 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _2_1_2_3_4_AF0_5-1 +2025-05-22 11:23:48,455 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_5-1 +2025-05-22 11:23:48,455 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _2_1_2_3_4_AF0_5-1 +2025-05-22 11:23:48,455 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Extruded_9-1 +2025-05-22 11:23:48,456 INFO ExportHelperExtension.cs: 1136 - Found 28 in Extruded_9-1 +2025-05-22 11:23:48,456 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Extruded_9-1 +2025-05-22 11:23:48,456 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _2_1_2_3_4_AF0_2-1 +2025-05-22 11:23:48,457 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_2-1 +2025-05-22 11:23:48,457 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _2_1_2_3_4_AF0_2-1 +2025-05-22 11:23:48,457 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-sop-8-1 +2025-05-22 11:23:48,458 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-sop-8-1 +2025-05-22 11:23:48,458 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-sop-8-1 +2025-05-22 11:23:48,458 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-0603_SMD_Capacitor_1-1 +2025-05-22 11:23:48,459 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_1-1 +2025-05-22 11:23:48,459 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-0603_SMD_Capacitor_1-1 +2025-05-22 11:23:48,459 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 5_1_2_3_400-1 +2025-05-22 11:23:48,459 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400-1 +2025-05-22 11:23:48,460 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 5_1_2_3_400-1 +2025-05-22 11:23:48,460 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from SOD323_1-1 +2025-05-22 11:23:48,461 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOD323_1-1 +2025-05-22 11:23:48,461 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in SOD323_1-1 +2025-05-22 11:23:48,461 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from SOD323_2-1 +2025-05-22 11:23:48,462 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOD323_2-1 +2025-05-22 11:23:48,462 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in SOD323_2-1 +2025-05-22 11:23:48,462 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-0603_SMD_Capacitor-1 +2025-05-22 11:23:48,462 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor-1 +2025-05-22 11:23:48,463 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-0603_SMD_Capacitor-1 +2025-05-22 11:23:48,463 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 2_1_200_1-1 +2025-05-22 11:23:48,463 INFO ExportHelperExtension.cs: 1136 - Found 28 in 2_1_200_1-1 +2025-05-22 11:23:48,464 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 2_1_200_1-1 +2025-05-22 11:23:48,464 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Extruded_6-1 +2025-05-22 11:23:48,464 INFO ExportHelperExtension.cs: 1136 - Found 29 in Extruded_6-1 +2025-05-22 11:23:48,464 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Extruded_6-1 +2025-05-22 11:23:48,464 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Board-1 +2025-05-22 11:23:48,466 INFO ExportHelperExtension.cs: 1136 - Found 28 in Board-1 +2025-05-22 11:23:48,466 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Board-1 +2025-05-22 11:23:48,466 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _2_1_2_3_4_AF0_4-1 +2025-05-22 11:23:48,466 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_4-1 +2025-05-22 11:23:48,467 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _2_1_2_3_4_AF0_4-1 +2025-05-22 11:23:48,467 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-TO-223_2_1-1 +2025-05-22 11:23:48,467 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-TO-223_2_1-1 +2025-05-22 11:23:48,468 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-TO-223_2_1-1 +2025-05-22 11:23:48,468 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _2_1_2_3_4_AF0-1 +2025-05-22 11:23:48,468 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0-1 +2025-05-22 11:23:48,468 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _2_1_2_3_4_AF0-1 +2025-05-22 11:23:48,468 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3_1_2_A-1 +2025-05-22 11:23:48,468 INFO ExportHelperExtension.cs: 1136 - Found 28 in 3_1_2_A-1 +2025-05-22 11:23:48,469 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3_1_2_A-1 +2025-05-22 11:23:48,469 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Extruded_8-1 +2025-05-22 11:23:48,470 INFO ExportHelperExtension.cs: 1136 - Found 29 in Extruded_8-1 +2025-05-22 11:23:48,470 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Extruded_8-1 +2025-05-22 11:23:48,470 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _1_1_20001-1 +2025-05-22 11:23:48,471 INFO ExportHelperExtension.cs: 1136 - Found 28 in _1_1_20001-1 +2025-05-22 11:23:48,471 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _1_1_20001-1 +2025-05-22 11:23:48,472 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-0603_SMD_Capacitor_5-1 +2025-05-22 11:23:48,472 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_5-1 +2025-05-22 11:23:48,472 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-0603_SMD_Capacitor_5-1 +2025-05-22 11:23:48,472 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 5_1_2_3_400_3-1 +2025-05-22 11:23:48,473 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_3-1 +2025-05-22 11:23:48,473 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 5_1_2_3_400_3-1 +2025-05-22 11:23:48,473 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-LED_0603_R_Fillet-1 +2025-05-22 11:23:48,474 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-LED_0603_R_Fillet-1 +2025-05-22 11:23:48,474 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-LED_0603_R_Fillet-1 +2025-05-22 11:23:48,474 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _1_1_20001_2-1 +2025-05-22 11:23:48,474 INFO ExportHelperExtension.cs: 1136 - Found 28 in _1_1_20001_2-1 +2025-05-22 11:23:48,475 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _1_1_20001_2-1 +2025-05-22 11:23:48,475 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-LED_0603_R_Pad-1 +2025-05-22 11:23:48,475 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-LED_0603_R_Pad-1 +2025-05-22 11:23:48,475 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-LED_0603_R_Pad-1 +2025-05-22 11:23:48,475 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 5_1_2_3_400_1-1 +2025-05-22 11:23:48,476 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_1-1 +2025-05-22 11:23:48,476 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 5_1_2_3_400_1-1 +2025-05-22 11:23:48,476 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from SOD323_3-1 +2025-05-22 11:23:48,476 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOD323_3-1 +2025-05-22 11:23:48,477 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in SOD323_3-1 +2025-05-22 11:23:48,477 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-0603_SMD_Capacitor_3-1 +2025-05-22 11:23:48,477 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_3-1 +2025-05-22 11:23:48,478 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-0603_SMD_Capacitor_3-1 +2025-05-22 11:23:48,478 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-TO-223_1_1-1 +2025-05-22 11:23:48,479 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-TO-223_1_1-1 +2025-05-22 11:23:48,479 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-TO-223_1_1-1 +2025-05-22 11:23:48,479 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _2_1_2_3_4_AF0_3-1 +2025-05-22 11:23:48,479 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_3-1 +2025-05-22 11:23:48,480 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _2_1_2_3_4_AF0_3-1 +2025-05-22 11:23:48,480 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 5_1_2_3_400_6-1 +2025-05-22 11:23:48,480 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_6-1 +2025-05-22 11:23:48,481 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 5_1_2_3_400_6-1 +2025-05-22 11:23:48,481 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-0603_SMD_Capacitor_4-1 +2025-05-22 11:23:48,481 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_4-1 +2025-05-22 11:23:48,481 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-0603_SMD_Capacitor_4-1 +2025-05-22 11:23:48,482 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _1_1_20001_1-1 +2025-05-22 11:23:48,482 INFO ExportHelperExtension.cs: 1136 - Found 28 in _1_1_20001_1-1 +2025-05-22 11:23:48,482 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _1_1_20001_1-1 +2025-05-22 11:23:48,482 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3_1_2_A_1-1 +2025-05-22 11:23:48,482 INFO ExportHelperExtension.cs: 1136 - Found 28 in 3_1_2_A_1-1 +2025-05-22 11:23:48,482 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3_1_2_A_1-1 +2025-05-22 11:23:48,483 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _2_1_2_3_4_AF0_1-1 +2025-05-22 11:23:48,483 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_1-1 +2025-05-22 11:23:48,483 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _2_1_2_3_4_AF0_1-1 +2025-05-22 11:23:48,484 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-0603_SMD_Capacitor_2-1 +2025-05-22 11:23:48,484 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_2-1 +2025-05-22 11:23:48,484 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-0603_SMD_Capacitor_2-1 +2025-05-22 11:23:48,484 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 2_1_200-1 +2025-05-22 11:23:48,485 INFO ExportHelperExtension.cs: 1136 - Found 28 in 2_1_200-1 +2025-05-22 11:23:48,486 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 2_1_200-1 +2025-05-22 11:23:48,486 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Extruded_7-1 +2025-05-22 11:23:48,486 INFO ExportHelperExtension.cs: 1136 - Found 29 in Extruded_7-1 +2025-05-22 11:23:48,486 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Extruded_7-1 +2025-05-22 11:23:48,487 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-0603_SMD_Capacitor_6-1 +2025-05-22 11:23:48,487 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_6-1 +2025-05-22 11:23:48,487 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-0603_SMD_Capacitor_6-1 +2025-05-22 11:23:48,487 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-TO-223_4_1-1 +2025-05-22 11:23:48,488 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-TO-223_4_1-1 +2025-05-22 11:23:48,488 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-TO-223_4_1-1 +2025-05-22 11:23:48,488 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Neck Mount-1 +2025-05-22 11:23:48,489 INFO ExportHelperExtension.cs: 1136 - Found 28 in Neck Mount-1 +2025-05-22 11:23:48,489 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Neck Mount-1 +2025-05-22 11:23:48,489 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from IMU Mount PCB-1 +2025-05-22 11:23:48,489 INFO ExportHelperExtension.cs: 1136 - Found 28 in IMU Mount PCB-1 +2025-05-22 11:23:48,489 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in IMU Mount PCB-1 +2025-05-22 11:23:48,491 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from right_shoulder_yaw-1 +2025-05-22 11:23:48,491 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_shoulder_yaw-1 +2025-05-22 11:23:48,491 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in right_shoulder_yaw-1 +2025-05-22 11:23:48,491 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from dc-005-5a-20-1 +2025-05-22 11:23:48,492 INFO ExportHelperExtension.cs: 1136 - Found 28 in dc-005-5a-20-1 +2025-05-22 11:23:48,492 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in dc-005-5a-20-1 +2025-05-22 11:23:48,492 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from SOLID_1-1-1 +2025-05-22 11:23:48,493 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOLID_1-1-1 +2025-05-22 11:23:48,493 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in SOLID_1-1-1 +2025-05-22 11:23:48,493 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from hip_pitch_dual_carry-1 +2025-05-22 11:23:48,493 INFO ExportHelperExtension.cs: 1136 - Found 28 in hip_pitch_dual_carry-1 +2025-05-22 11:23:48,493 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in hip_pitch_dual_carry-1 +2025-05-22 11:23:48,493 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from SOLID-2-1 +2025-05-22 11:23:48,494 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOLID-2-1 +2025-05-22 11:23:48,494 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in SOLID-2-1 +2025-05-22 11:23:48,494 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from foot_left-1 +2025-05-22 11:23:48,495 INFO ExportHelperExtension.cs: 1136 - Found 28 in foot_left-1 +2025-05-22 11:23:48,495 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in foot_left-1 +2025-05-22 11:23:48,495 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from right_hip_roll_motor-1 +2025-05-22 11:23:48,496 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_hip_roll_motor-1 +2025-05-22 11:23:48,496 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in right_hip_roll_motor-1 +2025-05-22 11:23:48,497 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 5_1_2_3_400_5-1 +2025-05-22 11:23:48,497 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_5-1 +2025-05-22 11:23:48,497 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 5_1_2_3_400_5-1 +2025-05-22 11:23:48,497 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from SOD323-1 +2025-05-22 11:23:48,498 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOD323-1 +2025-05-22 11:23:48,498 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in SOD323-1 +2025-05-22 11:23:48,498 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 5_1_2_3_400_4-1 +2025-05-22 11:23:48,499 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_4-1 +2025-05-22 11:23:48,499 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 5_1_2_3_400_4-1 +2025-05-22 11:23:48,499 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-LED_0603_R_Pocket002-1 +2025-05-22 11:23:48,499 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-LED_0603_R_Pocket002-1 +2025-05-22 11:23:48,500 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-LED_0603_R_Pocket002-1 +2025-05-22 11:23:48,500 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from X2564WV-03-N0SN-1 +2025-05-22 11:23:48,500 INFO ExportHelperExtension.cs: 1136 - Found 28 in X2564WV-03-N0SN-1 +2025-05-22 11:23:48,509 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in X2564WV-03-N0SN-1 +2025-05-22 11:23:48,510 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from right_elbow_yaw_motor-1 +2025-05-22 11:23:48,518 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_elbow_yaw_motor-1 +2025-05-22 11:23:48,519 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in right_elbow_yaw_motor-1 +2025-05-22 11:23:48,519 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from right_shoulder_yaw_motor-1 +2025-05-22 11:23:48,520 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_shoulder_yaw_motor-1 +2025-05-22 11:23:48,520 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in right_shoulder_yaw_motor-1 +2025-05-22 11:23:48,520 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from left_hip_yaw_motor-1 +2025-05-22 11:23:48,521 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_hip_yaw_motor-1 +2025-05-22 11:23:48,521 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in left_hip_yaw_motor-1 +2025-05-22 11:23:48,533 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Electronics mount _1_-1 +2025-05-22 11:23:48,534 INFO ExportHelperExtension.cs: 1136 - Found 35 in Electronics mount _1_-1 +2025-05-22 11:23:48,534 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Electronics mount _1_-1 +2025-05-22 11:23:48,534 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from knee_pitch_left-1 +2025-05-22 11:23:48,534 INFO ExportHelperExtension.cs: 1136 - Found 28 in knee_pitch_left-1 +2025-05-22 11:23:48,535 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in knee_pitch_left-1 +2025-05-22 11:23:48,866 INFO SwAddin.cs: 339 - Loading config tree +2025-05-22 11:23:48,870 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found +nametruebase_linkxyztrue0.010950.000770450.079696rpytrue000originfalsefalsevaluetrue0.82107massfalseixxtrue0.0019658ixytrue3.8411E-06ixztrue-0.00012245iyytrue0.001056iyztrue1.0035E-05izztrue0.0013726inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsec_base_linklinktruenametrueright_shoulder_pitchxyztrue0.00019395-0.016944-0.0029649rpytrue000originfalsefalsevaluetrue0.036468massfalseixxtrue9.2388E-06ixytrue5.7943E-08ixztrue-1.404E-07iyytrue1.9938E-05iyztrue-1.5015E-06izztrue2.0411E-05inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueright_shoulder_pitchtypetruerevolutexyztrue0.016843-0.078150.11864rpytrue000originfalsefalselinktruebase_linkparenttruelinktrueright_shoulder_pitchchildtruexyztrue0-10axisfalselowertrue0uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsea_right_shouder_pitchc_right_shouder_pitchlinktruenametrueright_shoulder_yawxyztrue-0.017448-3.7212E-06-0.035593rpytrue000originfalsefalsevaluetrue0.03531massfalseixxtrue9.6893E-06ixytrue3.8492E-09ixztrue8.9584E-09iyytrue1.2955E-05iyztrue-3.1785E-09izztrue9.8072E-06inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueright_shoulder_yawtypetruerevolutexyztrue0.019116-0.03-0.015957rpytrue-0.25925-0.018050originfalsefalselinktrueright_shoulder_pitchparenttruelinktrueright_shoulder_yawchildtruexyztrue100axisfalselowertrue0uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsea_right_shouder_yawc_right_shouder_yawlinktruenametrueright_elbow_yawxyztrue-0.0183430.011596-0.044278rpytrue000originfalsefalsevaluetrue0.062869massfalseixxtrue3.8653E-05ixytrue3.2885E-07ixztrue-1.2833E-06iyytrue4.5303E-05iyztrue8.2838E-06izztrue1.5382E-05inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueright_elbow_yawtypetruerevolutexyztrue-0.000150-0.070993rpytrue000originfalsefalselinktrueright_shoulder_yawparenttruelinktrueright_elbow_yawchildtruexyztrue100axisfalselowertrue0uppertrue0efforttrue0velocitytrue0limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsea_right_elbow_yawc_right_elbow_yawlinktruefalseaEIAAAUAAAD//v8RcgBpAGcAaAB0AF8AaABhAG4AZAAtADEAQABPAHAAdQBzAAQAAAAQAAAAAQAAAAEAAABAAAAAfalsefalsefalseaEIAAAUAAAD//v8fcgBpAGcAaAB0AF8AcwBoAG8AdQBsAGQAZQByAF8AeQBhAHcAXwBtAG8AdABvAHIALQAxAEAATwBwAHUAcwAEAAAAEAAAAAEAAAABAAAAHAAAAA==aEIAAAUAAAD//v8ZZQBsAGIAbwB3AF8AYgByAGEAYwBrAGUAdABfAGwAZQBmAHQALQAxAEAATwBwAHUAcwAEAAAAEAAAAAEAAAABAAAAJAAAAA==aEIAAAUAAAD//v8ccgBpAGcAaAB0AF8AZQBsAGIAbwB3AF8AeQBhAHcAXwBtAG8AdABvAHIALQAxAEAATwBwAHUAcwAEAAAAEAAAAAEAAAABAAAAGwAAAA==falsefalsefalseaEIAAAUAAAD//v8ZcgBpAGcAaAB0AF8AcwBoAG8AdQBsAGQAZQByAF8AeQBhAHcALQAxAEAATwBwAHUAcwAEAAAAEAAAAAEAAAABAAAAiwAAAA==falsefalsenametrueleft_shoulder_pitchxyztrue5.1346E-050.016944-0.0029708rpytrue000originfalsefalsevaluetrue0.036468massfalseixxtrue9.2511E-06ixytrue1.4226E-08ixztrue3.9606E-07iyytrue1.9938E-05iyztrue1.5026E-06izztrue2.0399E-05inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametrueleft_shoulder_pitchtypetruerevolutexyztrue0.0168430.078150.11864rpytrue000originfalsefalselinktruebase_linkparen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+2025-05-22 11:23:48,954 INFO LinkNode.cs: 35 - Building node base_link +2025-05-22 11:23:48,955 INFO LinkNode.cs: 35 - Building node right_shoulder_pitch +2025-05-22 11:23:48,955 INFO LinkNode.cs: 35 - Building node right_shoulder_yaw +2025-05-22 11:23:48,955 INFO LinkNode.cs: 35 - Building node right_elbow_yaw +2025-05-22 11:23:48,956 INFO LinkNode.cs: 35 - Building node left_shoulder_pitch +2025-05-22 11:23:48,956 INFO LinkNode.cs: 35 - Building node left_shoulder_yaw +2025-05-22 11:23:48,956 INFO LinkNode.cs: 35 - Building node left_elbow_yaw +2025-05-22 11:23:48,956 INFO LinkNode.cs: 35 - Building node right_hip_pitch +2025-05-22 11:23:48,957 INFO LinkNode.cs: 35 - Building node right_hip_yaw +2025-05-22 11:23:48,957 INFO LinkNode.cs: 35 - Building node right_hip_roll +2025-05-22 11:23:48,957 INFO LinkNode.cs: 35 - Building node right_knee_pitch +2025-05-22 11:23:48,957 INFO LinkNode.cs: 35 - Building node right_ankle_pitch +2025-05-22 11:23:48,958 INFO LinkNode.cs: 35 - Building node left_hip_pitch +2025-05-22 11:23:48,958 INFO LinkNode.cs: 35 - Building node left_hip_yaw +2025-05-22 11:23:48,958 INFO LinkNode.cs: 35 - Building node left_hip_roll +2025-05-22 11:23:48,958 INFO LinkNode.cs: 35 - Building node left_knee_pitch +2025-05-22 11:23:48,958 INFO LinkNode.cs: 35 - Building node left_ankle_pitch +2025-05-22 11:23:48,959 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for base_link from D:\google_download\Opus.SLDASM +2025-05-22 11:23:48,961 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? Torso-1@Opus) +2025-05-22 11:23:48,963 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\Torso.SLDPRT +2025-05-22 11:23:48,963 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???hip_pitch_dual_carry-1@Opus? +2025-05-22 11:23:48,964 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\hip_pitch_dual_carry.SLDPRT +2025-05-22 11:23:48,964 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???right_hip_pitch_motor-1@Opus; +2025-05-22 11:23:48,964 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\right_hip_pitch_motor.SLDPRT +2025-05-22 11:23:48,965 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???left_hip_pitch_motor-1@Opus- +2025-05-22 11:23:48,965 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\left_hip_pitch_motor.SLDPRT +2025-05-22 11:23:48,965 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???Torso to Neck-1@Opus: +2025-05-22 11:23:48,965 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\Torso to Neck.SLDPRT +2025-05-22 11:23:48,966 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???LCD IMU-1@Opus= +2025-05-22 11:23:48,966 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\LCD IMU.SLDPRT +2025-05-22 11:23:48,966 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? Head-1@Opus/ +2025-05-22 11:23:48,966 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\Head.SLDPRT +2025-05-22 11:23:48,967 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???Milk Camera-1@Opus8 +2025-05-22 11:23:48,967 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\Milk Camera.SLDPRT +2025-05-22 11:23:48,967 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???Electronics Mount-1@Opus +2025-05-22 11:23:48,968 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\Electronics Mount.SLDPRT +2025-05-22 11:23:48,968 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???BackPack-1@Opus3 +2025-05-22 11:23:48,968 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\BackPack.SLDPRT +2025-05-22 11:23:48,968 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? Board-1@Opus` +2025-05-22 11:23:48,969 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\Board.SLDPRT +2025-05-22 11:23:48,969 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???dc-005-5a-20-1@Opus? +2025-05-22 11:23:48,969 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\dc-005-5a-20.SLDPRT +2025-05-22 11:23:48,969 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???SOLID-1-1@OpusB +2025-05-22 11:23:48,970 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\SOLID-1.SLDPRT +2025-05-22 11:23:48,970 INFO CommonSwOperations.cs: 245 - Loading component with PID hB??? +2025-05-22 11:23:49,016 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\hip_yaw_right.SLDPRT +2025-05-22 11:23:49,016 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???right_hip_yaw_motor-1@Opus+ +2025-05-22 11:23:49,016 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\right_hip_yaw_motor.SLDPRT +2025-05-22 11:23:49,017 INFO CommonSwOperations.cs: 230 - Loaded 2 components for link right_hip_pitch +2025-05-22 11:23:49,017 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for right_hip_yaw from D:\google_download\Opus.SLDASM +2025-05-22 11:23:49,017 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???hip_roll_right-1@Opus? +2025-05-22 11:23:49,017 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\hip_roll_right.SLDPRT +2025-05-22 11:23:49,017 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???right_hip_roll_motor-1@Opus? +2025-05-22 11:23:49,018 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\right_hip_roll_motor.SLDPRT +2025-05-22 11:23:49,018 INFO CommonSwOperations.cs: 230 - Loaded 2 components for link right_hip_yaw +2025-05-22 11:23:49,018 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for right_hip_roll from D:\google_download\Opus.SLDASM +2025-05-22 11:23:49,018 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???knee_pitch_right-1@Opus0 +2025-05-22 11:23:49,019 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\knee_pitch_right.SLDPRT +2025-05-22 11:23:49,019 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link right_hip_roll +2025-05-22 11:23:49,019 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for right_knee_pitch from D:\google_download\Opus.SLDASM +2025-05-22 11:23:49,019 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???right_knee_pitch_motor-1@Opus. +2025-05-22 11:23:49,020 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\right_knee_pitch_motor.SLDPRT +2025-05-22 11:23:49,020 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???ankle_pitch_right-1@Opus! +2025-05-22 11:23:49,020 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\ankle_pitch_right.SLDPRT +2025-05-22 11:23:49,020 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???right_ankle_pitch_motor-1@OpusA +2025-05-22 11:23:49,021 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\right_ankle_pitch_motor.SLDPRT +2025-05-22 11:23:49,021 INFO CommonSwOperations.cs: 230 - Loaded 3 components for link right_knee_pitch +2025-05-22 11:23:49,021 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for right_ankle_pitch from D:\google_download\Opus.SLDASM +2025-05-22 11:23:49,021 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???foot_right-1@Opus4 +2025-05-22 11:23:49,022 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\foot_right.SLDPRT +2025-05-22 11:23:49,022 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link right_ankle_pitch +2025-05-22 11:23:49,022 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for left_hip_pitch from D:\google_download\Opus.SLDASM +2025-05-22 11:23:49,022 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???hip_yaw_left-1@Opus2 +2025-05-22 11:23:49,023 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\hip_yaw_left.SLDPRT +2025-05-22 11:23:49,023 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???left_hip_yaw_motor-1@Opus +2025-05-22 11:23:49,023 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\left_hip_yaw_motor.SLDPRT +2025-05-22 11:23:49,023 INFO CommonSwOperations.cs: 230 - Loaded 2 components for link left_hip_pitch +2025-05-22 11:23:49,024 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for left_hip_yaw from D:\google_download\Opus.SLDASM +2025-05-22 11:23:49,024 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???hip_roll_left-1@Opus' +2025-05-22 11:23:49,024 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\hip_roll_left.SLDPRT +2025-05-22 11:23:49,024 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???left_hip_roll_motor-1@Opus< +2025-05-22 11:23:49,025 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\left_hip_roll_motor.SLDPRT +2025-05-22 11:23:49,025 INFO CommonSwOperations.cs: 230 - Loaded 2 components for link left_hip_yaw +2025-05-22 11:23:49,025 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for left_hip_roll from D:\google_download\Opus.SLDASM +2025-05-22 11:23:49,025 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???knee_pitch_left-1@Opus +2025-05-22 11:23:49,026 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\knee_pitch_left.SLDPRT +2025-05-22 11:23:49,026 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link left_hip_roll +2025-05-22 11:23:49,026 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for left_knee_pitch from D:\google_download\Opus.SLDASM +2025-05-22 11:23:49,026 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???left_knee_pitch_motor-1@Opus6 +2025-05-22 11:23:49,027 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\left_knee_pitch_motor.SLDPRT +2025-05-22 11:23:49,027 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???ankle_pitch_left-1@Opus5 +2025-05-22 11:23:49,027 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\ankle_pitch_left.SLDPRT +2025-05-22 11:23:49,027 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???left_ankle_pitch_motor-1@Opus1 +2025-05-22 11:23:49,028 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\left_ankle_pitch_motor.SLDPRT +2025-05-22 11:23:49,028 INFO CommonSwOperations.cs: 230 - Loaded 3 components for link left_knee_pitch +2025-05-22 11:23:49,028 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for left_ankle_pitch from D:\google_download\Opus.SLDASM +2025-05-22 11:23:49,028 INFO CommonSwOperations.cs: 245 - Loading component with PID hB???foot_left-1@Opus? +2025-05-22 11:23:49,029 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\google_download\foot_left.SLDPRT +2025-05-22 11:23:49,029 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link left_ankle_pitch +2025-05-22 11:23:49,276 INFO SwAddin.cs: 344 - Showing property manager +2025-05-22 11:24:29,980 INFO ExportPropertyManager.cs: 422 - Configuration saved +2025-05-22 11:24:29,988 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found 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/v8ccgBpAGcAaAB0AF8AaABpAHAAXwBwAGkAdABjAGgAXwBtAG8AdABvAHIALQAxAEAATwBwAHUAcwAEAAAAEAAAAAEAAAABAAAAOwAAAA==aEIAAAUAAAD//v8bbABlAGYAdABfAGgAaQBwAF8AcABpAHQAYwBoAF8AbQBvAHQAbwByAC0AMQBAAE8AcAB1AHMABAAAABAAAAABAAAAAQAAAC0AAAA=aEIAAAUAAAD//v8UVABvAHIAcwBvACAAdABvACAATgBlAGMAawAtADEAQABPAHAAdQBzAAQAAAAQAAAAAQAAAAEAAAA6AAAAaEIAAAUAAAD//v8OTABDAEQAIABJAE0AVQAtADEAQABPAHAAdQBzAAQAAAAQAAAAAQAAAAEAAAA9AAAAaEIAAAUAAAD//v8LSABlAGEAZAAtADEAQABPAHAAdQBzAAQAAAAQAAAAAQAAAAEAAAAvAAAAaEIAAAUAAAD//v8STQBpAGwAawAgAEMAYQBtAGUAcgBhAC0AMQBAAE8AcAB1AHMABAAAABAAAAABAAAAAQAAADgAAAA=aEIAAAUAAAD//v8YRQBsAGUAYwB0AHIAbwBuAGkAYwBzACAATQBvAHUAbgB0AC0AMQBAAE8AcAB1AHMABAAAABAAAAABAAAAAQAAACAAAAA=aEIAAAUAAAD//v8PQgBhAGMAawBQAGEAYwBrAC0AMQBAAE8AcAB1AHMABAAAABAAAAABAAAAAQAAADMAAAA=aEIAAAUAAAD//v8MQgBvAGEAcgBkAC0AMQBAAE8AcAB1AHMABAAAABAAAAABAAAAAQAAAGAAAAA=aEIAAAUAAAD//v8TZABjAC0AMAAwADUALQA1AGEALQAyADAALQAxAEAATwBwAHUAcwAEAAAAEAAAAAEAAAABAAAAggAAAA==aEIAAAUAAAD//v8OUwBPAEwASQBEAC0AMQAtADEAQABPAHAAdQBzAAQAAAAQAAAAAQAAAAEAAABCAAAAaEIAAAUAAAD//v88RQBsAGUAYwB0AHIAbwBuAGkAYwBzACAAbQBvAHUAbgB0ACAAXwAxAF8ALQAxAEAATwBwAHUAcwAvAEQAVQBPAF8AUABDAEIALQAxAEAARQBsAGUAYwB0AHIAbwBuAGkAYwBzACAAbQBvAHUAbgB0ACAAXwAxAF8ABAAAABAAAAABAAAAAgAAABkAAAAkAAAAaEIAAAUAAAD//v89RQBsAGUAYwB0AHIAbwBuAGkAYwBzACAAbQBvAHUAbgB0ACAAXwAxAF8ALQAxAEAATwBwAHUAcwAvAEMATwBNAFAATwBVAE4ARAAtADEAQABFAGwAZQBjAHQAcgBvAG4AaQBjAHMAIABtAG8AdQBuAHQAIABfADEAXwAEAAAAEAAAAAEAAAACAAAAGQAAABkAAAA=aEIAAAUAAAD//v8/RQBsAGUAYwB0AHIAbwBuAGkAYwBzACAAbQBvAHUAbgB0ACAAXwAxAF8ALQAxAEAATwBwAHUAcwAvAEMATwBNAFAATwBVAE4ARABfADUALQAxAEAARQBsAGUAYwB0AHIAbwBuAGkAYwBzACAAbQBvAHUAbgB0ACAAXwAxAF8ABAAAABAAAAABAAAAAgAAABkAAAAfAAAAaEIAAAUAAAD//v8RTgBlAGMAawAgAE0AbwB1AG4AdAAtADEAQABPAHAAdQBzAAQAAAAQAAAAAQAAAAEAAACFAAAAaEIAAAUAAAD//v8hcgBpAGcAaAB0AF8AcwBoAG8AdQBsAGQAZQByAF8AcABpAHQAYwBoAF8AbQBvAHQAbwByAC0AMQBAAE8AcAB1AHMABAAAABAAAAABAAAAAQAAACgAAAA=aEIAAAUAAAD//v8gbABlAGYAdABfAHMAaABvAHUAbABkAGUAcgBfAHAAaQB0AGMAaABfAG0AbwB0AG8AcgAtADEAQABPAHAAdQBzAAQAAAAQAAAAAQAAAAEAAAAeAAAAfalsefalse +2025-05-22 11:24:33,440 INFO ExportHelperExtension.cs: 347 - Creating joint right_shoulder_pitch +2025-05-22 11:24:33,792 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child right_shoulder_pitch failed +2025-05-22 11:24:33,808 INFO ExportHelperExtension.cs: 347 - Creating joint right_shoulder_yaw +2025-05-22 11:24:33,895 WARN ExportHelperExtension.cs: 351 - Creating joint from parent right_shoulder_pitch to child right_shoulder_yaw failed +2025-05-22 11:24:34,500 INFO ExportHelperExtension.cs: 347 - Creating joint right_elbow_yaw +2025-05-22 11:24:34,588 WARN ExportHelperExtension.cs: 351 - Creating joint from parent right_shoulder_yaw to child right_elbow_yaw failed +2025-05-22 11:24:34,614 INFO ExportHelperExtension.cs: 347 - Creating joint left_shoulder_pitch +2025-05-22 11:24:34,704 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child left_shoulder_pitch failed +2025-05-22 11:24:34,724 INFO ExportHelperExtension.cs: 347 - Creating joint left_shoulder_yaw +2025-05-22 11:24:34,809 WARN ExportHelperExtension.cs: 351 - Creating joint from parent left_shoulder_pitch to child left_shoulder_yaw failed +2025-05-22 11:24:35,406 INFO ExportHelperExtension.cs: 347 - Creating joint left_elbow_yaw +2025-05-22 11:24:35,494 WARN ExportHelperExtension.cs: 351 - Creating joint from parent left_shoulder_yaw to child left_elbow_yaw failed +2025-05-22 11:24:35,520 INFO ExportHelperExtension.cs: 347 - Creating joint right_hip_pitch +2025-05-22 11:24:35,607 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child right_hip_pitch failed +2025-05-22 11:24:35,923 INFO ExportHelperExtension.cs: 347 - Creating joint right_hip_yaw +2025-05-22 11:24:36,017 WARN ExportHelperExtension.cs: 351 - Creating joint from parent right_hip_pitch to child right_hip_yaw failed +2025-05-22 11:24:36,335 INFO ExportHelperExtension.cs: 347 - Creating joint right_hip_roll +2025-05-22 11:24:36,437 WARN ExportHelperExtension.cs: 351 - Creating joint from parent right_hip_yaw to child right_hip_roll failed +2025-05-22 11:24:36,463 INFO ExportHelperExtension.cs: 347 - Creating joint right_knee_pitch +2025-05-22 11:24:36,570 WARN ExportHelperExtension.cs: 351 - Creating joint from parent right_hip_roll to child right_knee_pitch failed +2025-05-22 11:24:37,178 INFO ExportHelperExtension.cs: 347 - Creating joint right_ankle_pitch +2025-05-22 11:24:37,294 WARN ExportHelperExtension.cs: 351 - Creating joint from parent right_knee_pitch to child right_ankle_pitch failed +2025-05-22 11:24:37,318 INFO ExportHelperExtension.cs: 347 - Creating joint left_hip_pitch +2025-05-22 11:24:37,432 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child left_hip_pitch failed +2025-05-22 11:24:37,754 INFO ExportHelperExtension.cs: 347 - Creating joint left_hip_yaw +2025-05-22 11:24:37,846 WARN ExportHelperExtension.cs: 351 - Creating joint from parent left_hip_pitch to child left_hip_yaw failed +2025-05-22 11:24:38,170 INFO ExportHelperExtension.cs: 347 - Creating joint left_hip_roll +2025-05-22 11:24:38,262 WARN ExportHelperExtension.cs: 351 - Creating joint from parent left_hip_yaw to child left_hip_roll failed +2025-05-22 11:24:38,289 INFO ExportHelperExtension.cs: 347 - Creating joint left_knee_pitch +2025-05-22 11:24:38,381 WARN ExportHelperExtension.cs: 351 - Creating joint from parent left_hip_roll to child left_knee_pitch failed +2025-05-22 11:24:38,987 INFO ExportHelperExtension.cs: 347 - Creating joint left_ankle_pitch +2025-05-22 11:24:39,079 WARN ExportHelperExtension.cs: 351 - Creating joint from parent left_knee_pitch to child left_ankle_pitch failed +2025-05-22 11:24:39,245 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Opus.SLDASM +2025-05-22 11:24:39,252 INFO ExportHelperExtension.cs: 1136 - Found 189 in Opus.SLDASM +2025-05-22 11:24:39,253 INFO ExportHelperExtension.cs: 1145 - Found 17 features of type [CoordSys] in Opus.SLDASM +2025-05-22 11:24:39,253 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2025-05-22 11:24:39,253 INFO ExportHelperExtension.cs: 1160 - 115 components to check +2025-05-22 11:24:39,254 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Torso-1 +2025-05-22 11:24:39,254 INFO ExportHelperExtension.cs: 1136 - Found 28 in Torso-1 +2025-05-22 11:24:39,255 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Torso-1 +2025-05-22 11:24:39,255 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from [Draft] Speaker Mount-1 +2025-05-22 11:24:39,255 INFO ExportHelperExtension.cs: 1136 - Found 28 in [Draft] Speaker Mount-1 +2025-05-22 11:24:39,256 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in [Draft] Speaker Mount-1 +2025-05-22 11:24:39,256 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Electronics Mount-1 +2025-05-22 11:24:39,256 INFO ExportHelperExtension.cs: 1136 - Found 28 in Electronics Mount-1 +2025-05-22 11:24:39,256 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Electronics Mount-1 +2025-05-22 11:24:39,257 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from left_elbow_yaw_motor-1 +2025-05-22 11:24:39,257 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_elbow_yaw_motor-1 +2025-05-22 11:24:39,257 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in left_elbow_yaw_motor-1 +2025-05-22 11:24:39,258 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from left_hand-1 +2025-05-22 11:24:39,258 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_hand-1 +2025-05-22 11:24:39,258 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in left_hand-1 +2025-05-22 11:24:39,258 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Chamfered plain washer normal M2-1 +2025-05-22 11:24:39,258 INFO ExportHelperExtension.cs: 1136 - Found 28 in Chamfered plain washer normal M2-1 +2025-05-22 11:24:39,259 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Chamfered plain washer normal M2-1 +2025-05-22 11:24:39,259 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from left_shoulder_yaw-1 +2025-05-22 11:24:39,259 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_shoulder_yaw-1 +2025-05-22 11:24:39,259 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in left_shoulder_yaw-1 +2025-05-22 11:24:39,260 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ankle_pitch_right-1 +2025-05-22 11:24:39,260 INFO ExportHelperExtension.cs: 1136 - Found 28 in ankle_pitch_right-1 +2025-05-22 11:24:39,260 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ankle_pitch_right-1 +2025-05-22 11:24:39,261 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from elbow_bracket_left-1 +2025-05-22 11:24:39,261 INFO ExportHelperExtension.cs: 1136 - Found 28 in elbow_bracket_left-1 +2025-05-22 11:24:39,262 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in elbow_bracket_left-1 +2025-05-22 11:24:39,262 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from hip_roll_left-1 +2025-05-22 11:24:39,263 INFO ExportHelperExtension.cs: 1136 - Found 28 in hip_roll_left-1 +2025-05-22 11:24:39,263 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in hip_roll_left-1 +2025-05-22 11:24:39,263 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from right_shoulder_pitch_motor-1 +2025-05-22 11:24:39,264 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_shoulder_pitch_motor-1 +2025-05-22 11:24:39,264 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in right_shoulder_pitch_motor-1 +2025-05-22 11:24:39,264 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from left_shoulder_pitch_motor-1 +2025-05-22 11:24:39,265 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_shoulder_pitch_motor-1 +2025-05-22 11:24:39,265 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in left_shoulder_pitch_motor-1 +2025-05-22 11:24:39,265 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from foot_right-1 +2025-05-22 11:24:39,265 INFO ExportHelperExtension.cs: 1136 - Found 28 in foot_right-1 +2025-05-22 11:24:39,265 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in foot_right-1 +2025-05-22 11:24:39,266 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ankle_pitch_left-1 +2025-05-22 11:24:39,266 INFO ExportHelperExtension.cs: 1136 - Found 28 in ankle_pitch_left-1 +2025-05-22 11:24:39,276 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ankle_pitch_left-1 +2025-05-22 11:24:39,277 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from left_ankle_pitch_motor-1 +2025-05-22 11:24:39,287 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_ankle_pitch_motor-1 +2025-05-22 11:24:39,288 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in left_ankle_pitch_motor-1 +2025-05-22 11:24:39,288 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from right_hip_yaw_motor-1 +2025-05-22 11:24:39,288 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_hip_yaw_motor-1 +2025-05-22 11:24:39,289 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in right_hip_yaw_motor-1 +2025-05-22 11:24:39,289 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from left_shoulder_yaw_motor-1 +2025-05-22 11:24:39,289 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_shoulder_yaw_motor-1 +2025-05-22 11:24:39,290 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in left_shoulder_yaw_motor-1 +2025-05-22 11:24:39,290 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from right_knee_pitch_motor-1 +2025-05-22 11:24:39,290 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_knee_pitch_motor-1 +2025-05-22 11:24:39,290 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in right_knee_pitch_motor-1 +2025-05-22 11:24:39,291 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from left_hip_pitch_motor-1 +2025-05-22 11:24:39,291 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_hip_pitch_motor-1 +2025-05-22 11:24:39,291 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in left_hip_pitch_motor-1 +2025-05-22 11:24:39,291 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Head-1 +2025-05-22 11:24:39,292 INFO ExportHelperExtension.cs: 1136 - Found 28 in Head-1 +2025-05-22 11:24:39,292 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Head-1 +2025-05-22 11:24:39,292 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from knee_pitch_right-1 +2025-05-22 11:24:39,292 INFO ExportHelperExtension.cs: 1136 - Found 28 in knee_pitch_right-1 +2025-05-22 11:24:39,292 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in knee_pitch_right-1 +2025-05-22 11:24:39,293 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from hip_yaw_left-1 +2025-05-22 11:24:39,293 INFO ExportHelperExtension.cs: 1136 - Found 28 in hip_yaw_left-1 +2025-05-22 11:24:39,293 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in hip_yaw_left-1 +2025-05-22 11:24:39,293 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from BackPack-1 +2025-05-22 11:24:39,294 INFO ExportHelperExtension.cs: 1136 - Found 28 in BackPack-1 +2025-05-22 11:24:39,294 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in BackPack-1 +2025-05-22 11:24:39,294 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Extruded_1-1 +2025-05-22 11:24:39,295 INFO ExportHelperExtension.cs: 1136 - Found 31 in Extruded_1-1 +2025-05-22 11:24:39,295 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Extruded_1-1 +2025-05-22 11:24:39,296 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-LED_0603_R_Pad004-1 +2025-05-22 11:24:39,296 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-LED_0603_R_Pad004-1 +2025-05-22 11:24:39,296 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-LED_0603_R_Pad004-1 +2025-05-22 11:24:39,296 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from left_hip_roll_motor-1 +2025-05-22 11:24:39,297 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_hip_roll_motor-1 +2025-05-22 11:24:39,297 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in left_hip_roll_motor-1 +2025-05-22 11:24:39,297 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Extruded-1 +2025-05-22 11:24:39,298 INFO ExportHelperExtension.cs: 1136 - Found 32 in Extruded-1 +2025-05-22 11:24:39,298 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Extruded-1 +2025-05-22 11:24:39,298 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from LCD IMU-1 +2025-05-22 11:24:39,298 INFO ExportHelperExtension.cs: 1136 - Found 28 in LCD IMU-1 +2025-05-22 11:24:39,299 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in LCD IMU-1 +2025-05-22 11:24:39,299 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from SOLID-1-1 +2025-05-22 11:24:39,299 INFO ExportHelperExtension.cs: 1136 - Found 49 in SOLID-1-1 +2025-05-22 11:24:39,299 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in SOLID-1-1 +2025-05-22 11:24:39,299 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from right_hip_pitch_motor-1 +2025-05-22 11:24:39,300 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_hip_pitch_motor-1 +2025-05-22 11:24:39,300 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in right_hip_pitch_motor-1 +2025-05-22 11:24:39,300 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Extruded_4-1 +2025-05-22 11:24:39,301 INFO ExportHelperExtension.cs: 1136 - Found 30 in Extruded_4-1 +2025-05-22 11:24:39,301 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Extruded_4-1 +2025-05-22 11:24:39,301 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from hip_yaw_right-1 +2025-05-22 11:24:39,301 INFO ExportHelperExtension.cs: 1136 - Found 28 in hip_yaw_right-1 +2025-05-22 11:24:39,302 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in hip_yaw_right-1 +2025-05-22 11:24:39,302 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _2_1_2_3_4_AF0_8-1 +2025-05-22 11:24:39,303 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_8-1 +2025-05-22 11:24:39,303 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _2_1_2_3_4_AF0_8-1 +2025-05-22 11:24:39,303 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Milk Camera-1 +2025-05-22 11:24:39,304 INFO ExportHelperExtension.cs: 1136 - Found 28 in Milk Camera-1 +2025-05-22 11:24:39,304 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Milk Camera-1 +2025-05-22 11:24:39,304 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from left_knee_pitch_motor-1 +2025-05-22 11:24:39,304 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_knee_pitch_motor-1 +2025-05-22 11:24:39,305 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in left_knee_pitch_motor-1 +2025-05-22 11:24:39,305 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Torso to Neck-1 +2025-05-22 11:24:39,305 INFO ExportHelperExtension.cs: 1136 - Found 28 in Torso to Neck-1 +2025-05-22 11:24:39,306 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Torso to Neck-1 +2025-05-22 11:24:39,306 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from hip_roll_right-1 +2025-05-22 11:24:39,306 INFO ExportHelperExtension.cs: 1136 - Found 28 in hip_roll_right-1 +2025-05-22 11:24:39,306 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in hip_roll_right-1 +2025-05-22 11:24:39,306 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from SOT-23-1 +2025-05-22 11:24:39,306 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOT-23-1 +2025-05-22 11:24:39,307 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in SOT-23-1 +2025-05-22 11:24:39,307 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _2_1_2_3_4_AF0_7-1 +2025-05-22 11:24:39,307 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_7-1 +2025-05-22 11:24:39,308 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _2_1_2_3_4_AF0_7-1 +2025-05-22 11:24:39,308 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Chamfered plain washer normal M3-1 +2025-05-22 11:24:39,308 INFO ExportHelperExtension.cs: 1136 - Found 28 in Chamfered plain washer normal M3-1 +2025-05-22 11:24:39,308 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Chamfered plain washer normal M3-1 +2025-05-22 11:24:39,309 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3_1_2_A_2-1 +2025-05-22 11:24:39,309 INFO ExportHelperExtension.cs: 1136 - Found 28 in 3_1_2_A_2-1 +2025-05-22 11:24:39,310 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3_1_2_A_2-1 +2025-05-22 11:24:39,310 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from right_ankle_pitch_motor-1 +2025-05-22 11:24:39,310 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_ankle_pitch_motor-1 +2025-05-22 11:24:39,311 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in right_ankle_pitch_motor-1 +2025-05-22 11:24:39,311 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Extruded_3-1 +2025-05-22 11:24:39,311 INFO ExportHelperExtension.cs: 1136 - Found 30 in Extruded_3-1 +2025-05-22 11:24:39,311 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Extruded_3-1 +2025-05-22 11:24:39,312 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from elbow_bracket_right-1 +2025-05-22 11:24:39,312 INFO ExportHelperExtension.cs: 1136 - Found 28 in elbow_bracket_right-1 +2025-05-22 11:24:39,312 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in elbow_bracket_right-1 +2025-05-22 11:24:39,313 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from right_hand-1 +2025-05-22 11:24:39,313 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_hand-1 +2025-05-22 11:24:39,314 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in right_hand-1 +2025-05-22 11:24:39,314 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-LED_0603_R_Pocket001-1 +2025-05-22 11:24:39,314 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-LED_0603_R_Pocket001-1 +2025-05-22 11:24:39,314 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-LED_0603_R_Pocket001-1 +2025-05-22 11:24:39,315 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 2_1_200_2-1 +2025-05-22 11:24:39,315 INFO ExportHelperExtension.cs: 1136 - Found 28 in 2_1_200_2-1 +2025-05-22 11:24:39,315 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 2_1_200_2-1 +2025-05-22 11:24:39,316 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Extruded_5-1 +2025-05-22 11:24:39,316 INFO ExportHelperExtension.cs: 1136 - Found 29 in Extruded_5-1 +2025-05-22 11:24:39,316 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Extruded_5-1 +2025-05-22 11:24:39,316 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _2_1_2_3_4_AF0_6-1 +2025-05-22 11:24:39,317 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_6-1 +2025-05-22 11:24:39,317 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _2_1_2_3_4_AF0_6-1 +2025-05-22 11:24:39,317 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-DG350-3,5-02P-1 +2025-05-22 11:24:39,317 INFO ExportHelperExtension.cs: 1136 - Found 32 in User_Library-DG350-3,5-02P-1 +2025-05-22 11:24:39,317 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-DG350-3,5-02P-1 +2025-05-22 11:24:39,318 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 5_1_2_3_400_8-1 +2025-05-22 11:24:39,318 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_8-1 +2025-05-22 11:24:39,318 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 5_1_2_3_400_8-1 +2025-05-22 11:24:39,318 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from X2564WV-03-N0SN_1-1 +2025-05-22 11:24:39,330 INFO ExportHelperExtension.cs: 1136 - Found 28 in X2564WV-03-N0SN_1-1 +2025-05-22 11:24:39,330 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in X2564WV-03-N0SN_1-1 +2025-05-22 11:24:39,330 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-TO-223_3_1-1 +2025-05-22 11:24:39,331 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-TO-223_3_1-1 +2025-05-22 11:24:39,331 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-TO-223_3_1-1 +2025-05-22 11:24:39,331 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 5_1_2_3_400_2-1 +2025-05-22 11:24:39,331 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_2-1 +2025-05-22 11:24:39,331 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 5_1_2_3_400_2-1 +2025-05-22 11:24:39,332 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 5_1_2_3_400_7-1 +2025-05-22 11:24:39,332 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_7-1 +2025-05-22 11:24:39,332 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 5_1_2_3_400_7-1 +2025-05-22 11:24:39,332 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-QFN-16-1 +2025-05-22 11:24:39,333 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-QFN-16-1 +2025-05-22 11:24:39,333 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-QFN-16-1 +2025-05-22 11:24:39,333 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-TO-223_5_1-1 +2025-05-22 11:24:39,333 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-TO-223_5_1-1 +2025-05-22 11:24:39,334 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-TO-223_5_1-1 +2025-05-22 11:24:39,334 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Extruded_2-1 +2025-05-22 11:24:39,335 INFO ExportHelperExtension.cs: 1136 - Found 30 in Extruded_2-1 +2025-05-22 11:24:39,335 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Extruded_2-1 +2025-05-22 11:24:39,335 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _2_1_2_3_4_AF0_5-1 +2025-05-22 11:24:39,336 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_5-1 +2025-05-22 11:24:39,336 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _2_1_2_3_4_AF0_5-1 +2025-05-22 11:24:39,336 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Extruded_9-1 +2025-05-22 11:24:39,336 INFO ExportHelperExtension.cs: 1136 - Found 28 in Extruded_9-1 +2025-05-22 11:24:39,337 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Extruded_9-1 +2025-05-22 11:24:39,337 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _2_1_2_3_4_AF0_2-1 +2025-05-22 11:24:39,337 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_2-1 +2025-05-22 11:24:39,338 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _2_1_2_3_4_AF0_2-1 +2025-05-22 11:24:39,338 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-sop-8-1 +2025-05-22 11:24:39,339 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-sop-8-1 +2025-05-22 11:24:39,339 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-sop-8-1 +2025-05-22 11:24:39,339 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-0603_SMD_Capacitor_1-1 +2025-05-22 11:24:39,339 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_1-1 +2025-05-22 11:24:39,340 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-0603_SMD_Capacitor_1-1 +2025-05-22 11:24:39,340 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 5_1_2_3_400-1 +2025-05-22 11:24:39,340 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400-1 +2025-05-22 11:24:39,340 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 5_1_2_3_400-1 +2025-05-22 11:24:39,341 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from SOD323_1-1 +2025-05-22 11:24:39,341 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOD323_1-1 +2025-05-22 11:24:39,341 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in SOD323_1-1 +2025-05-22 11:24:39,342 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from SOD323_2-1 +2025-05-22 11:24:39,342 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOD323_2-1 +2025-05-22 11:24:39,342 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in SOD323_2-1 +2025-05-22 11:24:39,342 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-0603_SMD_Capacitor-1 +2025-05-22 11:24:39,342 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor-1 +2025-05-22 11:24:39,342 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-0603_SMD_Capacitor-1 +2025-05-22 11:24:39,343 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 2_1_200_1-1 +2025-05-22 11:24:39,343 INFO ExportHelperExtension.cs: 1136 - Found 28 in 2_1_200_1-1 +2025-05-22 11:24:39,343 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 2_1_200_1-1 +2025-05-22 11:24:39,343 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Extruded_6-1 +2025-05-22 11:24:39,344 INFO ExportHelperExtension.cs: 1136 - Found 29 in Extruded_6-1 +2025-05-22 11:24:39,344 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Extruded_6-1 +2025-05-22 11:24:39,344 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Board-1 +2025-05-22 11:24:39,345 INFO ExportHelperExtension.cs: 1136 - Found 28 in Board-1 +2025-05-22 11:24:39,345 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Board-1 +2025-05-22 11:24:39,346 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _2_1_2_3_4_AF0_4-1 +2025-05-22 11:24:39,346 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_4-1 +2025-05-22 11:24:39,346 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _2_1_2_3_4_AF0_4-1 +2025-05-22 11:24:39,346 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-TO-223_2_1-1 +2025-05-22 11:24:39,347 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-TO-223_2_1-1 +2025-05-22 11:24:39,347 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-TO-223_2_1-1 +2025-05-22 11:24:39,347 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _2_1_2_3_4_AF0-1 +2025-05-22 11:24:39,348 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0-1 +2025-05-22 11:24:39,348 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _2_1_2_3_4_AF0-1 +2025-05-22 11:24:39,348 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3_1_2_A-1 +2025-05-22 11:24:39,348 INFO ExportHelperExtension.cs: 1136 - Found 28 in 3_1_2_A-1 +2025-05-22 11:24:39,349 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3_1_2_A-1 +2025-05-22 11:24:39,349 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Extruded_8-1 +2025-05-22 11:24:39,349 INFO ExportHelperExtension.cs: 1136 - Found 29 in Extruded_8-1 +2025-05-22 11:24:39,349 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Extruded_8-1 +2025-05-22 11:24:39,349 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _1_1_20001-1 +2025-05-22 11:24:39,349 INFO ExportHelperExtension.cs: 1136 - Found 28 in _1_1_20001-1 +2025-05-22 11:24:39,350 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _1_1_20001-1 +2025-05-22 11:24:39,350 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-0603_SMD_Capacitor_5-1 +2025-05-22 11:24:39,350 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_5-1 +2025-05-22 11:24:39,351 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-0603_SMD_Capacitor_5-1 +2025-05-22 11:24:39,351 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 5_1_2_3_400_3-1 +2025-05-22 11:24:39,351 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_3-1 +2025-05-22 11:24:39,351 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 5_1_2_3_400_3-1 +2025-05-22 11:24:39,352 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-LED_0603_R_Fillet-1 +2025-05-22 11:24:39,352 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-LED_0603_R_Fillet-1 +2025-05-22 11:24:39,353 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-LED_0603_R_Fillet-1 +2025-05-22 11:24:39,353 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _1_1_20001_2-1 +2025-05-22 11:24:39,353 INFO ExportHelperExtension.cs: 1136 - Found 28 in _1_1_20001_2-1 +2025-05-22 11:24:39,354 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _1_1_20001_2-1 +2025-05-22 11:24:39,354 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-LED_0603_R_Pad-1 +2025-05-22 11:24:39,354 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-LED_0603_R_Pad-1 +2025-05-22 11:24:39,354 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-LED_0603_R_Pad-1 +2025-05-22 11:24:39,355 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 5_1_2_3_400_1-1 +2025-05-22 11:24:39,355 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_1-1 +2025-05-22 11:24:39,355 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 5_1_2_3_400_1-1 +2025-05-22 11:24:39,356 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from SOD323_3-1 +2025-05-22 11:24:39,356 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOD323_3-1 +2025-05-22 11:24:39,356 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in SOD323_3-1 +2025-05-22 11:24:39,356 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-0603_SMD_Capacitor_3-1 +2025-05-22 11:24:39,356 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_3-1 +2025-05-22 11:24:39,357 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-0603_SMD_Capacitor_3-1 +2025-05-22 11:24:39,357 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-TO-223_1_1-1 +2025-05-22 11:24:39,357 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-TO-223_1_1-1 +2025-05-22 11:24:39,357 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-TO-223_1_1-1 +2025-05-22 11:24:39,358 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _2_1_2_3_4_AF0_3-1 +2025-05-22 11:24:39,358 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_3-1 +2025-05-22 11:24:39,358 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _2_1_2_3_4_AF0_3-1 +2025-05-22 11:24:39,359 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 5_1_2_3_400_6-1 +2025-05-22 11:24:39,359 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_6-1 +2025-05-22 11:24:39,360 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 5_1_2_3_400_6-1 +2025-05-22 11:24:39,360 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-0603_SMD_Capacitor_4-1 +2025-05-22 11:24:39,360 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_4-1 +2025-05-22 11:24:39,361 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-0603_SMD_Capacitor_4-1 +2025-05-22 11:24:39,361 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _1_1_20001_1-1 +2025-05-22 11:24:39,361 INFO ExportHelperExtension.cs: 1136 - Found 28 in _1_1_20001_1-1 +2025-05-22 11:24:39,361 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _1_1_20001_1-1 +2025-05-22 11:24:39,366 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3_1_2_A_1-1 +2025-05-22 11:24:39,377 INFO ExportHelperExtension.cs: 1136 - Found 28 in 3_1_2_A_1-1 +2025-05-22 11:24:39,377 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3_1_2_A_1-1 +2025-05-22 11:24:39,378 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _2_1_2_3_4_AF0_1-1 +2025-05-22 11:24:39,378 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_1-1 +2025-05-22 11:24:39,378 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _2_1_2_3_4_AF0_1-1 +2025-05-22 11:24:39,378 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-0603_SMD_Capacitor_2-1 +2025-05-22 11:24:39,378 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_2-1 +2025-05-22 11:24:39,379 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-0603_SMD_Capacitor_2-1 +2025-05-22 11:24:39,379 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 2_1_200-1 +2025-05-22 11:24:39,379 INFO ExportHelperExtension.cs: 1136 - Found 28 in 2_1_200-1 +2025-05-22 11:24:39,380 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 2_1_200-1 +2025-05-22 11:24:39,380 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Extruded_7-1 +2025-05-22 11:24:39,380 INFO ExportHelperExtension.cs: 1136 - Found 29 in Extruded_7-1 +2025-05-22 11:24:39,380 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Extruded_7-1 +2025-05-22 11:24:39,381 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-0603_SMD_Capacitor_6-1 +2025-05-22 11:24:39,381 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_6-1 +2025-05-22 11:24:39,382 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-0603_SMD_Capacitor_6-1 +2025-05-22 11:24:39,382 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-TO-223_4_1-1 +2025-05-22 11:24:39,382 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-TO-223_4_1-1 +2025-05-22 11:24:39,383 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-TO-223_4_1-1 +2025-05-22 11:24:39,383 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Neck Mount-1 +2025-05-22 11:24:39,383 INFO ExportHelperExtension.cs: 1136 - Found 28 in Neck Mount-1 +2025-05-22 11:24:39,384 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Neck Mount-1 +2025-05-22 11:24:39,384 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from IMU Mount PCB-1 +2025-05-22 11:24:39,384 INFO ExportHelperExtension.cs: 1136 - Found 28 in IMU Mount PCB-1 +2025-05-22 11:24:39,384 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in IMU Mount PCB-1 +2025-05-22 11:24:39,385 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from right_shoulder_yaw-1 +2025-05-22 11:24:39,385 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_shoulder_yaw-1 +2025-05-22 11:24:39,385 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in right_shoulder_yaw-1 +2025-05-22 11:24:39,385 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from dc-005-5a-20-1 +2025-05-22 11:24:39,385 INFO ExportHelperExtension.cs: 1136 - Found 28 in dc-005-5a-20-1 +2025-05-22 11:24:39,387 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in dc-005-5a-20-1 +2025-05-22 11:24:39,387 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from SOLID_1-1-1 +2025-05-22 11:24:39,387 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOLID_1-1-1 +2025-05-22 11:24:39,387 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in SOLID_1-1-1 +2025-05-22 11:24:39,388 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from hip_pitch_dual_carry-1 +2025-05-22 11:24:39,388 INFO ExportHelperExtension.cs: 1136 - Found 28 in hip_pitch_dual_carry-1 +2025-05-22 11:24:39,388 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in hip_pitch_dual_carry-1 +2025-05-22 11:24:39,389 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from SOLID-2-1 +2025-05-22 11:24:39,389 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOLID-2-1 +2025-05-22 11:24:39,389 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in SOLID-2-1 +2025-05-22 11:24:39,389 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from foot_left-1 +2025-05-22 11:24:39,389 INFO ExportHelperExtension.cs: 1136 - Found 28 in foot_left-1 +2025-05-22 11:24:39,390 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in foot_left-1 +2025-05-22 11:24:39,390 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from right_hip_roll_motor-1 +2025-05-22 11:24:39,390 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_hip_roll_motor-1 +2025-05-22 11:24:39,390 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in right_hip_roll_motor-1 +2025-05-22 11:24:39,391 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 5_1_2_3_400_5-1 +2025-05-22 11:24:39,391 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_5-1 +2025-05-22 11:24:39,391 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 5_1_2_3_400_5-1 +2025-05-22 11:24:39,392 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from SOD323-1 +2025-05-22 11:24:39,392 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOD323-1 +2025-05-22 11:24:39,393 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in SOD323-1 +2025-05-22 11:24:39,393 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 5_1_2_3_400_4-1 +2025-05-22 11:24:39,393 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_4-1 +2025-05-22 11:24:39,394 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 5_1_2_3_400_4-1 +2025-05-22 11:24:39,394 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from User_Library-LED_0603_R_Pocket002-1 +2025-05-22 11:24:39,394 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-LED_0603_R_Pocket002-1 +2025-05-22 11:24:39,395 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in User_Library-LED_0603_R_Pocket002-1 +2025-05-22 11:24:39,395 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from X2564WV-03-N0SN-1 +2025-05-22 11:24:39,395 INFO ExportHelperExtension.cs: 1136 - Found 28 in X2564WV-03-N0SN-1 +2025-05-22 11:24:39,395 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in X2564WV-03-N0SN-1 +2025-05-22 11:24:39,396 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from right_elbow_yaw_motor-1 +2025-05-22 11:24:39,396 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_elbow_yaw_motor-1 +2025-05-22 11:24:39,396 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in right_elbow_yaw_motor-1 +2025-05-22 11:24:39,396 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from right_shoulder_yaw_motor-1 +2025-05-22 11:24:39,396 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_shoulder_yaw_motor-1 +2025-05-22 11:24:39,397 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in right_shoulder_yaw_motor-1 +2025-05-22 11:24:39,397 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from left_hip_yaw_motor-1 +2025-05-22 11:24:39,397 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_hip_yaw_motor-1 +2025-05-22 11:24:39,397 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in left_hip_yaw_motor-1 +2025-05-22 11:24:39,398 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Electronics mount _1_-1 +2025-05-22 11:24:39,398 INFO ExportHelperExtension.cs: 1136 - Found 35 in Electronics mount _1_-1 +2025-05-22 11:24:39,398 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Electronics mount _1_-1 +2025-05-22 11:24:39,399 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from knee_pitch_left-1 +2025-05-22 11:24:39,399 INFO ExportHelperExtension.cs: 1136 - Found 28 in knee_pitch_left-1 +2025-05-22 11:24:39,400 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in knee_pitch_left-1 +2025-05-22 11:24:39,400 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Opus.SLDASM +2025-05-22 11:24:39,400 INFO ExportHelperExtension.cs: 1136 - Found 189 in Opus.SLDASM +2025-05-22 11:24:39,401 INFO ExportHelperExtension.cs: 1145 - Found 16 features of type [RefAxis] in Opus.SLDASM +2025-05-22 11:24:39,401 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2025-05-22 11:24:39,402 INFO ExportHelperExtension.cs: 1160 - 115 components to check +2025-05-22 11:24:39,402 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Torso-1 +2025-05-22 11:24:39,402 INFO ExportHelperExtension.cs: 1136 - Found 28 in Torso-1 +2025-05-22 11:24:39,402 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Torso-1 +2025-05-22 11:24:39,403 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from [Draft] Speaker Mount-1 +2025-05-22 11:24:39,403 INFO ExportHelperExtension.cs: 1136 - Found 28 in [Draft] Speaker Mount-1 +2025-05-22 11:24:39,403 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in [Draft] Speaker Mount-1 +2025-05-22 11:24:39,403 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Electronics Mount-1 +2025-05-22 11:24:39,403 INFO ExportHelperExtension.cs: 1136 - Found 28 in Electronics Mount-1 +2025-05-22 11:24:39,404 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Electronics Mount-1 +2025-05-22 11:24:39,404 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from left_elbow_yaw_motor-1 +2025-05-22 11:24:39,404 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_elbow_yaw_motor-1 +2025-05-22 11:24:39,405 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in left_elbow_yaw_motor-1 +2025-05-22 11:24:39,405 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from left_hand-1 +2025-05-22 11:24:39,405 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_hand-1 +2025-05-22 11:24:39,405 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in left_hand-1 +2025-05-22 11:24:39,406 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Chamfered plain washer normal M2-1 +2025-05-22 11:24:39,406 INFO ExportHelperExtension.cs: 1136 - Found 28 in Chamfered plain washer normal M2-1 +2025-05-22 11:24:39,407 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Chamfered plain washer normal M2-1 +2025-05-22 11:24:39,407 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from left_shoulder_yaw-1 +2025-05-22 11:24:39,407 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_shoulder_yaw-1 +2025-05-22 11:24:39,408 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in left_shoulder_yaw-1 +2025-05-22 11:24:39,408 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ankle_pitch_right-1 +2025-05-22 11:24:39,408 INFO ExportHelperExtension.cs: 1136 - Found 28 in ankle_pitch_right-1 +2025-05-22 11:24:39,409 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ankle_pitch_right-1 +2025-05-22 11:24:39,409 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from elbow_bracket_left-1 +2025-05-22 11:24:39,409 INFO ExportHelperExtension.cs: 1136 - Found 28 in elbow_bracket_left-1 +2025-05-22 11:24:39,410 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in elbow_bracket_left-1 +2025-05-22 11:24:39,410 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from hip_roll_left-1 +2025-05-22 11:24:39,410 INFO ExportHelperExtension.cs: 1136 - Found 28 in hip_roll_left-1 +2025-05-22 11:24:39,410 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in hip_roll_left-1 +2025-05-22 11:24:39,410 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from right_shoulder_pitch_motor-1 +2025-05-22 11:24:39,422 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_shoulder_pitch_motor-1 +2025-05-22 11:24:39,422 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in right_shoulder_pitch_motor-1 +2025-05-22 11:24:39,423 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from left_shoulder_pitch_motor-1 +2025-05-22 11:24:39,423 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_shoulder_pitch_motor-1 +2025-05-22 11:24:39,423 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in left_shoulder_pitch_motor-1 +2025-05-22 11:24:39,424 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from foot_right-1 +2025-05-22 11:24:39,424 INFO ExportHelperExtension.cs: 1136 - Found 28 in foot_right-1 +2025-05-22 11:24:39,425 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in foot_right-1 +2025-05-22 11:24:39,425 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ankle_pitch_left-1 +2025-05-22 11:24:39,425 INFO ExportHelperExtension.cs: 1136 - Found 28 in ankle_pitch_left-1 +2025-05-22 11:24:39,425 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ankle_pitch_left-1 +2025-05-22 11:24:39,426 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from left_ankle_pitch_motor-1 +2025-05-22 11:24:39,426 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_ankle_pitch_motor-1 +2025-05-22 11:24:39,426 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in left_ankle_pitch_motor-1 +2025-05-22 11:24:39,427 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from right_hip_yaw_motor-1 +2025-05-22 11:24:39,427 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_hip_yaw_motor-1 +2025-05-22 11:24:39,427 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in right_hip_yaw_motor-1 +2025-05-22 11:24:39,427 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from left_shoulder_yaw_motor-1 +2025-05-22 11:24:39,428 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_shoulder_yaw_motor-1 +2025-05-22 11:24:39,428 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in left_shoulder_yaw_motor-1 +2025-05-22 11:24:39,428 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from right_knee_pitch_motor-1 +2025-05-22 11:24:39,428 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_knee_pitch_motor-1 +2025-05-22 11:24:39,428 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in right_knee_pitch_motor-1 +2025-05-22 11:24:39,429 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from left_hip_pitch_motor-1 +2025-05-22 11:24:39,429 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_hip_pitch_motor-1 +2025-05-22 11:24:39,429 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in left_hip_pitch_motor-1 +2025-05-22 11:24:39,429 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Head-1 +2025-05-22 11:24:39,430 INFO ExportHelperExtension.cs: 1136 - Found 28 in Head-1 +2025-05-22 11:24:39,430 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Head-1 +2025-05-22 11:24:39,430 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from knee_pitch_right-1 +2025-05-22 11:24:39,431 INFO ExportHelperExtension.cs: 1136 - Found 28 in knee_pitch_right-1 +2025-05-22 11:24:39,431 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in knee_pitch_right-1 +2025-05-22 11:24:39,432 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from hip_yaw_left-1 +2025-05-22 11:24:39,432 INFO ExportHelperExtension.cs: 1136 - Found 28 in hip_yaw_left-1 +2025-05-22 11:24:39,432 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in hip_yaw_left-1 +2025-05-22 11:24:39,432 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from BackPack-1 +2025-05-22 11:24:39,433 INFO ExportHelperExtension.cs: 1136 - Found 28 in BackPack-1 +2025-05-22 11:24:39,433 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in BackPack-1 +2025-05-22 11:24:39,433 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Extruded_1-1 +2025-05-22 11:24:39,434 INFO ExportHelperExtension.cs: 1136 - Found 31 in Extruded_1-1 +2025-05-22 11:24:39,434 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Extruded_1-1 +2025-05-22 11:24:39,434 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-LED_0603_R_Pad004-1 +2025-05-22 11:24:39,434 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-LED_0603_R_Pad004-1 +2025-05-22 11:24:39,435 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-LED_0603_R_Pad004-1 +2025-05-22 11:24:39,435 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from left_hip_roll_motor-1 +2025-05-22 11:24:39,435 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_hip_roll_motor-1 +2025-05-22 11:24:39,435 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in left_hip_roll_motor-1 +2025-05-22 11:24:39,435 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Extruded-1 +2025-05-22 11:24:39,437 INFO ExportHelperExtension.cs: 1136 - Found 32 in Extruded-1 +2025-05-22 11:24:39,437 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Extruded-1 +2025-05-22 11:24:39,437 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from LCD IMU-1 +2025-05-22 11:24:39,437 INFO ExportHelperExtension.cs: 1136 - Found 28 in LCD IMU-1 +2025-05-22 11:24:39,438 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in LCD IMU-1 +2025-05-22 11:24:39,438 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from SOLID-1-1 +2025-05-22 11:24:39,438 INFO ExportHelperExtension.cs: 1136 - Found 49 in SOLID-1-1 +2025-05-22 11:24:39,439 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in SOLID-1-1 +2025-05-22 11:24:39,439 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from right_hip_pitch_motor-1 +2025-05-22 11:24:39,439 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_hip_pitch_motor-1 +2025-05-22 11:24:39,439 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in right_hip_pitch_motor-1 +2025-05-22 11:24:39,439 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Extruded_4-1 +2025-05-22 11:24:39,440 INFO ExportHelperExtension.cs: 1136 - Found 30 in Extruded_4-1 +2025-05-22 11:24:39,440 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Extruded_4-1 +2025-05-22 11:24:39,440 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from hip_yaw_right-1 +2025-05-22 11:24:39,440 INFO ExportHelperExtension.cs: 1136 - Found 28 in hip_yaw_right-1 +2025-05-22 11:24:39,441 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in hip_yaw_right-1 +2025-05-22 11:24:39,441 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _2_1_2_3_4_AF0_8-1 +2025-05-22 11:24:39,441 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_8-1 +2025-05-22 11:24:39,442 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _2_1_2_3_4_AF0_8-1 +2025-05-22 11:24:39,442 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Milk Camera-1 +2025-05-22 11:24:39,443 INFO ExportHelperExtension.cs: 1136 - Found 28 in Milk Camera-1 +2025-05-22 11:24:39,443 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Milk Camera-1 +2025-05-22 11:24:39,443 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from left_knee_pitch_motor-1 +2025-05-22 11:24:39,443 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_knee_pitch_motor-1 +2025-05-22 11:24:39,444 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in left_knee_pitch_motor-1 +2025-05-22 11:24:39,444 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Torso to Neck-1 +2025-05-22 11:24:39,444 INFO ExportHelperExtension.cs: 1136 - Found 28 in Torso to Neck-1 +2025-05-22 11:24:39,445 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Torso to Neck-1 +2025-05-22 11:24:39,445 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from hip_roll_right-1 +2025-05-22 11:24:39,445 INFO ExportHelperExtension.cs: 1136 - Found 28 in hip_roll_right-1 +2025-05-22 11:24:39,445 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in hip_roll_right-1 +2025-05-22 11:24:39,446 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from SOT-23-1 +2025-05-22 11:24:39,446 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOT-23-1 +2025-05-22 11:24:39,446 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in SOT-23-1 +2025-05-22 11:24:39,446 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _2_1_2_3_4_AF0_7-1 +2025-05-22 11:24:39,446 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_7-1 +2025-05-22 11:24:39,447 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _2_1_2_3_4_AF0_7-1 +2025-05-22 11:24:39,447 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Chamfered plain washer normal M3-1 +2025-05-22 11:24:39,447 INFO ExportHelperExtension.cs: 1136 - Found 28 in Chamfered plain washer normal M3-1 +2025-05-22 11:24:39,447 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Chamfered plain washer normal M3-1 +2025-05-22 11:24:39,448 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3_1_2_A_2-1 +2025-05-22 11:24:39,448 INFO ExportHelperExtension.cs: 1136 - Found 28 in 3_1_2_A_2-1 +2025-05-22 11:24:39,448 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3_1_2_A_2-1 +2025-05-22 11:24:39,449 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from right_ankle_pitch_motor-1 +2025-05-22 11:24:39,449 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_ankle_pitch_motor-1 +2025-05-22 11:24:39,450 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in right_ankle_pitch_motor-1 +2025-05-22 11:24:39,450 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Extruded_3-1 +2025-05-22 11:24:39,450 INFO ExportHelperExtension.cs: 1136 - Found 30 in Extruded_3-1 +2025-05-22 11:24:39,451 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Extruded_3-1 +2025-05-22 11:24:39,451 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from elbow_bracket_right-1 +2025-05-22 11:24:39,451 INFO ExportHelperExtension.cs: 1136 - Found 28 in elbow_bracket_right-1 +2025-05-22 11:24:39,451 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in elbow_bracket_right-1 +2025-05-22 11:24:39,452 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from right_hand-1 +2025-05-22 11:24:39,452 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_hand-1 +2025-05-22 11:24:39,452 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in right_hand-1 +2025-05-22 11:24:39,452 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-LED_0603_R_Pocket001-1 +2025-05-22 11:24:39,453 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-LED_0603_R_Pocket001-1 +2025-05-22 11:24:39,453 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-LED_0603_R_Pocket001-1 +2025-05-22 11:24:39,453 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 2_1_200_2-1 +2025-05-22 11:24:39,454 INFO ExportHelperExtension.cs: 1136 - Found 28 in 2_1_200_2-1 +2025-05-22 11:24:39,454 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 2_1_200_2-1 +2025-05-22 11:24:39,454 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Extruded_5-1 +2025-05-22 11:24:39,455 INFO ExportHelperExtension.cs: 1136 - Found 29 in Extruded_5-1 +2025-05-22 11:24:39,455 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Extruded_5-1 +2025-05-22 11:24:39,455 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _2_1_2_3_4_AF0_6-1 +2025-05-22 11:24:39,484 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_6-1 +2025-05-22 11:24:39,484 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _2_1_2_3_4_AF0_6-1 +2025-05-22 11:24:39,485 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-DG350-3,5-02P-1 +2025-05-22 11:24:39,485 INFO ExportHelperExtension.cs: 1136 - Found 32 in User_Library-DG350-3,5-02P-1 +2025-05-22 11:24:39,485 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-DG350-3,5-02P-1 +2025-05-22 11:24:39,486 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 5_1_2_3_400_8-1 +2025-05-22 11:24:39,486 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_8-1 +2025-05-22 11:24:39,487 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 5_1_2_3_400_8-1 +2025-05-22 11:24:39,487 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from X2564WV-03-N0SN_1-1 +2025-05-22 11:24:39,487 INFO ExportHelperExtension.cs: 1136 - Found 28 in X2564WV-03-N0SN_1-1 +2025-05-22 11:24:39,488 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in X2564WV-03-N0SN_1-1 +2025-05-22 11:24:39,488 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-TO-223_3_1-1 +2025-05-22 11:24:39,488 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-TO-223_3_1-1 +2025-05-22 11:24:39,489 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-TO-223_3_1-1 +2025-05-22 11:24:39,489 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 5_1_2_3_400_2-1 +2025-05-22 11:24:39,489 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_2-1 +2025-05-22 11:24:39,490 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 5_1_2_3_400_2-1 +2025-05-22 11:24:39,490 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 5_1_2_3_400_7-1 +2025-05-22 11:24:39,490 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_7-1 +2025-05-22 11:24:39,490 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 5_1_2_3_400_7-1 +2025-05-22 11:24:39,490 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-QFN-16-1 +2025-05-22 11:24:39,491 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-QFN-16-1 +2025-05-22 11:24:39,491 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-QFN-16-1 +2025-05-22 11:24:39,492 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-TO-223_5_1-1 +2025-05-22 11:24:39,492 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-TO-223_5_1-1 +2025-05-22 11:24:39,492 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-TO-223_5_1-1 +2025-05-22 11:24:39,492 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Extruded_2-1 +2025-05-22 11:24:39,493 INFO ExportHelperExtension.cs: 1136 - Found 30 in Extruded_2-1 +2025-05-22 11:24:39,494 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Extruded_2-1 +2025-05-22 11:24:39,494 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _2_1_2_3_4_AF0_5-1 +2025-05-22 11:24:39,494 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_5-1 +2025-05-22 11:24:39,494 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _2_1_2_3_4_AF0_5-1 +2025-05-22 11:24:39,495 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Extruded_9-1 +2025-05-22 11:24:39,495 INFO ExportHelperExtension.cs: 1136 - Found 28 in Extruded_9-1 +2025-05-22 11:24:39,495 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Extruded_9-1 +2025-05-22 11:24:39,495 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _2_1_2_3_4_AF0_2-1 +2025-05-22 11:24:39,496 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_2-1 +2025-05-22 11:24:39,496 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _2_1_2_3_4_AF0_2-1 +2025-05-22 11:24:39,496 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-sop-8-1 +2025-05-22 11:24:39,496 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-sop-8-1 +2025-05-22 11:24:39,497 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-sop-8-1 +2025-05-22 11:24:39,497 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-0603_SMD_Capacitor_1-1 +2025-05-22 11:24:39,497 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_1-1 +2025-05-22 11:24:39,497 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-0603_SMD_Capacitor_1-1 +2025-05-22 11:24:39,497 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 5_1_2_3_400-1 +2025-05-22 11:24:39,498 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400-1 +2025-05-22 11:24:39,498 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 5_1_2_3_400-1 +2025-05-22 11:24:39,498 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from SOD323_1-1 +2025-05-22 11:24:39,498 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOD323_1-1 +2025-05-22 11:24:39,499 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in SOD323_1-1 +2025-05-22 11:24:39,499 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from SOD323_2-1 +2025-05-22 11:24:39,499 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOD323_2-1 +2025-05-22 11:24:39,500 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in SOD323_2-1 +2025-05-22 11:24:39,500 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-0603_SMD_Capacitor-1 +2025-05-22 11:24:39,500 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor-1 +2025-05-22 11:24:39,501 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-0603_SMD_Capacitor-1 +2025-05-22 11:24:39,501 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 2_1_200_1-1 +2025-05-22 11:24:39,501 INFO ExportHelperExtension.cs: 1136 - Found 28 in 2_1_200_1-1 +2025-05-22 11:24:39,502 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 2_1_200_1-1 +2025-05-22 11:24:39,502 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Extruded_6-1 +2025-05-22 11:24:39,502 INFO ExportHelperExtension.cs: 1136 - Found 29 in Extruded_6-1 +2025-05-22 11:24:39,502 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Extruded_6-1 +2025-05-22 11:24:39,503 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Board-1 +2025-05-22 11:24:39,503 INFO ExportHelperExtension.cs: 1136 - Found 28 in Board-1 +2025-05-22 11:24:39,503 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Board-1 +2025-05-22 11:24:39,503 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _2_1_2_3_4_AF0_4-1 +2025-05-22 11:24:39,504 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_4-1 +2025-05-22 11:24:39,505 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _2_1_2_3_4_AF0_4-1 +2025-05-22 11:24:39,505 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-TO-223_2_1-1 +2025-05-22 11:24:39,505 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-TO-223_2_1-1 +2025-05-22 11:24:39,505 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-TO-223_2_1-1 +2025-05-22 11:24:39,506 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _2_1_2_3_4_AF0-1 +2025-05-22 11:24:39,506 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0-1 +2025-05-22 11:24:39,506 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _2_1_2_3_4_AF0-1 +2025-05-22 11:24:39,506 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3_1_2_A-1 +2025-05-22 11:24:39,507 INFO ExportHelperExtension.cs: 1136 - Found 28 in 3_1_2_A-1 +2025-05-22 11:24:39,507 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3_1_2_A-1 +2025-05-22 11:24:39,507 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Extruded_8-1 +2025-05-22 11:24:39,507 INFO ExportHelperExtension.cs: 1136 - Found 29 in Extruded_8-1 +2025-05-22 11:24:39,508 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Extruded_8-1 +2025-05-22 11:24:39,508 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _1_1_20001-1 +2025-05-22 11:24:39,508 INFO ExportHelperExtension.cs: 1136 - Found 28 in _1_1_20001-1 +2025-05-22 11:24:39,508 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _1_1_20001-1 +2025-05-22 11:24:39,508 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-0603_SMD_Capacitor_5-1 +2025-05-22 11:24:39,509 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_5-1 +2025-05-22 11:24:39,509 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-0603_SMD_Capacitor_5-1 +2025-05-22 11:24:39,509 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 5_1_2_3_400_3-1 +2025-05-22 11:24:39,509 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_3-1 +2025-05-22 11:24:39,510 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 5_1_2_3_400_3-1 +2025-05-22 11:24:39,510 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-LED_0603_R_Fillet-1 +2025-05-22 11:24:39,510 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-LED_0603_R_Fillet-1 +2025-05-22 11:24:39,510 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-LED_0603_R_Fillet-1 +2025-05-22 11:24:39,511 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _1_1_20001_2-1 +2025-05-22 11:24:39,511 INFO ExportHelperExtension.cs: 1136 - Found 28 in _1_1_20001_2-1 +2025-05-22 11:24:39,512 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _1_1_20001_2-1 +2025-05-22 11:24:39,512 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-LED_0603_R_Pad-1 +2025-05-22 11:24:39,512 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-LED_0603_R_Pad-1 +2025-05-22 11:24:39,513 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-LED_0603_R_Pad-1 +2025-05-22 11:24:39,513 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 5_1_2_3_400_1-1 +2025-05-22 11:24:39,513 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_1-1 +2025-05-22 11:24:39,513 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 5_1_2_3_400_1-1 +2025-05-22 11:24:39,514 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from SOD323_3-1 +2025-05-22 11:24:39,514 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOD323_3-1 +2025-05-22 11:24:39,514 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in SOD323_3-1 +2025-05-22 11:24:39,515 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-0603_SMD_Capacitor_3-1 +2025-05-22 11:24:39,515 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_3-1 +2025-05-22 11:24:39,515 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-0603_SMD_Capacitor_3-1 +2025-05-22 11:24:39,515 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-TO-223_1_1-1 +2025-05-22 11:24:39,515 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-TO-223_1_1-1 +2025-05-22 11:24:39,515 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-TO-223_1_1-1 +2025-05-22 11:24:39,516 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _2_1_2_3_4_AF0_3-1 +2025-05-22 11:24:39,516 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_3-1 +2025-05-22 11:24:39,516 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _2_1_2_3_4_AF0_3-1 +2025-05-22 11:24:39,519 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 5_1_2_3_400_6-1 +2025-05-22 11:24:39,546 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_6-1 +2025-05-22 11:24:39,546 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 5_1_2_3_400_6-1 +2025-05-22 11:24:39,547 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-0603_SMD_Capacitor_4-1 +2025-05-22 11:24:39,547 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_4-1 +2025-05-22 11:24:39,548 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-0603_SMD_Capacitor_4-1 +2025-05-22 11:24:39,548 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _1_1_20001_1-1 +2025-05-22 11:24:39,548 INFO ExportHelperExtension.cs: 1136 - Found 28 in _1_1_20001_1-1 +2025-05-22 11:24:39,549 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _1_1_20001_1-1 +2025-05-22 11:24:39,549 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3_1_2_A_1-1 +2025-05-22 11:24:39,550 INFO ExportHelperExtension.cs: 1136 - Found 28 in 3_1_2_A_1-1 +2025-05-22 11:24:39,550 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3_1_2_A_1-1 +2025-05-22 11:24:39,551 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _2_1_2_3_4_AF0_1-1 +2025-05-22 11:24:39,551 INFO ExportHelperExtension.cs: 1136 - Found 28 in _2_1_2_3_4_AF0_1-1 +2025-05-22 11:24:39,551 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _2_1_2_3_4_AF0_1-1 +2025-05-22 11:24:39,551 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-0603_SMD_Capacitor_2-1 +2025-05-22 11:24:39,552 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_2-1 +2025-05-22 11:24:39,552 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-0603_SMD_Capacitor_2-1 +2025-05-22 11:24:39,552 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 2_1_200-1 +2025-05-22 11:24:39,553 INFO ExportHelperExtension.cs: 1136 - Found 28 in 2_1_200-1 +2025-05-22 11:24:39,553 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 2_1_200-1 +2025-05-22 11:24:39,553 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Extruded_7-1 +2025-05-22 11:24:39,553 INFO ExportHelperExtension.cs: 1136 - Found 29 in Extruded_7-1 +2025-05-22 11:24:39,554 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Extruded_7-1 +2025-05-22 11:24:39,554 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-0603_SMD_Capacitor_6-1 +2025-05-22 11:24:39,554 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-0603_SMD_Capacitor_6-1 +2025-05-22 11:24:39,555 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-0603_SMD_Capacitor_6-1 +2025-05-22 11:24:39,555 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-TO-223_4_1-1 +2025-05-22 11:24:39,555 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-TO-223_4_1-1 +2025-05-22 11:24:39,555 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-TO-223_4_1-1 +2025-05-22 11:24:39,556 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Neck Mount-1 +2025-05-22 11:24:39,556 INFO ExportHelperExtension.cs: 1136 - Found 28 in Neck Mount-1 +2025-05-22 11:24:39,556 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Neck Mount-1 +2025-05-22 11:24:39,557 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from IMU Mount PCB-1 +2025-05-22 11:24:39,557 INFO ExportHelperExtension.cs: 1136 - Found 28 in IMU Mount PCB-1 +2025-05-22 11:24:39,557 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in IMU Mount PCB-1 +2025-05-22 11:24:39,557 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from right_shoulder_yaw-1 +2025-05-22 11:24:39,558 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_shoulder_yaw-1 +2025-05-22 11:24:39,558 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in right_shoulder_yaw-1 +2025-05-22 11:24:39,558 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from dc-005-5a-20-1 +2025-05-22 11:24:39,558 INFO ExportHelperExtension.cs: 1136 - Found 28 in dc-005-5a-20-1 +2025-05-22 11:24:39,559 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in dc-005-5a-20-1 +2025-05-22 11:24:39,559 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from SOLID_1-1-1 +2025-05-22 11:24:39,559 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOLID_1-1-1 +2025-05-22 11:24:39,560 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in SOLID_1-1-1 +2025-05-22 11:24:39,560 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from hip_pitch_dual_carry-1 +2025-05-22 11:24:39,560 INFO ExportHelperExtension.cs: 1136 - Found 28 in hip_pitch_dual_carry-1 +2025-05-22 11:24:39,560 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in hip_pitch_dual_carry-1 +2025-05-22 11:24:39,561 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from SOLID-2-1 +2025-05-22 11:24:39,561 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOLID-2-1 +2025-05-22 11:24:39,561 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in SOLID-2-1 +2025-05-22 11:24:39,561 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from foot_left-1 +2025-05-22 11:24:39,562 INFO ExportHelperExtension.cs: 1136 - Found 28 in foot_left-1 +2025-05-22 11:24:39,562 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in foot_left-1 +2025-05-22 11:24:39,562 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from right_hip_roll_motor-1 +2025-05-22 11:24:39,563 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_hip_roll_motor-1 +2025-05-22 11:24:39,563 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in right_hip_roll_motor-1 +2025-05-22 11:24:39,563 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 5_1_2_3_400_5-1 +2025-05-22 11:24:39,563 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_5-1 +2025-05-22 11:24:39,564 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 5_1_2_3_400_5-1 +2025-05-22 11:24:39,564 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from SOD323-1 +2025-05-22 11:24:39,564 INFO ExportHelperExtension.cs: 1136 - Found 28 in SOD323-1 +2025-05-22 11:24:39,565 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in SOD323-1 +2025-05-22 11:24:39,565 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 5_1_2_3_400_4-1 +2025-05-22 11:24:39,565 INFO ExportHelperExtension.cs: 1136 - Found 28 in 5_1_2_3_400_4-1 +2025-05-22 11:24:39,565 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 5_1_2_3_400_4-1 +2025-05-22 11:24:39,566 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from User_Library-LED_0603_R_Pocket002-1 +2025-05-22 11:24:39,566 INFO ExportHelperExtension.cs: 1136 - Found 28 in User_Library-LED_0603_R_Pocket002-1 +2025-05-22 11:24:39,566 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in User_Library-LED_0603_R_Pocket002-1 +2025-05-22 11:24:39,567 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from X2564WV-03-N0SN-1 +2025-05-22 11:24:39,567 INFO ExportHelperExtension.cs: 1136 - Found 28 in X2564WV-03-N0SN-1 +2025-05-22 11:24:39,567 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in X2564WV-03-N0SN-1 +2025-05-22 11:24:39,567 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from right_elbow_yaw_motor-1 +2025-05-22 11:24:39,568 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_elbow_yaw_motor-1 +2025-05-22 11:24:39,568 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in right_elbow_yaw_motor-1 +2025-05-22 11:24:39,568 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from right_shoulder_yaw_motor-1 +2025-05-22 11:24:39,569 INFO ExportHelperExtension.cs: 1136 - Found 28 in right_shoulder_yaw_motor-1 +2025-05-22 11:24:39,569 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in right_shoulder_yaw_motor-1 +2025-05-22 11:24:39,569 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from left_hip_yaw_motor-1 +2025-05-22 11:24:39,569 INFO ExportHelperExtension.cs: 1136 - Found 28 in left_hip_yaw_motor-1 +2025-05-22 11:24:39,570 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in left_hip_yaw_motor-1 +2025-05-22 11:24:39,570 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Electronics mount _1_-1 +2025-05-22 11:24:39,570 INFO ExportHelperExtension.cs: 1136 - Found 35 in Electronics mount _1_-1 +2025-05-22 11:24:39,571 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Electronics mount _1_-1 +2025-05-22 11:24:39,571 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from knee_pitch_left-1 +2025-05-22 11:24:39,571 INFO ExportHelperExtension.cs: 1136 - Found 28 in knee_pitch_left-1 +2025-05-22 11:24:39,572 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in knee_pitch_left-1 +2025-05-22 11:24:39,614 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-05-22 11:39:07,085 INFO AssemblyExportForm.cs: 253 - Completing URDF export +2025-05-22 11:39:07,093 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found 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+2025-05-22 11:39:56,937 INFO AssemblyExportForm.cs: 309 - Saving URDF package to E:\robot\2025-05-22\zeroth +2025-05-22 11:39:56,939 INFO ExportHelper.cs: 147 - Beginning the export process +2025-05-22 11:39:56,941 INFO ExportHelper.cs: 153 - Creating package directories with name zeroth and save path E:\robot\2025-05-22 +2025-05-22 11:39:58,990 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at E:\robot\2025-05-22\zeroth\CMakeLists.txt +2025-05-22 11:39:58,999 INFO ExportHelper.cs: 166 - Creating joint names config at E:\robot\2025-05-22\zeroth\config\joint_names_zeroth.yaml +2025-05-22 11:39:59,006 INFO ExportHelper.cs: 170 - Creating package.xml at E:\robot\2025-05-22\zeroth\package.xml +2025-05-22 11:39:59,007 INFO PackageXMLWriter.cs: 21 - Creating package.xml at E:\robot\2025-05-22\zeroth\package.xml +2025-05-22 11:39:59,017 INFO ExportHelper.cs: 177 - Creating RVIZ launch file in E:\robot\2025-05-22\zeroth\launch\ +2025-05-22 11:39:59,026 INFO ExportHelper.cs: 182 - Creating Gazebo launch file in E:\robot\2025-05-22\zeroth\launch\ +2025-05-22 11:39:59,033 INFO ExportHelper.cs: 187 - Saving existing STL preferences +2025-05-22 11:39:59,034 INFO ExportHelper.cs: 450 - Saving users preferences +2025-05-22 11:39:59,035 INFO ExportHelper.cs: 190 - Modifying STL preferences +2025-05-22 11:39:59,035 INFO ExportHelper.cs: 464 - Setting STL preferences +2025-05-22 11:39:59,040 INFO ExportHelper.cs: 196 - Found 0 hidden components +2025-05-22 11:39:59,040 INFO ExportHelper.cs: 197 - Hiding all components +2025-05-22 11:39:59,232 INFO ExportHelper.cs: 204 - Beginning individual files export +2025-05-22 11:39:59,234 INFO ExportHelper.cs: 270 - Exporting link: base_link +2025-05-22 11:39:59,234 INFO ExportHelper.cs: 272 - Link base_link has 4 children +2025-05-22 11:39:59,236 INFO ExportHelper.cs: 270 - Exporting link: right_shoulder_pitch +2025-05-22 11:39:59,236 INFO ExportHelper.cs: 272 - Link right_shoulder_pitch has 1 children +2025-05-22 11:39:59,237 INFO ExportHelper.cs: 270 - Exporting link: right_shoulder_yaw +2025-05-22 11:39:59,237 INFO ExportHelper.cs: 272 - Link right_shoulder_yaw has 1 children +2025-05-22 11:39:59,238 INFO ExportHelper.cs: 270 - Exporting link: right_elbow_yaw +2025-05-22 11:39:59,238 INFO ExportHelper.cs: 272 - Link right_elbow_yaw has 0 children +2025-05-22 11:39:59,238 INFO ExportHelper.cs: 317 - right_elbow_yaw: Exporting STL with coordinate frame c_right_elbow_yaw +2025-05-22 11:39:59,239 INFO ExportHelper.cs: 322 - right_elbow_yaw: Reference geometry name +2025-05-22 11:40:00,144 INFO ExportHelper.cs: 330 - Saving STL to E:\robot\2025-05-22\zeroth\meshes\right_elbow_yaw.STL +2025-05-22 11:40:00,584 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2025-05-22 11:40:00,590 INFO ExportHelper.cs: 317 - right_shoulder_yaw: Exporting STL with coordinate frame c_right_shouder_yaw +2025-05-22 11:40:00,591 INFO ExportHelper.cs: 322 - right_shoulder_yaw: Reference geometry name +2025-05-22 11:40:00,615 INFO ExportHelper.cs: 330 - Saving STL to E:\robot\2025-05-22\zeroth\meshes\right_shoulder_yaw.STL +2025-05-22 11:40:01,235 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2025-05-22 11:40:01,241 INFO ExportHelper.cs: 317 - right_shoulder_pitch: Exporting STL with coordinate frame c_right_shouder_pitch +2025-05-22 11:40:01,242 INFO ExportHelper.cs: 322 - right_shoulder_pitch: Reference geometry name +2025-05-22 11:40:01,257 INFO ExportHelper.cs: 330 - Saving STL to E:\robot\2025-05-22\zeroth\meshes\right_shoulder_pitch.STL +2025-05-22 11:40:01,366 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2025-05-22 11:40:01,374 INFO ExportHelper.cs: 270 - Exporting link: left_shoulder_pitch +2025-05-22 11:40:01,375 INFO ExportHelper.cs: 272 - Link left_shoulder_pitch has 1 children +2025-05-22 11:40:01,375 INFO ExportHelper.cs: 270 - Exporting link: left_shoulder_yaw +2025-05-22 11:40:01,376 INFO ExportHelper.cs: 272 - Link left_shoulder_yaw has 1 children +2025-05-22 11:40:01,376 INFO ExportHelper.cs: 270 - Exporting link: left_elbow_yaw +2025-05-22 11:40:01,376 INFO ExportHelper.cs: 272 - Link left_elbow_yaw has 0 children +2025-05-22 11:40:01,377 INFO ExportHelper.cs: 317 - left_elbow_yaw: Exporting STL with coordinate frame c_left_elbow_yaw +2025-05-22 11:40:01,377 INFO ExportHelper.cs: 322 - left_elbow_yaw: Reference geometry name +2025-05-22 11:40:01,392 INFO ExportHelper.cs: 330 - Saving STL to E:\robot\2025-05-22\zeroth\meshes\left_elbow_yaw.STL +2025-05-22 11:40:01,505 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2025-05-22 11:40:01,512 INFO ExportHelper.cs: 317 - left_shoulder_yaw: Exporting STL with coordinate frame c_left_shouder_yaw +2025-05-22 11:40:01,512 INFO ExportHelper.cs: 322 - left_shoulder_yaw: Reference geometry name +2025-05-22 11:40:01,541 INFO ExportHelper.cs: 330 - Saving STL to E:\robot\2025-05-22\zeroth\meshes\left_shoulder_yaw.STL +2025-05-22 11:40:02,145 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2025-05-22 11:40:02,151 INFO ExportHelper.cs: 317 - left_shoulder_pitch: Exporting STL with coordinate frame c_left_shouder_pitch +2025-05-22 11:40:02,151 INFO ExportHelper.cs: 322 - left_shoulder_pitch: Reference geometry name +2025-05-22 11:40:02,165 INFO ExportHelper.cs: 330 - Saving STL to E:\robot\2025-05-22\zeroth\meshes\left_shoulder_pitch.STL +2025-05-22 11:40:02,272 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2025-05-22 11:40:02,279 INFO ExportHelper.cs: 270 - Exporting link: right_hip_pitch +2025-05-22 11:40:02,279 INFO ExportHelper.cs: 272 - Link right_hip_pitch has 1 children +2025-05-22 11:40:02,281 INFO ExportHelper.cs: 270 - Exporting link: right_hip_yaw +2025-05-22 11:40:02,281 INFO ExportHelper.cs: 272 - Link right_hip_yaw has 1 children +2025-05-22 11:40:02,282 INFO ExportHelper.cs: 270 - Exporting link: right_hip_roll +2025-05-22 11:40:02,282 INFO ExportHelper.cs: 272 - Link right_hip_roll has 1 children +2025-05-22 11:40:02,283 INFO ExportHelper.cs: 270 - Exporting link: right_knee_pitch +2025-05-22 11:40:02,283 INFO ExportHelper.cs: 272 - Link right_knee_pitch has 1 children +2025-05-22 11:40:02,284 INFO ExportHelper.cs: 270 - Exporting link: right_ankle_pitch +2025-05-22 11:40:02,284 INFO ExportHelper.cs: 272 - Link right_ankle_pitch has 0 children +2025-05-22 11:40:02,285 INFO ExportHelper.cs: 317 - right_ankle_pitch: Exporting STL with coordinate frame c_right_ankle_pitch +2025-05-22 11:40:02,285 INFO ExportHelper.cs: 322 - right_ankle_pitch: Reference geometry name +2025-05-22 11:40:02,300 INFO ExportHelper.cs: 330 - Saving STL to E:\robot\2025-05-22\zeroth\meshes\right_ankle_pitch.STL +2025-05-22 11:40:02,408 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2025-05-22 11:40:02,417 INFO ExportHelper.cs: 317 - right_knee_pitch: Exporting STL with coordinate frame c_right_knee_pitch +2025-05-22 11:40:02,418 INFO ExportHelper.cs: 322 - right_knee_pitch: Reference geometry name +2025-05-22 11:40:02,444 INFO ExportHelper.cs: 330 - Saving STL to E:\robot\2025-05-22\zeroth\meshes\right_knee_pitch.STL +2025-05-22 11:40:03,054 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2025-05-22 11:40:03,061 INFO ExportHelper.cs: 317 - right_hip_roll: Exporting STL with coordinate frame c_right_hip_roll +2025-05-22 11:40:03,061 INFO ExportHelper.cs: 322 - right_hip_roll: Reference geometry name +2025-05-22 11:40:03,077 INFO ExportHelper.cs: 330 - Saving STL to E:\robot\2025-05-22\zeroth\meshes\right_hip_roll.STL +2025-05-22 11:40:03,183 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2025-05-22 11:40:03,190 INFO ExportHelper.cs: 317 - right_hip_yaw: Exporting STL with coordinate frame c_right_hip_yaw +2025-05-22 11:40:03,191 INFO ExportHelper.cs: 322 - right_hip_yaw: Reference geometry name +2025-05-22 11:40:03,211 INFO ExportHelper.cs: 330 - Saving STL to E:\robot\2025-05-22\zeroth\meshes\right_hip_yaw.STL +2025-05-22 11:40:03,576 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2025-05-22 11:40:03,583 INFO ExportHelper.cs: 317 - right_hip_pitch: Exporting STL with coordinate frame c_rigth_hip_pitch +2025-05-22 11:40:03,583 INFO ExportHelper.cs: 322 - right_hip_pitch: Reference geometry name +2025-05-22 11:40:03,603 INFO ExportHelper.cs: 330 - Saving STL to E:\robot\2025-05-22\zeroth\meshes\right_hip_pitch.STL +2025-05-22 11:40:03,973 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2025-05-22 11:40:03,982 INFO ExportHelper.cs: 270 - Exporting link: left_hip_pitch +2025-05-22 11:40:03,982 INFO ExportHelper.cs: 272 - Link left_hip_pitch has 1 children +2025-05-22 11:40:03,983 INFO ExportHelper.cs: 270 - Exporting link: left_hip_yaw +2025-05-22 11:40:03,983 INFO ExportHelper.cs: 272 - Link left_hip_yaw has 1 children +2025-05-22 11:40:03,984 INFO ExportHelper.cs: 270 - Exporting link: left_hip_roll +2025-05-22 11:40:03,985 INFO ExportHelper.cs: 272 - Link left_hip_roll has 1 children +2025-05-22 11:40:03,985 INFO ExportHelper.cs: 270 - Exporting link: left_knee_pitch +2025-05-22 11:40:03,985 INFO ExportHelper.cs: 272 - Link left_knee_pitch has 1 children +2025-05-22 11:40:03,986 INFO ExportHelper.cs: 270 - Exporting link: left_ankle_pitch +2025-05-22 11:40:03,996 INFO ExportHelper.cs: 272 - Link left_ankle_pitch has 0 children +2025-05-22 11:40:03,996 INFO ExportHelper.cs: 317 - left_ankle_pitch: Exporting STL with coordinate frame c_left_ankle_pitch +2025-05-22 11:40:03,996 INFO ExportHelper.cs: 322 - left_ankle_pitch: Reference geometry name +2025-05-22 11:40:04,040 INFO ExportHelper.cs: 330 - Saving STL to E:\robot\2025-05-22\zeroth\meshes\left_ankle_pitch.STL +2025-05-22 11:40:04,150 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2025-05-22 11:40:04,157 INFO ExportHelper.cs: 317 - left_knee_pitch: Exporting STL with coordinate frame c_left_knee_pitch +2025-05-22 11:40:04,157 INFO ExportHelper.cs: 322 - left_knee_pitch: Reference geometry name +2025-05-22 11:40:04,183 INFO ExportHelper.cs: 330 - Saving STL to E:\robot\2025-05-22\zeroth\meshes\left_knee_pitch.STL +2025-05-22 11:40:04,805 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2025-05-22 11:40:04,812 INFO ExportHelper.cs: 317 - left_hip_roll: Exporting STL with coordinate frame c_left_hip_roll +2025-05-22 11:40:04,812 INFO ExportHelper.cs: 322 - left_hip_roll: Reference geometry name +2025-05-22 11:40:04,827 INFO ExportHelper.cs: 330 - Saving STL to E:\robot\2025-05-22\zeroth\meshes\left_hip_roll.STL +2025-05-22 11:40:04,933 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2025-05-22 11:40:04,941 INFO ExportHelper.cs: 317 - left_hip_yaw: Exporting STL with coordinate frame c_left_hip_yaw +2025-05-22 11:40:04,941 INFO ExportHelper.cs: 322 - left_hip_yaw: Reference geometry name +2025-05-22 11:40:04,961 INFO ExportHelper.cs: 330 - Saving STL to E:\robot\2025-05-22\zeroth\meshes\left_hip_yaw.STL +2025-05-22 11:40:05,328 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2025-05-22 11:40:05,334 INFO ExportHelper.cs: 317 - left_hip_pitch: Exporting STL with coordinate frame c_left_hip_pitch +2025-05-22 11:40:05,335 INFO ExportHelper.cs: 322 - left_hip_pitch: Reference geometry name +2025-05-22 11:40:05,355 INFO ExportHelper.cs: 330 - Saving STL to E:\robot\2025-05-22\zeroth\meshes\left_hip_pitch.STL +2025-05-22 11:40:05,719 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2025-05-22 11:40:05,727 INFO ExportHelper.cs: 317 - base_link: Exporting STL with coordinate frame c_base_link +2025-05-22 11:40:05,728 INFO ExportHelper.cs: 322 - base_link: Reference geometry name +2025-05-22 11:40:05,855 INFO ExportHelper.cs: 330 - Saving STL to E:\robot\2025-05-22\zeroth\meshes\base_link.STL +2025-05-22 11:40:09,436 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2025-05-22 11:40:09,443 INFO ExportHelper.cs: 145 - Showing all components except previously hidden components +2025-05-22 11:40:10,129 INFO ExportHelper.cs: 145 - Resetting STL preferences +2025-05-22 11:40:10,130 INFO ExportHelper.cs: 478 - Returning STL preferences to user preferences +2025-05-22 11:40:10,130 INFO ExportHelper.cs: 228 - Writing URDF file to E:\robot\2025-05-22\zeroth\urdf\zeroth.urdf +2025-05-22 11:40:10,427 INFO CSVImportExport.cs: 32 - Writing CSV file E:\robot\2025-05-22\zeroth\urdf\zeroth.csv +2025-05-22 11:40:10,445 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2025-05-22 11:40:10,446 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2025-05-22 11:40:10,446 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2025-05-22 11:40:10,446 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2025-05-22 11:40:10,447 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2025-05-22 11:40:10,447 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2025-05-22 11:40:10,447 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2025-05-22 11:40:10,448 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2025-05-22 11:40:10,448 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2025-05-22 11:40:10,448 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2025-05-22 11:40:10,449 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2025-05-22 11:40:10,449 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2025-05-22 11:40:10,449 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2025-05-22 11:40:10,450 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2025-05-22 11:40:10,450 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2025-05-22 11:40:10,450 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2025-05-22 11:40:10,451 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2025-05-22 11:40:10,458 INFO ExportHelper.cs: 234 - Copying log file +2025-05-22 11:40:10,461 INFO ExportHelper.cs: 439 - Copying C:\Users\afddz\sw2urdf_logs\sw2urdf.log to E:\robot\2025-05-22\zeroth\export.log diff --git a/3d_model/urdf-for-zeroth01/zeroth/launch/display.launch b/3d_model/urdf-for-zeroth01/zeroth/launch/display.launch new file mode 100644 index 00000000..f3f18c3b --- /dev/null +++ b/3d_model/urdf-for-zeroth01/zeroth/launch/display.launch @@ -0,0 +1,20 @@ + + + + + + + \ No newline at end of file diff --git a/3d_model/urdf-for-zeroth01/zeroth/launch/gazebo.launch b/3d_model/urdf-for-zeroth01/zeroth/launch/gazebo.launch new file mode 100644 index 00000000..7bfa4922 --- /dev/null +++ b/3d_model/urdf-for-zeroth01/zeroth/launch/gazebo.launch @@ -0,0 +1,20 @@ + + + + + + \ No newline at end of file diff --git a/3d_model/urdf-for-zeroth01/zeroth/package.xml b/3d_model/urdf-for-zeroth01/zeroth/package.xml new file mode 100644 index 00000000..40a4347a --- /dev/null +++ b/3d_model/urdf-for-zeroth01/zeroth/package.xml @@ -0,0 +1,21 @@ + + zeroth + 1.0.0 + +

URDF Description package for zeroth

+

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

+ + TODO + + BSD + catkin + roslaunch + robot_state_publisher + rviz + joint_state_publisher_gui + gazebo + + + + \ No newline at end of file diff --git a/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth.csv b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth.csv new file mode 100644 index 00000000..05e9a4c9 --- /dev/null +++ b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth.csv @@ -0,0 +1,18 @@ +Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity +base_link,0.01073,0.00074718,0.074998,0,0,0,0.90871,0.0021088,4.1125E-06,-0.00013101,0.0011389,1.0735E-05,0.0014787,0,0,0,0,0,0,package://zeroth/meshes/base_link.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/base_link.STL,,Torso-1;hip_pitch_dual_carry-1;right_hip_pitch_motor-1;left_hip_pitch_motor-1;Torso to Neck-1;LCD IMU-1;Head-1;Milk Camera-1;Electronics Mount-1;BackPack-1;Board-1;dc-005-5a-20-1;SOLID-1-1;Electronics mount _1_-1/DUO_PCB-1;Electronics mount _1_-1/COMPOUND-1;Electronics mount _1_-1/COMPOUND_5-1;Neck Mount-1;right_shoulder_pitch_motor-1;left_shoulder_pitch_motor-1,c_base_link,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,, +right_shoulder_pitch,0.00019395,-0.016944,-0.0029649,0,0,0,0.039021,9.8855E-06,6.1999E-08,-1.5022E-07,2.1334E-05,-1.6066E-06,2.184E-05,0,0,0,0,0,0,package://zeroth/meshes/right_shoulder_pitch.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/right_shoulder_pitch.STL,,right_shoulder_yaw-1,c_right_shouder_pitch,a_right_shouder_pitch,right_shoulder_pitch,fixed,0.016843,-0.07815,0.11864,0,0,0,base_link,0,0,0,4.9,7.87,-1.7453293,1.7453293,,,,,,,, +right_shoulder_yaw,-0.017649,-1.9152E-06,-0.035546,0,0,0,0.073404,2.0194E-05,4.1186E-09,9.5855E-09,2.6723E-05,-7.5942E-09,1.8331E-05,0,0,0,0,0,0,package://zeroth/meshes/right_shoulder_yaw.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://zeroth/meshes/right_shoulder_yaw.STL,,right_shoulder_yaw_motor-1;elbow_bracket_left-1;right_elbow_yaw_motor-1,c_right_shouder_yaw,a_right_shouder_yaw,right_shoulder_yaw,fixed,0.019116,-0.03,-0.015957,-0.024744,-0.01805,0,right_shoulder_pitch,0,0,0,4.9,7.87,-1.134464,0.87266463,,,,,,,, +right_elbow_yaw,-0.018343,0.0013193,-0.045753,0,0,0,0.06727,4.1359E-05,3.3353E-08,-1.4171E-06,5.0741E-05,9.3377E-07,1.4193E-05,0,0,0,0,0,0,package://zeroth/meshes/right_elbow_yaw.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/right_elbow_yaw.STL,,right_hand-1,c_right_elbow_yaw,a_right_elbow_yaw,right_elbow_yaw,fixed,-0.00015,0,-0.070993,0,0,0,right_shoulder_yaw,0,0,0,0,0,0,0,,,,,,,, +left_shoulder_pitch,5.1346E-05,0.016944,-0.0029708,0,0,0,0.039021,9.8987E-06,1.5222E-08,4.2379E-07,2.1334E-05,1.6077E-06,2.1827E-05,0,0,0,0,0,0,package://zeroth/meshes/left_shoulder_pitch.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/left_shoulder_pitch.STL,,left_shoulder_yaw-1,c_left_shouder_pitch,a_left_shouder_pitch,left_shoulder_pitch,fixed,0.016843,0.07815,0.11864,0,0,0,base_link,0,0,0,0,0,0,0,,,,,,,, +left_shoulder_yaw,-0.017649,1.9147E-06,-0.035546,0,0,0,0.073404,2.0194E-05,-4.1178E-09,9.5852E-09,2.6723E-05,7.5933E-09,1.8331E-05,0,0,0,0,0,0,package://zeroth/meshes/left_shoulder_yaw.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://zeroth/meshes/left_shoulder_yaw.STL,,left_shoulder_yaw_motor-1;elbow_bracket_right-1;left_elbow_yaw_motor-1,c_left_shouder_yaw,a_left_shouder_yaw,left_shoulder_yaw,fixed,0.018328,0.03,-0.016856,0.02416,0.029982,0,left_shoulder_pitch,0,0,0,0,0,0,0,,,,,,,, +left_elbow_yaw,-0.018343,0.00018355,-0.045771,0,0,0,0.067271,4.1359E-05,1.3248E-08,-1.4177E-06,5.0763E-05,2.6768E-07,1.4171E-05,0,0,0,0,0,0,package://zeroth/meshes/left_elbow_yaw.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/left_elbow_yaw.STL,,left_hand-1,c_left_elbow_yaw,a_left_elbow_yaw,left_elbow_yaw,fixed,-0.00015,0,-0.070993,0,0,0,left_shoulder_yaw,0,0,0,0,0,0,0,,,,,,,, +right_hip_pitch,0.0083414,-0.011997,0.0015388,0,0,0,0.052623,2.2354E-05,-5.0396E-07,3.2805E-07,1.7332E-05,3.0622E-06,2.0854E-05,0,0,0,0,0,0,package://zeroth/meshes/right_hip_pitch.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/right_hip_pitch.STL,,hip_yaw_right-1;right_hip_yaw_motor-1,c_rigth_hip_pitch,a_right_hip_pitch,right_hip_pitch,revolute,0.016843,-0.04565,-0.03136,0,0,0,base_link,0,1,0,4.9,7.8,-1.3,1.4,,,,,,,, +right_hip_yaw,-0.028063,-0.00034696,-0.038573,0,0,0,0.059657,2.1533E-05,-2.1217E-07,-6.243E-06,3.3938E-05,-2.483E-07,2.1428E-05,0,0,0,0,0,0,package://zeroth/meshes/right_hip_yaw.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/right_hip_yaw.STL,,hip_roll_right-1;right_hip_roll_motor-1,c_right_hip_yaw,a_right_hip_yaw,right_hip_yaw,revolute,0.024191,-0.01936,-0.014876,0,0.095559,0,right_hip_pitch,-1,0,0,4.9,7.8,-0.26,1.4,,,,,,,, +right_hip_roll,0.0058812,0.0010724,0.0018006,0,0,0,0.024737,1.6053E-05,1.7806E-07,-2.193E-06,1.2456E-05,7.5172E-07,7.5105E-06,0,0,0,0,0,0,package://zeroth/meshes/right_hip_roll.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/right_hip_roll.STL,,knee_pitch_right-1,c_right_hip_roll,a_right_hip_roll,right_hip_roll,revolute,-0.015,-0.00074143,-0.067756,-0.010942,0,0,right_hip_yaw,0,0,-1,0,0,0,0,,,,,,,, +right_knee_pitch,1.8369E-06,-0.017519,-0.038862,0,0,0,0.076635,2.8713E-05,-2.1194E-10,4.3711E-09,2.1877E-05,2.7135E-10,1.9524E-05,0,0,0,0,0,0,package://zeroth/meshes/right_knee_pitch.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://zeroth/meshes/right_knee_pitch.STL,,right_knee_pitch_motor-1;ankle_pitch_right-1;right_ankle_pitch_motor-1,c_right_knee_pitch,a_right_knee_pitch,right_knee_pitch,revolute,-0.0001387,0.018824,-0.02471,0,-0.019786,0.0073677,right_hip_roll,0,1,0,4.9,7.8,-1.5,1.5,,,,,,,, +right_ankle_pitch,0.0090992,-0.018602,-0.023295,0,0,0,0.096561,2.7686E-05,3.6747E-07,1.5607E-06,7.8895E-05,-9.9419E-07,9.4595E-05,0,0,0,0,0,0,package://zeroth/meshes/right_ankle_pitch.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/right_ankle_pitch.STL,,foot_right-1,c_right_ankle_pitch,a_right_ankle_pitch,right_ankle_pitch,revolute,0,0,-0.07772,0,0,0,right_knee_pitch,0,-1,0,4.9,7.8,-1.5,1.5,,,,,,,, +left_hip_pitch,0.01073,0.00074718,0.074998,0,0,0,0.90871,0.0021088,4.1125E-06,-0.00013101,0.0011389,1.0735E-05,0.0014787,0,0,0,0,0,0,package://zeroth/meshes/left_hip_pitch.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/left_hip_pitch.STL,,hip_yaw_left-1;left_hip_yaw_motor-1,c_left_hip_pitch,a_left_hip_pitch,left_hip_pitch,revolute,0.016843,0.04565,-0.03136,0,0,0,base_link,0,-1,0,4.9,7.8,-1.4,1.3,,,,,,,, +left_hip_yaw,-0.028063,0.0010741,-0.03856,0,0,0,0.059657,2.1533E-05,3.2981E-07,-6.2378E-06,3.3925E-05,4.8393E-07,2.1441E-05,0,0,0,0,0,0,package://zeroth/meshes/left_hip_yaw.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/left_hip_yaw.STL,,hip_roll_left-1;left_hip_roll_motor-1,c_left_hip_yaw,a_left_hip_yaw,left_hip_yaw,revolute,0.024131,0.01936,-0.014973,0,0.099557,0,left_hip_pitch,-1,0,0,4.9,7.8,-1.4,0.26,,,,,,,, +left_hip_roll,0.0058598,-0.0021101,0.0017943,0,0,0,0.024737,1.6045E-05,-2.4604E-07,-2.2068E-06,1.2464E-05,-7.1007E-07,7.5105E-06,0,0,0,0,0,0,package://zeroth/meshes/left_hip_roll.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/left_hip_roll.STL,,knee_pitch_left-1,c_left_hip_roll,a_left_hip_roll,left_hip_roll,revolute,-0.015,0.0029445,-0.067696,0.029795,0,0,left_hip_yaw,0,0,1,4.9,7.8,-0.7,0.7,,,,,,,, +left_knee_pitch,1.8353E-06,0.017326,-0.038862,0,0,0,0.076635,2.8713E-05,2.0956E-10,4.3695E-09,2.1877E-05,-2.7129E-10,1.9524E-05,0,0,0,0,0,0,package://zeroth/meshes/left_knee_pitch.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://zeroth/meshes/left_knee_pitch.STL,,left_knee_pitch_motor-1;ankle_pitch_left-1;left_ankle_pitch_motor-1,c_left_knee_pitch,a_left_knee_pitch,left_knee_pitch,revolute,-0.00049516,-0.019745,-0.024716,0,-0.03867,-0.026306,left_hip_roll,0,-1,0,4.9,7.8,-1.5,1.5,,,,,,,, +left_ankle_pitch,0.0075029,0.018688,-0.024207,0,0,0,0.096566,2.7919E-05,-5.5369E-07,4.203E-06,7.8888E-05,9.1412E-07,9.439E-05,0,0,0,0,0,0,package://zeroth/meshes/left_ankle_pitch.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/left_ankle_pitch.STL,,foot_left-1,c_left_ankle_pitch,a_left_ankle_pitch,left_ankle_pitch,revolute,0,-0.00049999,-0.07772,0,0,0,left_knee_pitch,0,1,0,4.9,7.8,-1.5,1.5,,,,,,,, diff --git a/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth.urdf b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth.urdf new file mode 100644 index 00000000..e4811aeb --- /dev/null +++ b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth.urdf @@ -0,0 +1,983 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/left_elbow_yaw.tmp.usd new file mode 100644 index 00000000..bffe89fb Binary files /dev/null and b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/left_elbow_yaw.tmp.usd differ diff --git a/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/left_hip_pitch.tmp.usd b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/left_hip_pitch.tmp.usd new file mode 100644 index 00000000..8b7d5f59 Binary files /dev/null and b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/left_hip_pitch.tmp.usd differ diff --git a/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/left_hip_roll.tmp.usd b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/left_hip_roll.tmp.usd new file mode 100644 index 00000000..f75dcd6c Binary files /dev/null and b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/left_hip_roll.tmp.usd differ diff --git a/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/left_hip_yaw.tmp.usd b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/left_hip_yaw.tmp.usd new file mode 100644 index 00000000..2fd52085 Binary files /dev/null and b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/left_hip_yaw.tmp.usd differ diff --git a/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/left_knee_pitch.tmp.usd b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/left_knee_pitch.tmp.usd new file mode 100644 index 00000000..931e7a18 Binary files /dev/null and b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/left_knee_pitch.tmp.usd differ diff --git a/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/left_shoulder_pitch.tmp.usd b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/left_shoulder_pitch.tmp.usd new file mode 100644 index 00000000..8623bd3b Binary files /dev/null and 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mode 100644 index 00000000..140488bf Binary files /dev/null and b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/right_elbow_yaw.tmp.usd differ diff --git a/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/right_hip_pitch.tmp.usd b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/right_hip_pitch.tmp.usd new file mode 100644 index 00000000..75560e40 Binary files /dev/null and b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/right_hip_pitch.tmp.usd differ diff --git a/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/right_hip_roll.tmp.usd b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/right_hip_roll.tmp.usd new file mode 100644 index 00000000..dc2f53ca Binary files /dev/null and b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/right_hip_roll.tmp.usd differ diff --git a/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/right_hip_yaw.tmp.usd b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/right_hip_yaw.tmp.usd new file mode 100644 index 00000000..e873b008 Binary files /dev/null and b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/right_hip_yaw.tmp.usd differ diff --git a/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/right_knee_pitch.tmp.usd b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/right_knee_pitch.tmp.usd new file mode 100644 index 00000000..400270cb Binary files /dev/null and b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/right_knee_pitch.tmp.usd differ diff --git a/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/right_shoulder_pitch.tmp.usd b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/right_shoulder_pitch.tmp.usd new file mode 100644 index 00000000..c2a12aeb Binary files /dev/null and b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/right_shoulder_pitch.tmp.usd differ diff --git a/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/right_shoulder_yaw.tmp.usd b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/right_shoulder_yaw.tmp.usd new file mode 100644 index 00000000..689694cc Binary files /dev/null and b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/right_shoulder_yaw.tmp.usd differ diff --git a/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/zeroth_base.usd b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/zeroth_base.usd new file mode 100644 index 00000000..c060d734 Binary files /dev/null and b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/zeroth_base.usd differ diff --git a/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/zeroth_physics.usd b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/zeroth_physics.usd new file mode 100644 index 00000000..e1f225e3 Binary files /dev/null and b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/zeroth_physics.usd differ diff --git a/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/zeroth_sensor.usd b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/zeroth_sensor.usd new file mode 100644 index 00000000..5839f3b6 Binary files /dev/null and b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/configuration/zeroth_sensor.usd differ diff --git a/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/zeroth.usd b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/zeroth.usd new file mode 100644 index 00000000..4942182d Binary files /dev/null and b/3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth/zeroth.usd differ diff --git a/sim/envs/__init__.py b/sim/envs/__init__.py index 3ec47048..4396af27 100755 --- a/sim/envs/__init__.py +++ b/sim/envs/__init__.py @@ -28,6 +28,11 @@ StompyProStandingCfg, ) from sim.envs.humanoids.stompypro_env import StompyProFreeEnv + +#zeroth01 +from sim.envs.humanoids.zeroth01_config import Zeroth01Cfg, Zeroth01CfgPPO +from sim.envs.humanoids.zeroth01_env import Zeroth01Env + from sim.envs.humanoids.xbot_config import XBotCfg, XBotCfgPPO from sim.envs.humanoids.xbot_env import XBotLFreeEnv from sim.utils.task_registry import TaskRegistry # noqa: E402 @@ -42,3 +47,4 @@ task_registry.register("XBotL_free", XBotLFreeEnv, XBotCfg(), XBotCfgPPO()) task_registry.register("stompymicro", StompyMicroEnv, StompyMicroCfg(), StompyMicroCfgPPO()) task_registry.register("stompymicro_standing", StompyMicroEnv, StompyMicroStandingCfg(), StompyMicroCfgPPO()) +task_registry.register("zeroth01", Zeroth01Env, Zeroth01Cfg(), Zeroth01CfgPPO()) diff --git a/sim/envs/humanoids/zeroth01_config.py b/sim/envs/humanoids/zeroth01_config.py new file mode 100644 index 00000000..6fd525a9 --- /dev/null +++ b/sim/envs/humanoids/zeroth01_config.py @@ -0,0 +1,283 @@ +"""Defines the environment configuration for the Getting up task""" + +import numpy as np + +from sim.env import robot_urdf_path +from sim.envs.base.legged_robot_config import ( # type: ignore + LeggedRobotCfg, + LeggedRobotCfgPPO, +) +from sim.resources.zeroth01.joints import Robot + +NUM_JOINTS = len(Robot.all_joints()) # 20 + + +class Zeroth01Cfg(LeggedRobotCfg): + """Configuration class for the Legs humanoid robot.""" + + class env(LeggedRobotCfg.env): + # change the observation dim + frame_stack = 15 + c_frame_stack = 3 + num_single_obs = 11 + NUM_JOINTS * 3 + num_observations = int(frame_stack * num_single_obs) + single_num_privileged_obs = 25 + NUM_JOINTS * 4 + num_privileged_obs = int(c_frame_stack * single_num_privileged_obs) + num_actions = NUM_JOINTS + num_envs = 4096 + episode_length_s = 24 # episode length in seconds + use_ref_actions = False + + class safety: + # safety factors + pos_limit = 1.0 + vel_limit = 1.0 + torque_limit = 1 + terminate_after_contacts_on = [] + + class asset(LeggedRobotCfg.asset): + name = "zeroth01" + file = str(robot_urdf_path(name)) + + #foot_name = ["foot_left", "foot_right"] + #knee_name = ["left_knee_pitch_motor", "right_knee_pitch_motor"] + foot_name = ["left_ankle_pitch", "right_ankle_pitch"] + knee_name = ["left_knee_pitch", "right_knee_pitch"] + + + termination_height = 0.08 + default_feet_height = 0.015 + + terminate_after_contacts_on = ["base_link"] + + penalize_contacts_on = ["base_link"] + self_collisions = 1 # 1 to disable, 0 to enable...bitwise filter + flip_visual_attachments = False + replace_cylinder_with_capsule = False + fix_base_link = False + + # BAM parameters + # TODO update effort to larger one + friction = 0.053343597773929877 + armature = 0.008793405204572328 + + class terrain(LeggedRobotCfg.terrain): + mesh_type = "plane" + # mesh_type = 'trimesh' + curriculum = False + # rough terrain only: + measure_heights = False + static_friction = 0.6 + dynamic_friction = 0.6 + terrain_length = 8.0 + terrain_width = 8.0 + num_rows = 10 # number of terrain rows (levels) + num_cols = 10 # number of terrain cols (types) + max_init_terrain_level = 10 # starting curriculum state + # plane; obstacles; uniform; slope_up; slope_down, stair_up, stair_down + terrain_proportions = [0.2, 0.2, 0.4, 0.1, 0.1, 0, 0] + restitution = 0.0 + + class noise: + add_noise = True + noise_level = 1.0 # scales other values + + class noise_scales: + dof_pos = 0.05 + dof_vel = 0.5 + lin_vel = 0.05 + ang_vel = 0.1 + quat = 0.03 + gravity = 0.05 + height_measurements = 0.1 + + class init_state(LeggedRobotCfg.init_state): + pos = [0.0, 0.0, Robot.height] + # rot = Robot.rotation + + default_joint_angles = {k: 0.0 for k in Robot.all_joints()} + + default_positions = Robot.default_standing() + for joint in default_positions: + default_joint_angles[joint] = default_positions[joint] + + class control(LeggedRobotCfg.control): + # PD Drive parameters: + stiffness = Robot.stiffness() + damping = Robot.damping() + # action scale: target angle = actionScale * action + defaultAngle + action_scale = 0.25 + # decimation: Number of control action updates @ sim DT per policy DT + decimation = 10 # 100hz + + class sim(LeggedRobotCfg.sim): + dt = 0.001 # 1000 Hz + substeps = 1 # 2 + up_axis = 1 # 0 is y, 1 is z + + class physx(LeggedRobotCfg.sim.physx): + num_threads = 10 + solver_type = 1 # 0: pgs, 1: tgs + num_position_iterations = 4 + num_velocity_iterations = 0 + contact_offset = 0.01 # [m] + rest_offset = 0.0 # [m] + bounce_threshold_velocity = 0.1 # [m/s] + max_depenetration_velocity = 1.0 + max_gpu_contact_pairs = 2**23 # 2**24 -> needed for 8000 envs and more + default_buffer_size_multiplier = 5 + # 0: never, 1: last sub-step, 2: all sub-steps (default=2) + contact_collection = 2 + + class domain_rand(LeggedRobotCfg.domain_rand): + start_pos_noise = 0.05 + randomize_friction = True + friction_range = [0.1, 2.0] + randomize_base_mass = True # True + added_mass_range = [-0.1, 0] + push_robots = True # True + push_interval_s = 4 + max_push_vel_xy = 0.05 + max_push_ang_vel = 0.05 + # dynamic randomization + action_delay = 0.5 + action_noise = 0.02 + + class commands(LeggedRobotCfg.commands): + # Vers: lin_vel_x, lin_vel_y, ang_vel_yaw, heading (in heading mode ang_vel_yaw is recomputed from heading error) + num_commands = 4 + resampling_time = 8.0 # time before command are changed[s] + heading_command = True # if true: compute ang vel command from heading error + + class ranges: + lin_vel_x = [0, 0.23 ] # min max [m/s] + lin_vel_y = [0, 0] # min max [m/s] + ang_vel_yaw = [0, 0] # min max [rad/s] + heading = [0,0] # min max [rad] + + class rewards: + base_height_target = Robot.height + min_dist = 0.08 + max_dist = 0.12 + + # put some settings here for LLM parameter tuning + target_joint_pos_scale = 0.1 # rad + target_feet_height = 0.015 # m + cycle_time = 0.64 # sec + # if true negative total rewards are clipped at zero (avoids early termination problems) + only_positive_rewards = True + # tracking reward = exp(error*sigma) + tracking_sigma = 5.0 + max_contact_force = 100 # forces above this value are penalized + + class scales: + # reference motion tracking + joint_pos = 1.6 + feet_clearance = 1 + feet_contact_number = 1.2 + feet_air_time = 1 + foot_slip = -0.05 + feet_distance = 0.2 + knee_distance = 0.2 + # contact + feet_contact_forces = -0.01 + # vel tracking + tracking_lin_vel = 1.2 + tracking_ang_vel = 1.1 + vel_mismatch_exp = 0.5 # lin_z; ang x,y + low_speed = 0.2 + track_vel_hard = 0.5 + + # base pos + default_joint_pos = 0.5 + orientation = 1 + base_height = 0.2 + base_acc = 0.2 + # energy + action_smoothness = -0.002 + torques = -1e-5 + dof_vel = -5e-4 + dof_acc = -1e-7 + collision = -1.0 + + class normalization: + class obs_scales: + lin_vel = 2.0 + ang_vel = 1.0 + dof_pos = 1.0 + dof_vel = 0.05 + quat = 1.0 + height_measurements = 5.0 + + clip_observations = 18.0 + clip_actions = 18.0 + + class viewer: + ref_env = 0 + pos = [4, -4, 2] + lookat = [0, -2, 0] + + +class Zeroth01StandingCfg(Zeroth01Cfg): + class rewards: + base_height_target = Robot.height + # this standing cfg + min_dist = 0.08 + max_dist = 0.10 + + # put some settings here for LLM parameter tuning + target_joint_pos_scale = 0.17*2 # rad + target_feet_height = 0.03 # m + cycle_time = 0.4 # sec + # if true negative total rewards are clipped at zero (avoids early termination problems) + only_positive_rewards = True + # tracking reward = exp(error*sigma) + tracking_sigma = 5.0 + max_contact_force = 50 # forces above this value are penalized + + class scales: + # base pos + default_joint_pos = 1.0 + orientation = 1 + base_height = 0.2 + base_acc = 0.2 + # energy + action_smoothness = -0.002 + torques = -1e-5 + dof_vel = -5e-4 + dof_acc = -1e-7 + collision = -1.0 + + +class Zeroth01CfgPPO(LeggedRobotCfgPPO): + seed = 5 + runner_class_name = "OnPolicyRunner" # DWLOnPolicyRunner + + class policy: + init_noise_std = 1.0 + actor_hidden_dims = [512, 256, 128] + critic_hidden_dims = [768, 256, 128] + + class algorithm(LeggedRobotCfgPPO.algorithm): + entropy_coef = 0.001 + learning_rate = 1e-5 + num_learning_epochs = 2 + gamma = 0.994 + lam = 0.9 + num_mini_batches = 4 + + class runner: + policy_class_name = "ActorCritic" + algorithm_class_name = "PPO" + num_steps_per_env = 60 # per iteration + max_iterations = 3001 # number of policy updates + + # logging + save_interval = 100 # check for potential saves every this many iterations + experiment_name = "StompyMicro" + run_name = "" + # load and resume + resume = False + load_run = -1 # -1 = last run + checkpoint = -1 # -1 = last saved model + resume_path = None # updated from load_run and chkpt diff --git a/sim/envs/humanoids/zeroth01_env.py b/sim/envs/humanoids/zeroth01_env.py new file mode 100644 index 00000000..7a21d622 --- /dev/null +++ b/sim/envs/humanoids/zeroth01_env.py @@ -0,0 +1,530 @@ +# mypy: disable-error-code="valid-newtype" +"""Defines the environment for training the humanoid.""" + +from sim.envs.base.legged_robot import LeggedRobot +from sim.resources.zeroth01.joints import Robot +from sim.utils.terrain import HumanoidTerrain + +from isaacgym import gymtorch # isort:skip +from isaacgym.torch_utils import * # isort: skip + + +import torch # isort:skip + + +class Zeroth01Env(LeggedRobot): + """StompyFreeEnv is a class that represents a custom environment for a legged robot. + + Args: + cfg: Configuration object for the legged robot. + sim_params: Parameters for the simulation. + physics_engine: Physics engin e used in the simulation. + sim_device: Device used for the simulation. + headless: Flag indicating whether the simulation should be run in headless mode. + + Attributes: + last_feet_z (float): The z-coordinate of the last feet position. + feet_height (torch.Tensor): Tensor representing the height of the feet. + sim (gymtorch.GymSim): The simulation object. + terrain (HumanoidTerrain): The terrain object. + up_axis_idx (int): The index representing the up axis. + command_input (torch.Tensor): Tensor representing the command input. + privileged_obs_buf (torch.Tensor): Tensor representing the privileged observations buffer. + obs_buf (torch.Tensor): Tensor representing the observations buffer. + obs_history (collections.deque): Deque containing the history of observations. + critic_history (collections.deque): Deque containing the history of critic observations. + + Methods: + _push_robots(): Randomly pushes the robots by setting a randomized base velocity. + _get_phase(): Calculates the phase of the gait cycle. + _get_gait_phase(): Calculates the gait phase. + compute_ref_state(): Computes the reference state. + create_sim(): Creates the simulation, terrain, and environments. + _get_noise_scale_vec(cfg): Sets a vector used to scale the noise added to the observations. + step(actions): Performs a simulation step with the given actions. + compute_observations(): Computes the observations. + reset_idx(env_ids): Resets the environment for the specified environment IDs. + """ + + def __init__(self, cfg, sim_params, physics_engine, sim_device, headless): + super().__init__(cfg, sim_params, physics_engine, sim_device, headless) + self.last_feet_z = self.cfg.asset.default_feet_height + self.feet_height = torch.zeros((self.num_envs, 2), device=self.device) + self.reset_idx(torch.tensor(range(self.num_envs), device=self.device)) + + env_handle = self.envs[0] + actor_handle = self.actor_handles[0] + + self.legs_joints = {} + for name, joint in Robot.legs.left.joints_motors(): + print(name) + joint_handle = self.gym.find_actor_dof_handle(env_handle, actor_handle, joint) + self.legs_joints["left_" + name] = joint_handle + + for name, joint in Robot.legs.right.joints_motors(): + joint_handle = self.gym.find_actor_dof_handle(env_handle, actor_handle, joint) + self.legs_joints["right_" + name] = joint_handle + + self.compute_observations() + + def _push_robots(self): + """Random pushes the robots. Emulates an impulse by setting a randomized base velocity.""" + max_vel = self.cfg.domain_rand.max_push_vel_xy + max_push_angular = self.cfg.domain_rand.max_push_ang_vel + self.rand_push_force[:, :2] = torch_rand_float( + -max_vel, max_vel, (self.num_envs, 2), device=self.device + ) # lin vel x/y + self.root_states[:, 7:9] = self.rand_push_force[:, :2] + + self.rand_push_torque = torch_rand_float( + -max_push_angular, max_push_angular, (self.num_envs, 3), device=self.device + ) + self.root_states[:, 10:13] = self.rand_push_torque + + self.gym.set_actor_root_state_tensor(self.sim, gymtorch.unwrap_tensor(self.root_states)) + + def _get_phase(self): + cycle_time = self.cfg.rewards.cycle_time + phase = self.episode_length_buf * self.dt / cycle_time + return phase + + def _get_gait_phase(self): + # return float mask 1 is stance, 0 is swing + phase = self._get_phase() + sin_pos = torch.sin(2 * torch.pi * phase) + # Add double support phase + stance_mask = torch.zeros((self.num_envs, 2), device=self.device) + # left foot stance + stance_mask[:, 0] = sin_pos >= 0 + # right foot stance + stance_mask[:, 1] = sin_pos < 0 + # Double support phase + stance_mask[torch.abs(sin_pos) < 0.1] = 1 + + return stance_mask + + def check_termination(self): + """Check if environments need to be reset""" + self.reset_buf = torch.any( + torch.norm(self.contact_forces[:, self.termination_contact_indices, :], dim=-1) > 1.0, + dim=1, + ) + self.reset_buf |= self.root_states[:, 2] < self.cfg.asset.termination_height + self.time_out_buf = self.episode_length_buf > self.max_episode_length # no terminal reward for time-outs + self.reset_buf |= self.time_out_buf + + + def compute_ref_state(self): + # when you change your robot , this need modify, you need check your urdf file in sim diffrent from real robot state + # check util todo add + phase = self._get_phase() + # print(phase) + sin_pos = torch.sin(2 * torch.pi * phase) + # print(sin_pos) + sin_pos_l = sin_pos.clone() + sin_pos_r = sin_pos.clone() + # default_clone = self.default_dof_pos.clone() + # self.ref_dof_pos = self.default_dof_pos.repeat(self.num_envs, 1) + self.ref_dof_pos = torch.zeros_like(self.dof_pos) + + scale_1 = self.cfg.rewards.target_joint_pos_scale + scale_2 = 3 * scale_1 + # left foot stance phase set to default joint pos + sin_pos_l[sin_pos_l > 0] = 0 + sin_pos_l[torch.abs(sin_pos) < 0.1] = 0 + # self.ref_dof_pos[:, self.legs_joints["left_hip_pitch"]] += -sin_pos_l * scale_1 + # self.ref_dof_pos[:, self.legs_joints["left_knee_pitch"]] += sin_pos_l * scale_2 + # self.ref_dof_pos[:, self.legs_joints["left_ankle_pitch"]] += sin_pos_l * scale_1 + self.ref_dof_pos[:, 0] = -sin_pos_l * scale_1 + self.cfg.init_state.default_joint_angles['left_hip_pitch'] + self.ref_dof_pos[:, 3] = sin_pos_l * scale_2 + self.cfg.init_state.default_joint_angles['left_knee_pitch'] + self.ref_dof_pos[:, 4] = sin_pos_l * scale_1 + self.cfg.init_state.default_joint_angles['left_ankle_pitch'] + + # right foot stance phase set to default joint pos + sin_pos_r[sin_pos_r < 0] = 0 + sin_pos_r[torch.abs(sin_pos) < 0.1] = 0 + # self.ref_dof_pos[:, self.legs_joints["right_hip_pitch"]] += -sin_pos_r * scale_1 + # self.ref_dof_pos[:, self.legs_joints["right_knee_pitch"]] += sin_pos_r * scale_2 + # self.ref_dof_pos[:, self.legs_joints["right_ankle_pitch"]] += sin_pos_r * scale_1 + self.ref_dof_pos[:, 5] = -sin_pos_r * scale_1 + self.cfg.init_state.default_joint_angles['right_hip_pitch'] + self.ref_dof_pos[:, 8] = sin_pos_r * scale_2 + self.cfg.init_state.default_joint_angles['right_knee_pitch'] + self.ref_dof_pos[:, 9] = sin_pos_r * scale_1 + self.cfg.init_state.default_joint_angles['right_ankle_pitch'] + + # Double support phase + # self.ref_dof_pos[torch.abs(sin_pos) < 0.1] = 0 + + self.ref_action = 2 * self.ref_dof_pos + + def create_sim(self): + """Creates simulation, terrain and evironments""" + self.up_axis_idx = 2 # 2 for z, 1 for y -> adapt gravity accordingly + self.sim = self.gym.create_sim( + self.sim_device_id, + self.graphics_device_id, + self.physics_engine, + self.sim_params, + ) + mesh_type = self.cfg.terrain.mesh_type + if mesh_type in ["heightfield", "trimesh"]: + self.terrain = HumanoidTerrain(self.cfg.terrain, self.num_envs) + if mesh_type == "plane": + self._create_ground_plane() + elif mesh_type == "heightfield": + self._create_heightfield() + elif mesh_type == "trimesh": + self._create_trimesh() + elif mesh_type is not None: + raise ValueError("Terrain mesh type not recognised. Allowed types are [None, plane, heightfield, trimesh]") + self._create_envs() + + def _get_noise_scale_vec(self, cfg): + """Sets a vector used to scale the noise added to the observations. + [NOTE]: Must be adapted when changing the observations structure + + Args: + cfg (Dict): Environment config file + + Returns: + [torch.Tensor]: Vector of scales used to multiply a uniform distribution in [-1, 1] + """ + num_actions = self.num_actions + noise_vec = torch.zeros(self.cfg.env.num_single_obs, device=self.device) + self.add_noise = self.cfg.noise.add_noise + noise_scales = self.cfg.noise.noise_scales + noise_vec[0:5] = 0.0 # commands + noise_vec[5 : (num_actions + 5)] = noise_scales.dof_pos * self.obs_scales.dof_pos + noise_vec[(num_actions + 5) : (2 * num_actions + 5)] = noise_scales.dof_vel * self.obs_scales.dof_vel + noise_vec[(2 * num_actions + 5) : (3 * num_actions + 5)] = 0.0 # previous actions + noise_vec[(3 * num_actions + 5) : (3 * num_actions + 5) + 3] = ( + noise_scales.ang_vel * self.obs_scales.ang_vel + ) # ang vel + noise_vec[(3 * num_actions + 5) + 3 : (3 * num_actions + 5)] = ( + noise_scales.quat * self.obs_scales.quat + ) # euler x,y + return noise_vec + + def compute_observations(self): + phase = self._get_phase() + self.compute_ref_state() + + sin_pos = torch.sin(2 * torch.pi * phase).unsqueeze(1) + cos_pos = torch.cos(2 * torch.pi * phase).unsqueeze(1) + + stance_mask = self._get_gait_phase() + contact_mask = self.contact_forces[:, self.feet_indices, 2] > 5.0 + + self.command_input = torch.cat((sin_pos, cos_pos, self.commands[:, :3] * self.commands_scale), dim=1) + q = (self.dof_pos - self.default_dof_pos) * self.obs_scales.dof_pos + dq = self.dof_vel * self.obs_scales.dof_vel + + diff = self.dof_pos - self.ref_dof_pos + self.privileged_obs_buf = torch.cat( + ( + self.command_input, # 2 + 3 + (self.dof_pos - self.default_joint_pd_target) * self.obs_scales.dof_pos, # 12 + self.dof_vel * self.obs_scales.dof_vel, # 12 + self.actions, # 12 + diff, # 12 + self.base_lin_vel * self.obs_scales.lin_vel, # 3 + self.base_ang_vel * self.obs_scales.ang_vel, # 3 + self.base_euler_xyz * self.obs_scales.quat, # 3 + self.rand_push_force[:, :2], # 3 + self.rand_push_torque, # 3 + self.env_frictions, # 1 + self.body_mass / 30.0, # 1 + stance_mask, # 2 + contact_mask, # 2 + ), + dim=-1, + ) + + obs_buf = torch.cat( + ( + self.command_input, # 5 = 2D(sin cos) + 3D(vel_x, vel_y, aug_vel_yaw) + q, # 20D + dq, # 20D + self.actions, # 20D + self.base_ang_vel * self.obs_scales.ang_vel, # 3 + self.base_euler_xyz * self.obs_scales.quat, # 3 + ), + dim=-1, + ) + + if self.cfg.terrain.measure_heights: + heights = ( + torch.clip( + self.root_states[:, 2].unsqueeze(1) - 0.5 - self.measured_heights, + -1, + 1.0, + ) + * self.obs_scales.height_measurements + ) + self.privileged_obs_buf = torch.cat((self.obs_buf, heights), dim=-1) + + if self.add_noise: + obs_now = obs_buf.clone() + torch.randn_like(obs_buf) * self.noise_scale_vec * self.cfg.noise.noise_level + else: + obs_now = obs_buf.clone() + self.obs_history.append(obs_now) + self.critic_history.append(self.privileged_obs_buf) + + obs_buf_all = torch.stack([self.obs_history[i] for i in range(self.obs_history.maxlen)], dim=1) # N,T,K + + self.obs_buf = obs_buf_all.reshape(self.num_envs, -1) # N, T*K + self.privileged_obs_buf = torch.cat([self.critic_history[i] for i in range(self.cfg.env.c_frame_stack)], dim=1) + + def reset_idx(self, env_ids): + super().reset_idx(env_ids) + for i in range(self.obs_history.maxlen): + self.obs_history[i][env_ids] *= 0 + for i in range(self.critic_history.maxlen): + self.critic_history[i][env_ids] *= 0 + + # ================================================ Rewards ================================================== # + def _reward_joint_pos(self): + """Calculates the reward based on the difference between the current joint positions and the target joint positions.""" + joint_pos = self.dof_pos.clone() + pos_target = self.ref_dof_pos.clone() + diff = joint_pos - pos_target + r = torch.exp(-2 * torch.norm(diff, dim=1)) - 0.2 * torch.norm(diff, dim=1).clamp(0, 0.5) + + return r + + def _reward_feet_distance(self): + """Calculates the reward based on the distance between the feet. Penilize feet get close to each other or too far away.""" + foot_pos = self.rigid_state[:, self.feet_indices, :2] + foot_dist = torch.norm(foot_pos[:, 0, :] - foot_pos[:, 1, :], dim=1) + fd = self.cfg.rewards.min_dist + max_df = self.cfg.rewards.max_dist + d_min = torch.clamp(foot_dist - fd, -0.05, 0.0) + d_max = torch.clamp(foot_dist - max_df, 0, 0.05) + return (torch.exp(-torch.abs(d_min) * 100) + torch.exp(-torch.abs(d_max) * 100)) / 2 + + def _reward_knee_distance(self): + """Calculates the reward based on the distance between the knee of the humanoid.""" + foot_pos = self.rigid_state[:, self.knee_indices, :2] + foot_dist = torch.norm(foot_pos[:, 0, :] - foot_pos[:, 1, :], dim=1) + fd = self.cfg.rewards.min_dist + max_df = self.cfg.rewards.max_dist / 2 + d_min = torch.clamp(foot_dist - fd, -0.05, 0.0) + d_max = torch.clamp(foot_dist - max_df, 0, 0.05) + return (torch.exp(-torch.abs(d_min) * 100) + torch.exp(-torch.abs(d_max) * 100)) / 2 + + def _reward_foot_slip(self): + """Calculates the reward for minimizing foot slip. The reward is based on the contact forces + and the speed of the feet. A contact threshold is used to determine if the foot is in contact + with the ground. The speed of the foot is calculated and scaled by the contact condition. + """ + contact = self.contact_forces[:, self.feet_indices, 2] > 5.0 + foot_speed_norm = torch.norm(self.rigid_state[:, self.feet_indices, 7:9], dim=2) + rew = torch.sqrt(foot_speed_norm) + rew *= contact + return torch.sum(rew, dim=1) + + def _reward_feet_air_time(self): + """Calculates the reward for feet air time, promoting longer steps. This is achieved by + checking the first contact with the ground after being in the air. The air time is + limited to a maximum value for reward calculation. + """ + contact = self.contact_forces[:, self.feet_indices, 2] > 5.0 + stance_mask = self._get_gait_phase() + self.contact_filt = torch.logical_or(torch.logical_or(contact, stance_mask), self.last_contacts) + self.last_contacts = contact + first_contact = (self.feet_air_time > 0.0) * self.contact_filt + self.feet_air_time += self.dt + air_time = self.feet_air_time.clamp(0, 0.5) * first_contact + self.feet_air_time *= ~self.contact_filt + return air_time.sum(dim=1) + + def _reward_feet_contact_number(self): + """Calculates a reward based on the number of feet contacts aligning with the gait phase. + Rewards or penalizes depending on whether the foot contact matches the expected gait phase. + """ + contact = self.contact_forces[:, self.feet_indices, 2] > 5.0 + stance_mask = self._get_gait_phase() + reward = torch.where(contact == stance_mask, 1, -0.3) + return torch.mean(reward, dim=1) + + def _reward_orientation(self): + """Calculates the reward for maintaining a flat base orientation. It penalizes deviation + from the desired base orientation using the base euler angles and the projected gravity vector. + """ + quat_mismatch = torch.exp(-torch.sum(torch.abs(self.base_euler_xyz[:, :2]), dim=1) * 10) + orientation = torch.exp(-torch.norm(self.projected_gravity[:, :2], dim=1) * 20) + return (quat_mismatch + orientation) / 2 + + def _reward_feet_contact_forces(self): + """Calculates the reward for keeping contact forces within a specified range. Penalizes + high contact forces on the feet. + """ + return torch.sum( + ( + torch.norm(self.contact_forces[:, self.feet_indices, :], dim=-1) - self.cfg.rewards.max_contact_force + ).clip(0, 400), + dim=1, + ) + + def _reward_default_joint_pos(self): + """Calculates the reward for keeping joint positions close to default positions, with a focus + on penalizing deviation in yaw and roll directions. Excludes yaw and roll from the main penalty. + """ + joint_diff = self.dof_pos - self.default_joint_pd_target + left_yaw_roll = joint_diff[:, [self.legs_joints["left_hip_roll"], self.legs_joints["left_hip_yaw"]]] + right_yaw_roll = joint_diff[:, [self.legs_joints["right_hip_roll"], self.legs_joints["right_hip_yaw"]]] + yaw_roll = torch.norm(left_yaw_roll, dim=1) + torch.norm(right_yaw_roll, dim=1) + yaw_roll = torch.clamp(yaw_roll - 0.1, 0, 50) + return torch.exp(-yaw_roll * 100) - 0.01 * torch.norm(joint_diff, dim=1) + + def _reward_base_height(self): + """Calculates the reward based on the robot's base height. Penalizes deviation from a target base height. + The reward is computed based on the height difference between the robot's base and the average height + of its feet when they are in contact with the ground. + """ + stance_mask = self._get_gait_phase() + measured_heights = torch.sum(self.rigid_state[:, self.feet_indices, 2] * stance_mask, dim=1) / torch.sum( + stance_mask, dim=1 + ) + base_height = self.root_states[:, 2] - (measured_heights - self.cfg.asset.default_feet_height) + reward = torch.exp(-torch.abs(base_height - self.cfg.rewards.base_height_target) * 100) + return reward + + def _reward_base_acc(self): + """Computes the reward based on the base's acceleration. Penalizes high accelerations of the robot's base, + encouraging smoother motion. + """ + root_acc = self.last_root_vel - self.root_states[:, 7:13] + rew = torch.exp(-torch.norm(root_acc, dim=1) * 3) + return rew + + def _reward_vel_mismatch_exp(self): + """Computes a reward based on the mismatch in the robot's linear and angular velocities. + Encourages the robot to maintain a stable velocity by penalizing large deviations. + """ + lin_mismatch = torch.exp(-torch.square(self.base_lin_vel[:, 2]) * 10) + ang_mismatch = torch.exp(-torch.norm(self.base_ang_vel[:, :2], dim=1) * 5.0) + + c_update = (lin_mismatch + ang_mismatch) / 2.0 + + return c_update + + def _reward_track_vel_hard(self): + """Calculates a reward for accurately tracking both linear and angular velocity commands. + Penalizes deviations from specified linear and angular velocity targets. + """ + # Tracking of linear velocity commands (xy axes) + lin_vel_error = torch.norm(self.commands[:, :2] - self.base_lin_vel[:, :2], dim=1) + lin_vel_error_exp = torch.exp(-lin_vel_error * 10) + + # Tracking of angular velocity commands (yaw) + ang_vel_error = torch.abs(self.commands[:, 2] - self.base_ang_vel[:, 2]) + ang_vel_error_exp = torch.exp(-ang_vel_error * 10) + + linear_error = 0.2 * (lin_vel_error + ang_vel_error) + + return (lin_vel_error_exp + ang_vel_error_exp) / 2.0 - linear_error + + def _reward_tracking_lin_vel(self): + """Tracks linear velocity commands along the xy axes. + Calculates a reward based on how closely the robot's linear velocity matches the commanded values. + """ + lin_vel_error = torch.sum(torch.square(self.commands[:, :2] - self.base_lin_vel[:, :2]), dim=1) + return torch.exp(-lin_vel_error * self.cfg.rewards.tracking_sigma) + + def _reward_tracking_ang_vel(self): + """Tracks angular velocity commands for yaw rotation. + Computes a reward based on how closely the robot's angular velocity matches the commanded yaw values. + """ + ang_vel_error = torch.square(self.commands[:, 2] - self.base_ang_vel[:, 2]) + return torch.exp(-ang_vel_error * self.cfg.rewards.tracking_sigma) + + def _reward_feet_clearance(self): + """Calculates reward based on the clearance of the swing leg from the ground during movement. + Encourages appropriate lift of the feet during the swing phase of the gait. + """ + # Compute feet contact mask + contact = self.contact_forces[:, self.feet_indices, 2] > 5.0 + + # Get the z-position of the feet and compute the change in z-position + feet_z = self.rigid_state[:, self.feet_indices, 2] - self.cfg.asset.default_feet_height + delta_z = feet_z - self.last_feet_z + self.feet_height += delta_z + self.last_feet_z = feet_z + + # Compute swing mask + swing_mask = 1 - self._get_gait_phase() + + # feet height should be closed to target feet height at the peak + rew_pos = torch.abs(self.feet_height - self.cfg.rewards.target_feet_height) < 0.01 + rew_pos = torch.sum(rew_pos * swing_mask, dim=1) + self.feet_height *= ~contact + + return rew_pos + + def _reward_low_speed(self): + """Rewards or penalizes the robot based on its speed relative to the commanded speed. + This function checks if the robot is moving too slow, too fast, or at the desired speed, + and if the movement direction matches the command. + """ + # Calculate the absolute value of speed and command for comparison + absolute_speed = torch.abs(self.base_lin_vel[:, 0]) + absolute_command = torch.abs(self.commands[:, 0]) + + # Define speed criteria for desired range + speed_too_low = absolute_speed < 0.5 * absolute_command + speed_too_high = absolute_speed > 1.2 * absolute_command + speed_desired = ~(speed_too_low | speed_too_high) + + # Check if the speed and command directions are mismatched + sign_mismatch = torch.sign(self.base_lin_vel[:, 0]) != torch.sign(self.commands[:, 0]) + + # Initialize reward tensor + reward = torch.zeros_like(self.base_lin_vel[:, 0]) + + # Assign rewards based on conditions + # Speed too low + reward[speed_too_low] = -1.0 + # Speed too high + reward[speed_too_high] = 0.0 + # Speed within desired range + reward[speed_desired] = 1.2 + # Sign mismatch has the highest priority + reward[sign_mismatch] = -2.0 + return reward * (self.commands[:, 0].abs() > 0.1) + + def _reward_torques(self): + """Penalizes the use of high torques in the robot's joints. Encourages efficient movement by minimizing + the necessary force exerted by the motors. + """ + return torch.sum(torch.square(self.torques), dim=1) + + def _reward_dof_vel(self): + """Penalizes high velocities at the degrees of freedom (DOF) of the robot. This encourages smoother and + more controlled movements. + """ + return torch.sum(torch.square(self.dof_vel), dim=1) + + def _reward_dof_acc(self): + """Penalizes high accelerations at the robot's degrees of freedom (DOF). This is important for ensuring + smooth and stable motion, reducing wear on the robot's mechanical parts. + """ + return torch.sum(torch.square((self.last_dof_vel - self.dof_vel) / self.dt), dim=1) + + def _reward_collision(self): + """Penalizes collisions of the robot with the environment, specifically focusing on selected body parts. + This encourages the robot to avoid undesired contact with objects or surfaces. + """ + return torch.sum( + 1.0 * (torch.norm(self.contact_forces[:, self.penalised_contact_indices, :], dim=-1) > 0.1), + dim=1, + ) + + def _reward_action_smoothness(self): + """Encourages smoothness in the robot's actions by penalizing large differences between consecutive actions. + This is important for achieving fluid motion and reducing mechanical stress. + """ + term_1 = torch.sum(torch.square(self.last_actions - self.actions), dim=1) + term_2 = torch.sum( + torch.square(self.actions + self.last_last_actions - 2 * self.last_actions), + dim=1, + ) + term_3 = 0.05 * torch.sum(torch.abs(self.actions), dim=1) + return term_1 + term_2 + term_3 diff --git a/sim/play.py b/sim/play.py index 32052bec..78aca2a4 100755 --- a/sim/play.py +++ b/sim/play.py @@ -79,7 +79,7 @@ def play(args: argparse.Namespace) -> None: env_logger = Logger(env.dt) robot_index = 0 joint_index = 1 - stop_state_log = 1000 + stop_state_log = 800 now = datetime.now().strftime("%Y-%m-%d_%H-%M-%S") if args.log_h5: diff --git a/sim/resources/zeroth01/joints.py b/sim/resources/zeroth01/joints.py new file mode 100644 index 00000000..4720356e --- /dev/null +++ b/sim/resources/zeroth01/joints.py @@ -0,0 +1,274 @@ +"""Defines a more Pythonic interface for specifying the joint names. + +The best way to re-generate this snippet for a new robot is to use the +`sim/scripts/print_joints.py` script. This script will print out a hierarchical +tree of the various joint names in the robot. +""" + +import textwrap +from abc import ABC +from typing import Dict, List, Tuple, Union + + +class Node(ABC): + @classmethod + def children(cls) -> List["Union[Node, str]"]: + return [ + attr + for attr in (getattr(cls, attr) for attr in dir(cls) if not attr.startswith("__")) + if isinstance(attr, (Node, str)) + ] + + @classmethod + def joints(cls) -> List[str]: + return [ + attr + for attr in (getattr(cls, attr) for attr in dir(cls) if not attr.startswith("__")) + if isinstance(attr, str) + ] + + @classmethod + def joints_motors(cls) -> List[Tuple[str, str]]: + joint_names: List[Tuple[str, str]] = [] + for attr in dir(cls): + if not attr.startswith("__"): + attr2 = getattr(cls, attr) + if isinstance(attr2, str): + joint_names.append((attr, attr2)) + + return joint_names + + @classmethod + def all_joints(cls) -> List[str]: + leaves = cls.joints() + for child in cls.children(): + if isinstance(child, Node): + leaves.extend(child.all_joints()) + return leaves + + def __str__(self) -> str: + parts = [str(child) for child in self.children()] + parts_str = textwrap.indent("\n" + "\n".join(parts), " ") + return f"[{self.__class__.__name__}]{parts_str}" + + +class LeftArm(Node): + shoulder_yaw = "left_shoulder_yaw" + shoulder_pitch = "left_shoulder_pitch" + elbow_pitch = "left_elbow_yaw" # FIXME: yaw vs pitch + + +class RightArm(Node): + shoulder_yaw = "right_shoulder_yaw" + shoulder_pitch = "right_shoulder_pitch" + elbow_pitch = "right_elbow_yaw" # FIXME: yaw vs pitch + + +class LeftLeg(Node): + hip_roll = "left_hip_roll" + hip_yaw = "left_hip_yaw" + hip_pitch = "left_hip_pitch" + knee_pitch = "left_knee_pitch" + ankle_pitch = "left_ankle_pitch" + + +class RightLeg(Node): + hip_roll = "right_hip_roll" + hip_yaw = "right_hip_yaw" + hip_pitch = "right_hip_pitch" + knee_pitch = "right_knee_pitch" + ankle_pitch = "right_ankle_pitch" + + +class Legs(Node): + left = LeftLeg() + right = RightLeg() + + +class Robot(Node): + height = 0.21 + + # height = 0.205 + rotation = [0, 0, 0.707, 0.707] + + # left_arm = LeftArm() + # right_arm = RightArm() + legs = Legs() + + @classmethod + def default_standing(cls) -> Dict[str, float]: + return { + # Legs + cls.legs.left.hip_pitch: 0.52, + cls.legs.left.knee_pitch: -1, + cls.legs.left.hip_yaw: 0, + cls.legs.left.hip_roll: 0, + cls.legs.left.ankle_pitch: -0.52, + cls.legs.right.hip_pitch: -0.52, + cls.legs.right.knee_pitch: 1, + cls.legs.right.ankle_pitch: 0.52, + cls.legs.right.hip_yaw: 0, + cls.legs.right.hip_roll: 0, + } + + @classmethod + def default_limits(cls) -> Dict[str, Dict[str, float]]: + return { + # # left arm + # Robot.left_arm.shoulder_pitch: { + # "lower": -1.7453293, + # "upper": 1.7453293, + # }, + # Robot.left_arm.shoulder_yaw: { + # "lower": -0.43633231, + # "upper": 1.5707963, + # }, + # Robot.left_arm.elbow_pitch: { + # "lower": -1.5707963, + # "upper": 1.5707963, + # }, + # # Right Arm + # Robot.right_arm.shoulder_pitch: { + # "lower": -1.7453293, + # "upper": 1.7453293, + # }, + # Robot.right_arm.shoulder_yaw: { + # "lower": -1.134464, + # "upper": 0.87266463, + # }, + # Robot.right_arm.elbow_pitch: { + # "lower": -1.5707963, + # "upper": 1.5707963, + # }, + # Left Leg + Robot.legs.left.hip_pitch: { + "lower": -1.4, + "upper": 1.3, + }, + Robot.legs.left.hip_yaw: { + "lower": -1.4, + "upper": 0.26, + }, + Robot.legs.left.hip_roll: { + "lower": -0.70, + "upper": 0.70, + }, + Robot.legs.left.knee_pitch: { + "lower": -1.4, + "upper": 0, + }, + Robot.legs.left.ankle_pitch: { + "lower": -1.5, + "upper": 1.5, + }, + # Right Leg + Robot.legs.right.hip_pitch: { + "lower": -1.3, + "upper": 1.4, + }, + Robot.legs.right.hip_yaw: { + "lower": -0.26, + "upper": 1.4, + }, + Robot.legs.right.hip_roll: { + "lower": -0.7, + "upper": 0.7, + }, + Robot.legs.right.knee_pitch: { + "lower": 0, + "upper": 1.4, + }, + Robot.legs.right.ankle_pitch: { + "lower": -1.5, + "upper": 1.5, + }, + } + + # p_gains + @classmethod + def stiffness(cls) -> Dict[str, float]: + return { + "hip_pitch": 50, + "hip_yaw": 50, + "hip_roll": 50, + "knee_pitch": 50, + "ankle_pitch": 50, + # "shoulder_pitch": 5, + # "shoulder_yaw": 5, + # "shoulder_roll": 5, + # "elbow_pitch": 5, + # "elbow_yaw": 5, + } + + # d_gains + @classmethod + def damping(cls) -> Dict[str, float]: + return { + "hip_pitch": 10, + "hip_yaw": 10, + "hip_roll": 10, + "knee_pitch": 10, + "ankle_pitch": 10, + # "shoulder_pitch": 0.3, + # "shoulder_yaw": 0.3, + # "shoulder_roll": 0.3, + # "elbow_pitch": 0.3, + # "elbow_yaw": 0.3, + } + + # pos_limits + @classmethod + def effort(cls) -> Dict[str, float]: + return { + "hip_pitch": 4.9, + "hip_yaw": 4.9, + "hip_roll": 4.9, + "knee_pitch": 4.9, + "ankle_pitch": 4.9, + # "shoulder_pitch": 1, + # "shoulder_yaw": 1, + # "shoulder_roll": 1, + # "elbow_pitch": 1, + # "elbow_yaw": 1, + } + + # vel_limits + @classmethod + def velocity(cls) -> Dict[str, float]: + return { + "hip_pitch": 7.8, + "hip_yaw": 7.8, + "hip_roll": 7.8, + "knee_pitch": 7.8, + "ankle_pitch": 7.8, + # "shoulder_pitch": 10, + # "shoulder_yaw": 10, + # "shoulder_roll": 10, + # "elbow_pitch": 10, + # "elbow_yaw": 10, + } + + @classmethod + def friction(cls) -> Dict[str, float]: + return { + # pfb30 todo + "hip_pitch": 0.05, + "hip_yaw": 0.05, + "hip_roll": 0.05, + "knee_pitch": 0.05, + "ankle_pitch": 0.05, + # "ankle_pitch": 0.05, + # "elbow_yaw": 0.05, + # "elbow_pitch": 0.05, + } + + +def print_joints() -> None: + joints = Robot.all_joints() + assert len(joints) == len(set(joints)), "Duplicate joint names found!" + print(Robot()) + + +if __name__ == "__main__": + # python -m sim.Robot.joints + print_joints() diff --git a/sim/resources/zeroth01/meshes/base_link.STL b/sim/resources/zeroth01/meshes/base_link.STL new file mode 100644 index 00000000..f11f023b Binary files /dev/null and b/sim/resources/zeroth01/meshes/base_link.STL differ diff --git a/sim/resources/zeroth01/meshes/left_ankle_pitch.STL 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b/sim/resources/zeroth01/meshes/left_hip_yaw.STL new file mode 100644 index 00000000..95b02041 Binary files /dev/null and b/sim/resources/zeroth01/meshes/left_hip_yaw.STL differ diff --git a/sim/resources/zeroth01/meshes/left_knee_pitch.STL b/sim/resources/zeroth01/meshes/left_knee_pitch.STL new file mode 100644 index 00000000..b791130e Binary files /dev/null and b/sim/resources/zeroth01/meshes/left_knee_pitch.STL differ diff --git a/sim/resources/zeroth01/meshes/left_shoulder_pitch.STL b/sim/resources/zeroth01/meshes/left_shoulder_pitch.STL new file mode 100644 index 00000000..df94942c Binary files /dev/null and b/sim/resources/zeroth01/meshes/left_shoulder_pitch.STL differ diff --git a/sim/resources/zeroth01/meshes/left_shoulder_yaw.STL b/sim/resources/zeroth01/meshes/left_shoulder_yaw.STL new file mode 100644 index 00000000..9cf08807 Binary files /dev/null and b/sim/resources/zeroth01/meshes/left_shoulder_yaw.STL differ diff --git a/sim/resources/zeroth01/meshes/right_ankle_pitch.STL b/sim/resources/zeroth01/meshes/right_ankle_pitch.STL new file mode 100644 index 00000000..1d39d630 Binary files /dev/null and b/sim/resources/zeroth01/meshes/right_ankle_pitch.STL differ diff --git a/sim/resources/zeroth01/meshes/right_elbow_yaw.STL b/sim/resources/zeroth01/meshes/right_elbow_yaw.STL new file mode 100644 index 00000000..352f33d4 Binary files /dev/null and b/sim/resources/zeroth01/meshes/right_elbow_yaw.STL differ diff --git a/sim/resources/zeroth01/meshes/right_hip_pitch.STL b/sim/resources/zeroth01/meshes/right_hip_pitch.STL new file mode 100644 index 00000000..c7f99b86 Binary files /dev/null and b/sim/resources/zeroth01/meshes/right_hip_pitch.STL differ diff --git a/sim/resources/zeroth01/meshes/right_hip_roll.STL b/sim/resources/zeroth01/meshes/right_hip_roll.STL new file mode 100644 index 00000000..19527342 Binary files /dev/null and b/sim/resources/zeroth01/meshes/right_hip_roll.STL differ diff --git a/sim/resources/zeroth01/meshes/right_hip_yaw.STL b/sim/resources/zeroth01/meshes/right_hip_yaw.STL new file mode 100644 index 00000000..b5698e73 Binary files /dev/null and b/sim/resources/zeroth01/meshes/right_hip_yaw.STL differ diff --git a/sim/resources/zeroth01/meshes/right_knee_pitch.STL b/sim/resources/zeroth01/meshes/right_knee_pitch.STL new file mode 100644 index 00000000..98a4080d Binary files /dev/null and b/sim/resources/zeroth01/meshes/right_knee_pitch.STL differ diff --git a/sim/resources/zeroth01/meshes/right_shoulder_pitch.STL b/sim/resources/zeroth01/meshes/right_shoulder_pitch.STL new file mode 100644 index 00000000..874e6394 Binary files /dev/null and b/sim/resources/zeroth01/meshes/right_shoulder_pitch.STL differ diff --git a/sim/resources/zeroth01/meshes/right_shoulder_yaw.STL b/sim/resources/zeroth01/meshes/right_shoulder_yaw.STL new file mode 100644 index 00000000..f2e38107 Binary files /dev/null and b/sim/resources/zeroth01/meshes/right_shoulder_yaw.STL differ diff --git a/sim/resources/zeroth01/robot_fixed.urdf b/sim/resources/zeroth01/robot_fixed.urdf new file mode 100644 index 00000000..0e93a691 --- /dev/null +++ b/sim/resources/zeroth01/robot_fixed.urdf @@ -0,0 +1,983 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/sim/utils/helpers.py b/sim/utils/helpers.py index f1530163..adfff291 100755 --- a/sim/utils/helpers.py +++ b/sim/utils/helpers.py @@ -36,6 +36,8 @@ import random from typing import Any, Tuple, Union +from datetime import datetime + import numpy as np from isaacgym import gymapi, gymutil # isort: skip @@ -253,7 +255,9 @@ def get_args() -> argparse.Namespace: def export_policy_as_jit(actor_critic: Any, path: Union[str, os.PathLike]) -> None: os.makedirs(path, exist_ok=True) - path = os.path.join(path, "policy_1.pt") + current_time = datetime.now().strftime("%Y-%m-%d-%H:%M:%S") + print("当前时间:", current_time) + path = os.path.join(path, current_time + "_policy.pt") model = copy.deepcopy(actor_critic.actor).to("cpu") traced_script_module = torch.jit.script(model) traced_script_module.save(path) @@ -261,7 +265,9 @@ def export_policy_as_jit(actor_critic: Any, path: Union[str, os.PathLike]) -> No def export_policy_as_onnx(actor_critic, path): os.makedirs(path, exist_ok=True) - path = os.path.join(path, "policy_1.onnx") + current_time = datetime.now().strftime("%Y-%m-%d-%H:%M:%S") + print("当前时间:", current_time) + path = os.path.join(path, current_time + "_policy_1.onnx") model = copy.deepcopy(actor_critic.actor).to("cpu") # Get the input dimension from the first layer of the model